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Chapter 5 Running Mode and Wiring EMSD5 AC Servo Manual
46
5.3 Torque Control Mode
5.3.1 Introduction
Fig.5-5 Torque Control Mode
The main steps to use the speed control mode are as follows:
1) Correctly connect the servo main circuit and the power supply of the controller, as well as the
motor cable and encoder cable. The servo panel displays”r 0” after powering on which
means that the servo power supply and encoder connection are correct.
2) Operate the servo JOG trial running mode through the panel keys to confirm whether the
motor can run normally.
3) To connect the required DI/DO signals in CN1 terminal, such as servo enable, alarm clearance,
positioning completion signal, etc referring Fig.5-6.
4) To operate torque mode related setting. DI/DO are used to set according to your application.
5) To make the servo enabled and the servo motor rotation is controlled by the position
instruction issued by the upper computer. First make the motor rotate at low speed, and
confirm whether the rotation direction and electronic gear ratio are normal, then make the
gain adjustment.
EMSD5 AC Servo Manual Chapter 5 Running Mode and Wiring
47
5.3.2 Torque Mode Wiring
Fig.5-6 Torque Mode Wiring
5.3.3 Parameter Settings In Torque Mode
Parameter Introduction Range Default
PA-4 Control mode 2 0
PA-29 Gain of analog torque command Set by yourself 30
PA-32
Selection for internal and external torque
command
0-2 0
PA-33 Direction of analog torque command 0 0
PA-39
Zero offset compensation of analog torque
command
0 0
Chapter 5 Running Mode and Wiring EMSD5 AC Servo Manual
48
PA-50 Speed limit in torque control mode Set by yourself
Rated
Speed
PA-64 Internal torque 1 -300-300 0
PA-65 Internal torque 2 -300-300 0
PA-66 Internal torque 3 -300-300 0
PA-67 Internal torque 4 -300-300 0
PA-83 Inhibition method 0-1 0
PA-89 Arrival torque -300%-300% 100
PA-90 Hysteresis of arrival torque 0%-300% 5
PA-91 Polarity of arrival torque 0-1 0
5.4 Origin Regression Function And Relevant Parameters Introduction
5.4.1 Relevant Parameter Settings
Parameter Introduction Value Default
P4-32
Origin detector type or search direction
setting
0-5 0
P4-33
Set the model of short distance movement to
the origin
0-2 0
P4-34 Origin trigger start mode 0-2 0
P4-35 Origin stop mode setting 0-1 0
P4-36
The first stage of high speed origin regression
speed setting
1-2000 r/min 1000
P4-37
The second stage of low speed origin
regression speed setting
1-500 r/min 50
P4-38 Cycles of origin regression offset +/-30000 0
P4-39 Pulses of origin regression offset +/-max cnt 0
5.4.2 Origin Regression Mode Introduction(Must be in internal position mode)
A. Origin trigger start mode(P4-34)
The origin trigger start mode is divide into two kinds of origin regression function. One is
automatic performing and another is contacting trigger. Details as below:
EMSD5 AC Servo Manual Chapter 5 Running Mode and Wiring
49
P4-34=0: close origin regression function. When set P4-34=0, the origin regression function can
not work not matter what its setting value is.
P4-34=1: when the power is on, it will execute origin regression automatically. The function is
available one when the power supply and servo on,which means it is unnecessary to repeat the
operation when the servo works. It can save one input contact used to perform the origin
regression.
P4-34=2: It triggers origin regression function through the input contact SHOM.
One of registers which are input pin function planning register must be set to SHOM trigger
input function. The SHOM contact can be triggered at any time during the servo working and the
function of origin regression can be performed.
B. Origin trigger start mode(P4-32)
The origin detector can use either the left limit switch or the right limit switch as the reference
point for the origin. Or it can use extra detectors such as near type or light-gate type switch) as
the reference. The Z pulse can be also set as a reference point when the servo motor moves in
only one revolution.
P4-32=0: CW direction finds the origin and use CCWL limit as a rough reference point. When
completing origin positioning, CCWL is limit input function. The subsequent retrigger will occur
limit warning. When using limit input point as a rough reference point, recommended to set Z
pulse(P4-33) as the precise mechanical origin.
P4-32=1: CCW direction finds the origin point and use CWL limit as a rough reference point.
CWL is limit input function.The subsequent retrigger will occur limit warning. When using limit
input point as a rough reference point, recommended to set Z pulse(P4-33) as the precise
mechanical origin.
P4-32=2: CW direction finds the origin point and use ORGP(external detector input point) as the
origin point reference. Then Z pulse of return search(P4-33=0) or do not return search(P4-33=1)
can be set as the precise mechanical origin point. If do not use Z pulse as the mechanical origin
point, the positive edge of ORGP can be also set as the mechanical origin point(P4-33=2).
P4-32=3: CCW direction finds the origin point and use ORGP(external detector input point) as
the origin point reference. Then Z pulse of return search(P4-33=0) or do not return
search(P4-33=1) can be set as the precise mechanical origin point. If do not use Z pulse as the
mechanical origin point, the positive edge of ORGP can be also set as the mechanical origin
point(P4-33=2).
P4-32=4: CW direction finds Z pulse origin point directly. This function is usually used for servo
Chapter 5 Running Mode and Wiring EMSD5 AC Servo Manual
50
motor motion control in only one rotation range and now any detector switches are unnecessary
connected.
P4-32=5: CCW direction finds Z pulse origin point directly. This function is usually used for
servo motor motion control in only one rotation range and now any detector switches are
unnecessary connected.
C. Movement mode setting of short distance to the origin (P4-33)
P4-33=0: after the origin point has been found, the servo motor returns at the second stage of
speed to search the nearest Z pulse as the mechanical origin point.
P4-33=1: after the origin point has been found, the servo motor changes to the second stage of
speed to keep searching the nearest Z pulse as the mechanical origin.
P4-33=2: the rising edge of ORGP which was found is set as the mechanical origin point and
stops according to deceleration, which is applied to P4-32=2 or 3. Or when found Z pulse, it
stops according to deceleration, which is applied to P4-32=4 or 5. And the value of P4-32 for
detecting origin detection is only applicable to 2 or 3. Under Z pulse origin point detecting,
P4-32 is only applicable to 4 or Z pulse.
D. The mode setting of origin point stops (P4-35)
P4-35=0: after the origin detection has been completed, the motor slows down and is pulled back
to the origin point. The motor slows down and stops when it gets the signal of origin detection at
the second stage of speed.Then it moves back to the mechanical original position.
P4-35=1: after the origin detection has been completed, the motor decelerates and stops in the
forward direction. The motor slows down and stops when it get the signal of origin detection at
the second stage of speed. Then position overrun is no longer modified and the mechanical
original position would not change even there are different position overruns.
5.5 Pre-operational Inspection
Before connecting the load, the motor should be run for checking.
⚫ Check and ensure before running:
1) There is no obvious damage to the appearance of the servo drive.
2) Wiring terminals are insulated.
3) There are no conductive objects, such as screws or metal plates, combustible objects
inside the drive, and no conductive objects at the connection port.
4) Do not place the servo drive or a external brake resistor on combustibles.
5) Please wire correctly.
EMSD5 AC Servo Manual Chapter 5 Running Mode and Wiring
51
⚫ Driver power supply, auxiliary power supply, grounding end and other wiring should be
wired correctly. Each control signal cable connection should be correct. Each limit switch,
protection signal have been correctly connected.
1) Enabled switch in OFF state.
2) Cut off power supply circuit and stop alarm circuit to maintain access ope.
3) Servo driver applied voltage reference should be correct.
⚫ Power the servo drive when the controller does not send a running command signal. Check
and guarantee:
1) The servo motor can turn normally without vibration or operating sound phenomenon.
2) All parameters are set correctly, according to different mechanical characteristics and
please do not over-set extreme parameters.
3) Bus voltage indicator lamp and digital tube display are normal.
Chapter 6 Operation and Display EMSD5 AC Servo Manual
52
Chapter 6 Operation And Display
6.1 Drive Panel Introduction
6.1.1 Front Panel
The panel consists of 5 digital LED and 4 buttons including 、 、 、SET to display all
system status and set parameters. The operation is hierarchical. button indicates “back” and
SET button indicates “forward” while it also has the meaning of “Enter” and button also has
the meaning of “Cancel” and “Exit”. button indicates “Increasing ” and button indicates
“decreasing”. If you press the button or button and maintain it, you would get a
duplicate result and stay longer, the repetition rate is higher.
Fig.6-1 Drive Panel Display
6.1.2 Front Keys Introduction
Key Name Function
Increasing
Increase sequence number or value;Press down and
hold to repeat increasing.
Reducing
Decrease sequence number or value;Press down and
hold to repeat decreasing.
Exit Menu exit; Cancel the operation
SET Confirm Menu entered; Confirm the operation
6.2 Main Menu
The first layer is the main menu and has 8 operating modes in total. Press or button to
change the operation mode. Then press SET button to enter into the second layer and executes a
concrete operation. Press button returns to the main menu from the second layer.
EMSD5 AC Servo Manual Chapter 6 Operation and Display
53
Fig.6-2 Main Menu
6.3 Steps To Set Parameters
Select “PA-” and press SET button to enter the status of parameter setting mode. And use or
to choose parameters and then press SET button to display the parameter value. You can
modify the value with or key. Press key or key once, the parameter value
increases or decreases by 1. Pressing and holding or key can make the value increased
or decreased continuously. After modifying the value of the parameter,please press SET button
and when the LED flashes two times, it means the setting is completed. Finally please recharge,
then the new parameter is effective.
6.4 Status Monitoring
In the first layer, select “DP--” and press SET button to enter into monitoring mode. There are 23
displays in total. Users select the desired display mode with or key, and then press SET
button to enter into the specific states.
Status Operation Example Definition
Motor speed:1000r / min
The current position:124580
Position command:124581
Chapter 6 Operation and Display EMSD5 AC Servo Manual
54
Status Operation Example Definition
Position deviation:4 pulses
Motor torque 70%
Motor current 2.3A
Control mode 0:position control
In speed mode,analog input speed: 500 r/min
In torque mode,analog input torque:50%
Absolute rotor position:3265
Input terminal
Output terminal
Line voltage:336V
No.4 alarm
Relay open
Relay Uncharged
Relay alarming
Main circuit working normally
Main circuit Uncharged
Main circuit not enabled
Main circuit alarming
Line voltage normally
Line voltage too low
Line voltage alarming
Absolute motor position876543210
Chapter 6 Operation and Display EMSD5 AC Servo Manual
55
6.5 Analog Quantity Zeroing Adjustment
Using this function,the servo drive can check analog zero offset automatically and write the
offset value into parameter PA-39 or PA-45. The operation has saved offset parameter to
EEPROM, so it is unnecessary to write parameters again.
Firstly choose analog zero adjustment mode“A-A0” and press SET key to enter into the second
layer. Select speed analog zeroing“a-spd” or torque analog zeroing “A-Trq” and then keep
pressing SET key for more than 3s. When it displays “done”, the activation is completed.
6.6 Encoder Selection
Select \"F-res\" to reset the encoder and make the encoder multi-circle information zeroing. By
setting P3-36 parameter , the single-circle information can be cleared to achieve the purpose of
setting the original point. Select\" F-clr\" to clear the encoder NO. 53 alarm caused by battery
power down. After long press the SET key for more than 3 seconds and show \"done\", the
operation is activate. After that, press the key to return to the upper menu.
6.7 How To Reset Default Parameters
To recover default parameters when:
The parameters are scrambled and the system can not work properly.
The steps to recover default parameters as follow:
1) Please connect the motor with the driver and power on. The driver will automatically read
the motor parameters and match the motor model.
2) Set password (PA-0) to 385.
3) Do the followings:
Press the key to return to the main menu and to select “PA-”with or key. Press the
SET key to enter into the second layer and press the or key to make PA-0.Then press
the SET key to enter into the third layer and set PA-0 =385, pressing the SET key to save it.
Next, press the key to return to the \"PA-\" and set the PA-1=DEF-. Long press the SET key
for 5 seconds and after the LED indicator lights flicker several times, the operation is completed
Finally, it will work after repower on.
Chapter 7 Parameters EMSD5 AC Servo Manual
56
Chapter 7 Parameters
7.1 PA Group
No. Name Function Rang Default
PA-0 Password 1. User code:315.
2. Motor model code:385. 0-9999 315
PA-1
Motor
selection
The parameter is read-only and can not be modified.
The driver automatically identifies the motor model. 60-130 Table 7-1
PA-2
Software
Version The software version can be read but can’t be modified.
Table7-1
Motor Driver Motor Driver
EM-60S006N30 EM-130S040N25
EM-60S013N30 EM-130S050N25
EM-60S019N30 EM-130S060N25
EM-60S032N30 EM-130S077N25
EM-60S040N25 EM-130S100N10
EM-110S020N30 EM-130S100N15
EM-110S040N20 EM-130S100N20
EM-110S040N30 EM-130S100N25
EM-110S050N30 EM-130S150N15
EM-110S060N20 EM-130S150N25
EM-110S060N30
No. Name Function Rang Default
PA-3
Initial display
status
0:Display motor speed.
1:Display the current position is 5-bit low.
2:Display the current position is 5-bit high.
3:Display position command.
(command pulse accumulation) is 5-bit low.
4:Display position command.
(command pulse accumulation) is 5-bit high.
5:Display position deviation is 5-bit low.
6:Display position deviation is 5-bit high.
7:Display motor torque.
8:Display motor current.
9:Display control mode.
10:Display temperature.
11:Display speed command..
12:Display torque command.
0-25 0
EMSD5 AC Servo Manual Chapter 7 Parameters
57
No. Name Function Rang Default
13:Display absolute position of the rotor in a roll
is 5-bit low.
14:Display absolute position of the rotor in a roll
is 5-bit high.
15:Display input terminal state.
16:Display output terminal state.
17:Display encoder input signal.
18:Display voltage value of main line of main
circuit.
19:Display alarming code.
20:Display logic chip version number.
21:Display the actuation state of the relay.
22:Display external voltage state.
23:Display external voltage state.
24:Absolute position 5-bit low.
25: Absolute position 5-bit high.
PA-4
Control mode
selection
To set control method:
0: Position control mode
1: Speed control mode
2: Torque control mode
3: Position + speed control mode
4: Position + torque control mode
5: Speed + torque control mode
6: Encoder zeroing mode
0-6 0
PA-5
Proportional
gain of speed
loop
1.Set the proportional gain of speed loop.
2.The value is bigger, the gain is higher and
rigidity is stronger. The parameter value is set
according to your exact servo driving system
model and the load. Generally, the greater the
load inertia, the bigger the value.
3.Please set a little high value if the system
condition does not generate oscillation.
5-2000Hz 150
PA-6
Speed integral
constant
1.To set the integral time constant of the speed loop
regulator.
2.The value is smaller, the integral speed is faster
and the servo rigidity is stronger. But if it is too
small, it will happen over controlling.
1-1000ms 75
PA-7 Torque filter
1.To set the characters of torque command filter.
2.To suppress resonance generated by torque.
3.The value is smaller, the cut-off frequency is
lower and vibration with noise generated by the
motor is less. If the load inertia is great, reducing
the setting value is recommended. If the value is
20-500% 100
Chapter 7 Parameters EMSD5 AC Servo Manual
58
No. Name Function Rang Default
too small, it would lead to low response, which
would result in shaking.
4.The value is bigger, the cut-off frequency is
higher and the response frequency is quicker. If
you need higher torque response frequency, it is
recommended to increase the setting value.
PA-8
Speed
detection filter
1. To set the characters of speed detection filter.
2. The value is smaller, the cut-off frequency is
lower and noise from the motor is smaller. If the
load inertia is great, reducing the setting value is
recommended. If the value is too small, it would
lead to low response, which would result in
shaking.
3. The value is bigger, the cut-off frequency is
higher and the response frequency is quicker. If
you need higher torque response frequency, it is
recommended to increase the setting value.
20-500% 100
PA-9
Proportional
gain of position
loop
1.To set the proportional gain of position loop .
2.The value is bigger, the gain is higher and its
rigidity is stronger. So the position lag is smaller
under the same frequency command pulse
condition. But if it is too big, it will happen
oscillation.
3.The parameter value is set according to your
exact servo driving system model and the load.
1-1000 80
PA-10
Number of
pulses output
for each motor
revolution
To set the number of pulses output by the encoder AB
phase for each motor revolution. 0-20000 10000
PA-11
Command
pulses of each
motor
revolution
1.To set command pulses of each motor
revolution.
2.When it is set to 0, PA-12( numerator of
electronic gear for position command pulses),
PA-13(denominator of electronic gear for position
command pulses) are valid.
0-30000 10000
PA-12
1
st numerator
of electronic
gear for
position
command
pulse
1.Set the electric gear ratio for position command
pulse.
2.In position control mode,it is convenient to
match all kinds of pulse source through set the
parameter PA-12 and PA-13, which helps to reach
ideal control resolution(angle/pulse).
3. P×G=N×C×4
P: pulses of input command; G:electric gear ratio;
0-32767 0
EMSD5 AC Servo Manual Chapter 7 Parameters
59
No. Name Function Rang Default
N:numbers of motor rotation ; C:solutions of
photoelectric encoder in per rotation, the default
value is 2500.
4.For example, input command pulse P is 6000,
servo motor rotate a roll:
G=(N×C×4)/P=(1×2500×4)/6000=5/3, So PA-12
should be set to 5, PA-13 should be set to 3.
5.The numerator of electronic gear for command
pulse is decided by Gear1 and Gear2. The
denominator is decided by PA-13. The details as
following:
DI Signal Denominator
Gear 2 Gear 1
0 0 1
st Numerator(PA-12)
0 1 2
nd Numerator(PA-77)
1 0 3
rd Numerator(PA-78)
1 1 4
th Numerator(PA-79)
Remark: 0=OFF, 1=ON.
PA-13
Denominator of
position
command pulse
Refers to parameter PA-12. 1-32767 10000
PA-14
Input mode of
position
command
pulse
1.Set the input mode of position command pulse.
2.To set one of 4 input modes:
0: Pulse+Direction.
1: CCW pulse/CW pulse.
2: phase A and phase B orthogonal input.
3: Internal position input.
Remark: CCW: observe from the motor axial
direction. It defines CCW in counter clock wise
and CW in clock wise.
0-3 0
PA-15
Direction of
command
pulses
0:Normal direction.
1:Reverse position command pulse.
0-1 0
PA-16
The rang of
positioning
completion
1.Setting the pulse range of positioning
completion in position control mode.
2.The drive judges whether it has finished
positioning completion based on this parameter.
When the rest pulses in position deviation counter
are less than or equal with the setting value, the
COIN（positioning completion) of digital
output(DO) is ON, or else OFF
0-30000
pulses
130
PA-17 Detection of
over-travel
1.Set alarming detection range of over travel..
2.In position control mode, if the value in position
0-30000×1
00pulses 6000
Chapter 7 Parameters EMSD5 AC Servo Manual
60
No. Name Function Rang Default
range deviation counter is over than the setting value,
the drive will alarm.
PA-18
Invalid
over-travel
error
Set to:
0: The alarming detection of over travel is valid.
1: The alarming detection of over travel is invalid, and
it stops detecting the error .
0-1 0
PA-19
Position
command
smooth filter
1.To filter the instruction pulse with exponential
acceleration and deceleration, and the value
represents the time constant.
2.The filter does not lose input pulses, but would
occur command delay .
3.The filter applies in
(1. PC controller without acceleration and
deceleration function.
(2. The electronic gear frequency is a little
big(>10).
(3.The command frequency is a little low.
(4.When the motor runs, there are step jumps and
unsmooth.
4.When set to value”0”, the filter does not work.
0-1000×0.
1ms 100
PA-20
Invalid input
of drive
inhibition
To set:
0: CCW drive inhibition or CW drive inhibition is
effective. If the switch of CCW drive inhibition is
ON, CCW drive is permitted.If the switch of
CCW drive inhibition is OFF, CCW torque keeps
0.The same as CW drive inhibition. If both CCW
and CW drive inhibition are OFF, it will come to
error alarms of drive inhibition input.
1: Cancel CCW or CW drive inhibition. No
matter what state of the switch of CCW or CW
drive inhibition is, CCW or CW drive is
allowed.Meanwhile,if the switches of CCW and
CW drive inhibition are OFF, it will still not
alarm..
0-1 1
PA-21 JOG speed Set the running speed of JOG operating. 0-6000
r/min 100
PA-22
The source of
speed
command
In speed control mode, it sets the source of speed
command. It means:
0: Analog Terminal AS+, AS- input analog speed
command.
1:Internal speed command is decided by SP1 and
SP2 of digital input(DI):
DI Signal Speed Command
0-5 0
EMSD5 AC Servo Manual Chapter 7 Parameters
61
No. Name Function Rang Default
SP2 SP1
0 0 Internal Speed1(PA-24)
0 1 Internal Speed2(PA-25)
1 0 Internal Speed2(PA-26)
1 1 Internal Speed2(PA-27)
Note: 1=ON, 0=OFF.
2: Analog speed command+internal speed
command:
DI Signal Speed Command
SP2 SP1
0 0 Analog Speed Command
0 1 Internal Speed2(PA-25)
1 0 Internal Speed2(PA-26)
1 1 Internal Speed2(PA-27)
3: JOG speed command, if carries out JOG
operation, it is needed to set.
4: Keyboard speed command, if carries out Sr
operation, it needs to set the parameter.
5:IO terminal controls JOG operation.
PA-23 Highest speed
limit
Set the highest speed of the ac motor.
1.It doesn’t matter with rotating direction.
2.If the setting value is beyond of rated speed, the
real highest speed is set as the rated speed.
0-6000
r/min 5000
PA-24 Internal speed
selection 1
1.Set the internal speed 1.
2.In speed control mode(PA-22=0), when SC1
and SC2 are OFF, internal speed 1 is the speed
command.
-6000-
6000
r/min
100
PA-25 Internal speed
selection 2
1.Set the internal speed 2.
2.In speed control mode(PA-22=0), when SC1 is
ON,while SC2 is OFF, internal speed 2 is the
speed command.
-6000-
6000
r/min
500
PA-26 Internal speed
selection 3
1.Set the internal speed 3.
2.In speed control mode(PA-22=0), when SC1 is
OFF,while SC2 is ON, internal speed 3 is the
speed command.
-6000-
6000
r/min
1000
PA-27 Internal speed
selection 4
1.Set the internal speed 4.
2.In speed control mode(PA-22=0), when SC1
and SC2 are ON, internal speed 4 is the speed
command.
-6000-
6000
r/min
2000
PA-28 Speed arrival
1.Set the detection timing of the speed arrival output.
When the servomotor speed surpasses this parameter,
the digital output (DO) ASP (arrival speed) is ON,
0-3000
r/min 3000
Chapter 7 Parameters EMSD5 AC Servo Manual
62
No. Name Function Rang Default
otherwise is OFF.
2.The comparator has hysteresis function set by PA87.
Detection is associated with 10 r/min hysteresis.
3.It also has the polarity setting function:
PA88 PA-28 Comparator
0 ＞0 No direction for speed
1
＞0 Only detect CCW speed
＞0 Only detect CW speed
PA-29
Gain of analog
quantity
torque
command
1.Set the proportion for input voltage of analog
torque and the actual motor running torque.
2. The setting value unit is 0.1v/100%.
3. The default value is 30, corresponding to
3v/100%, while it means if the input voltage is
3V, it would generate 100% rated torque.
10-100(0.
1v/100%) 30
PA-30
The alarm
value of
torque
overload
1.The value is the percentage of rated torque. The
limit is independent to direction and CW or CCW
direction is protected.
2.When PA-31＞9, motor torque＞PA-30 and
duration＞PA-31, the drive alarms and the code is
Err-29. The motor stops working. It must repower
on after clearing errors.
1-300 300
PA-31
The detection
time for
torque
overload
1.The detection time for torque overload, unit:ms.
Detection time=PA-31×0.1.
2.When set to 0~9, the function of torque overload
alarming is prohibited. Generally,the value is set as 0.
0-32767 0
PA-32
The source of
torque
command
In torque control mode, it sets the source of
torque command. It means:
0:Analog torque command, it inputs by analog
terminal AS+ and AS-.
1:Internal torque command, it is decided by
TRO1 and TRQ2 of digital input( DI):
DI Signal Speed Command
TRQ2 TRQ1
0 0 Internal Torque1(PA-64)
0 1 Internal Torque2(PA-65)
1 0 Internal Torque3(PA-66)
1 1 Internal Torque4(PA-67)
0-1 0
EMSD5 AC Servo Manual Chapter 7 Parameters
63
No. Name Function Rang Default
Note: 0=OFF, 1=ON
2:Analog torque command+internal torque
command:
DI Signal Speed Command
TRQ2 TRQ1
0 0 Analog torque command
0 1 Internal Torque2(PA-65)
1 0 Internal Torque3(PA-66)
1 1 Internal Torque4(PA-67)
PA-33
The input
direction of
analog torque
command
Reverse the input polarity of analog torque.
0-1 0
PA-34 Internal CCW
torque limit
1.The setting value is the percentage of rated
torque.For example,it is set to 2 times of the rated
torque, the value is 200.
2. At any time, this restriction is valid.
3. If the setting value is over than the max
overload capacity, the actual torque limit is the
max overload capacity that is permitted.
0-300% 300
PA-35 Internal CW
torque limit
1.The setting value is the percentage of rated
torque.For example,it is set to 2 times of the rated
torque, the value is 200.
2. At any time, this restriction is valid.
3. If the setting value is over than the max
overload capacity, the actual torque limit is the
max overload capacity that is permitted.
-300-0% -300
PA-36 External CCW
torque limit
1.The setting value is the percentage of rated
torque, for example, it is set to 1 time of rated
torque, the value is 100.
2.Only when the input terminal(FIL) of CCW
torque limit is ON is it valid.
3.When the limit is valid, the actual torque limit is
the Minimum value of max overload
capacity ,internal CCW torque limit and external
CCW torque limit.
0-300% 100
PA-37 External CW
torque limit
Set external torque limit of the motor CW
direction.
1.The setting value is the percentage of rated
torque, for example, it is set to 1 time of rated
torque, the value is -100.
2.Only when the input terminal(RIL) of CW
torque limit is ON is it valid.
-300-0% -100
Chapter 7 Parameters EMSD5 AC Servo Manual
64
No. Name Function Rang Default
3.When the limit is valid, the actual torque limit is
the Minimum value of max overload
capacity ,internal CCW torque limit and external
CCW torque limit.
PA-38 Temperature
alarm Set drive temperature up to max limitation. 200-1350 -
PA-39
Zero offset
compensation of
analog torque
command
Make an offset adjustment for analog torque
command with this parameter.
-2000-
2000 0
PA-40 Acceleration
time constant
The value means the motor of acceleration time
from 0r/min to 1000r/min.
1.Linear acceleration and deceleration
characteristics.
2.It only applies in speed control mode and
internal position control mode, and other modes
are invalid..
1-10000ms 100
PA-41 Deceleration
time constant
The value means the deceleration time of the motor
from 1000r/min to 0r/min.
1.Linear acceleration and deceleration characteristics.
2.It only applies in speed control mode and internal
position control mode, while other modes are invalid.
3.This parameter should be set to 0 if the drive is used
in combination with an external position loop.
1-10000ms 100
PA-42
S type
acceleration and
deceleration time
constant
It makes the motor start and stop working stably
and sets a part of time of S type acceleration and
deceleration curve.
0-1000ms 0
PA-43
Gain of analog
speed
command
Set the proportion for analog speed input voltage
and actual motor running speed.
10-3000
r/min/v 300
PA-44
Direction of
analog speed
command
Reverse the input polarity of analog speed.
1. Set to 0 and analog speed command is positive,the
speed direction is CCW.
2. Set to 1 and analog speed command is positive,the
speed direction is CW.
0-1 0
PA-45
Zero offset
compensation of
analog speed
command
Make an offset adjustment for analog speed
command with this parameter.
-5000-
5000 0
PA-46
Filter of
analog speed
command
1.The input low pass filter of analog speed
2.The setting value is bigger, the response
frequency is quicker to speed input analog
1-1000Hz 300
EMSD5 AC Servo Manual Chapter 7 Parameters
65
No. Name Function Rang Default
quantity and the influence of signal noise is
louder.
PA-47
The setting of
mechanical
brake when the
motor stops
1.It defines the delay time from BRK=ON and
BRK=OFF to the motor current cutting off when
the motor stops rotating.
2.To avoid a small displacement or working drop
of the motor, the parameter should not be less
than the delay time of mechanical braking.
0-200×10
ms
0
PA-48
The setting of
mechanical
brake when the
motor rotates
1.It defines the delay time from the motor current
cutting off to BRK=ON and BRK=OFF when
the motor rotates.
2.To avoid a damage to the brake, the parameter
makes the motor slow down and then makes the
mechanical brake work.
3. The actual action time is the time it takes to
drop from PA-48 or current motor speed to
PA-49, and taking the minimum value.
0-200×10
ms
50
PA-49
The working
speed of the
mechanical
brake when the
motor rotates
1. It defines the speed value from motor current
cut-off to mechanical brake action (output
terminal BRK from ON to OFF) during motor
working.
2.The actual action time is the time it takes to
drop from PA-48 or current motor speed to
PA-49, and taking the minimum value.
0-3000r/m
in 100
PA-50
Speed limit in
torque control
mode
1:In torque control mode, the motor running
speed is limited in the range of this parameter.
2:It can prevent over speed in light load.
0-5000r/m
in 3000
PA-53 Servo force
enable
To set :
0: The enable signal is controlled by SON of
digital input(DI).
1: Software force to servo on.
0-1 0
PA-54
The delay
closing time
of servo
enable
It defines the time to delay cutting off the motor
current after the servo enable signal is turned off. 0-30000ms 0
PA-55
Effective level
control word
of input
terminals
1.To reverse the input terminals. For unreversed
terminals, it is valid when the switch is closed,
while it is invalid when the switch is open. For
reversed terminals, it is invalid when the switch is
closed, while it is valid when the switch is open.
2.Represented by a binary digit of 4 bits. If it is 0,
it means the input terminal dose not reverse.
While it is 1, it means the terminal reverses.
0000-1111 0000
Chapter 7 Parameters EMSD5 AC Servo Manual
66
No. Name Function Rang Default
The binary digit represents the input terminals as
following:
3 2 1 0
DI4 DI3 DI2 DI1
0: high level is active.
1: low level is active.
PA-57
Effective level
control word
of output
terminals
1.To reverse the output terminals. For reversed
terminals,the definitions of breaking over and
cut-off is contrary to standard definitions
2.Represented by a binary digit of 4 bits. If it is 0,
it means the input terminal dose not reverse.
While it is 1, it means the terminal reverses.
The binary digit represents the input terminals as
following:
3 2 1 0
DO4 DO3 DO2 DO1
0: high level is active.
1: low level is active.
0000-1111 0000
PA-58
Removing
jitter time
constant of
I/O input
terminal
1.Set the removing jitter filter time for input
terminal.
2.The value is smaller, the terminal input response
frequency is quicker.
3.The value is bigger, the anti-jamming
performance of input terminal is better, but the
response frequency becomes slow.
1-20ms 2
PA-59
Effective
command
pulse edge
Set to:
0: the rising edge is effective.
1:the falling edge is effective.
0-1 0
PA-60 Soft reset
Set to:
0:Soft reset is invalid.
1:Soft reset is effective and the system will restart.
0-1 0
PA-61 System alarm
clear
Set to:
0: System alarm clear is invalid.
1: System alarm clear is effective.
0-1 0
PA-62 Encoder
selection
Set to:
0: incremental 2500-line encoder.
1:save-line encoder.
4:single-turn absolute encoder.
5:multi-turn absolute encoder.
Remark: If change the absolute encoder to a
save-line encoder, please set PA61=1 and repower
on.
0-5
Decided
by motor
PA-63 Load inertia Set the load inertia ratio of the motor rotating 1-500 100
EMSD5 AC Servo Manual Chapter 7 Parameters
67
No. Name Function Rang Default
ratio inertia.
The setting value=((load inertia+rotating inertia) /
rotating inertia)×100.
PA-64 Internal
Torque 1
In torque control mode(PA-4=2), when
TRQ1=OFF, TRQ2=OFF, internal torque 1 is as
the torque command.
-300-300 0
PA-65 Internal
Torque 2
In torque control mode(PA-4=2), when
TRQ1=ON, TRQ2=OFF, internal torque 2 is as
the torque command.
-300-300 0
PA-66 Internal
Torque 3
In torque control mode(PA-4=2), when
TRQ1=OFF, TRQ2=ON, internal torque 3 is as
the torque command.
-300-300 0
PA-67 Internal
Torque 4
In torque control mode(PA-4=2), when
TRQ1=ON, TRQ2=ON internal torque 4 is as the
torque command.
-300-300 0
PA-71 MODBUS ID
NO. MODBUS communication address. 1-254 1
PA-72
MODBUS
communicatio
n baud rate
MODBUS communication baud rate. 48-1152×1
00 96
PA-73
MODBUS
protocol
selection
0: 8, N, 2 (MODBUS, RTU)
1: 8, E, 1 (MODBUS, RTU)
2: 8, O, 1 (MODBUS, RTU)
The parameter decide the communication
protocol. Value 8 represents the transmitted data
is 8 bits; N,E,O indicate odd or even:
N: do not use this bit.
E: it represents 1 is even bit.
O: it represents 1 is odd bit.
Value 1 or 2 indicates communication of 1 bit or 2
bits.
0-3 0
PA-74
Communicatio
n error
handling
When communication happens error, if choose:
0: keep working.
1: alarm and stop working.
0-1 0
PA-75 Zero-speed
detection point
1. If the motor running speed is less than the
value of this parameter, the ZSP(zero speed) of
digital output(DO) is ON, or else OFF.
2. If ZCLAMP of digital input(DI) is ON and
speed command is less than the value of this
parameter, the value of speed command is forced
to be zero.
0-1000
r/min 10
PA-76 Speed
coincidence
When the difference between the actual speed and
the instruction speed is less than this setting, the
0-1000
r/min 10
Chapter 7 Parameters EMSD5 AC Servo Manual
68
No. Name Function Rang Default
range UCO2N(speed coincidence) is ON, otherwise
OFF.
PA-77
2
nd numerator
of electronic
gear for
position
command
pulse
Refers to parameter PA-12. 0-32767 0
PA-78
3
rd numerator
of electronic
gear for
position
command
pulse
Refers to parameter PA-12. 0-32767 0
PA-79
4
th numerator
of electronic
gear for
position
command
pulse
Refers to parameter PA-12. 0-32767 0
PA-80
Effective level
of command
direction
signal
Set to:
0: High level is positive direction.
1: Low level is positive direction.
0-1 0
PA-81
PULS signal
filter of
command
pulse
1.To filter the input PULS signal.
2.The default value is the max pulse input
frequency: 500khz(kpps). The value is bigger, the
max input frequency is slower.
3.To filter the noise from the signal line in order
to avoid incorrect counting happening. If it goes
wrong due to the incorrect counting, you can
increase the value of this parameter properly.
4. After editing this parameter, please save it and
recharge. Then it is effective.
0-15 4
PA-82
SIGN signal
filter of
command
pulse
1.To filtering the input SIGN signal.
2.The default value is the max pulse input
frequency: 500khz(kpps) The value is bigger, the
max input frequency is slower.
3.To filter the noise from the signal line in order
to avoid incorrect counting happening. If it goes
wrong due to the incorrect counting, you can
increase the value of this parameter properly.
4. After edited this parameter, must save it and
0-15 4
EMSD5 AC Servo Manual Chapter 7 Parameters
69
No. Name Function Rang Default
recharge. Then it is effective.
PA-83 CWL/CCWL
inhibit way
When the machine touches the mechanical limit
switch and strike CW/CCW limit , you can
choose the following methods to prohibit with
this parameters.
0: To limit the torque in this direction to be 0.
1: To prohibit the input pulse in this direction.
0-1 0
PA-84
Hysteresis for
positioning
completion
1.Set pulse completion range in position control
mode.
2. When the number of remaining pulses in the
position deviation counter is less than or equal to
the setting value of this parameter, the digital
output of COIN( position completion) is ON,
otherwise OFF.
3.Comparator has the function of hysteresis,
which is set by PA85.
0-32767
Pulses 65
PA-85 The range of
near position
1. To set the pulse range of near position under
the position control mode.
2. When the pulse number in position deviation
counter is smaller than or equal to the setting
value of this parameter, the digital output (DO)
NEAR(approach position) is ON, otherwise is OFF.
3. The comparator has hysteresis function set by
PA86.
4. Use this function in case that in near
positioning, the host controller is accepting the
NEAR signal to carry on the preparation to the
next step. In general, this parameter value should
be bigger than PA-16.
0-32767
Pulses 6500
PA-86
Hysteresis for
approach
positioning
Refer to parameter PA85. 0-32767
Pulses 650
PA-87 Hysteresis of
arrival speed
1. When the motor speed exceeds this parameter,
the digital output ASP ( speed arrival) is ON,
otherwise OFF.
2. The comparator has hysteresis function.
3. It has polarity setting function:
PA88 PA-28 Comparator
0 >0 Speed without direction
1
>0 Only detect positive speed
<0 Only detect reversal speed
0-5000
r/min 30
PA-88 Polarity of
arrival speed Refers to parameter PA87. 0-1 0
Chapter 7 Parameters EMSD5 AC Servo Manual
70
No. Name Function Rang Default
PA-89 Arrival torque
1. When the motor torque exceeds this parameter, the
digital output ATRQ ( torque arrival) is ON,
otherwise OFF.
2. The comparator has hysteresis function set by
PA-90.
3. It has polarity setting function:
PA-91 PA-89 Comparator
0 >0 Torque without direction
1
>0 Only detect positive speed
<0 Only detect reversal speed
-300%-
300% 100
PA-90 Hysteresis of
arrival torque
1.If the motor torque is bigger than PA-90, the
ATRQ( torque arrival) of digital output(DO) is
ON, otherwise it is OFF.
2.The comparator has hysteresis function set by PA-90.
3.It also has polarity setting function:
PA-91 PA-89 Comparator
0 >0 Torque without direction
1
>0 Only detect positive speed
<0 Only detect reversal speed
0-300% 5
PA-91 Polarity of
arrival torque
1.If the motor torque is bigger than PA-91, the
ATRQ( torque arrival) of digital output(DO) is
ON, otherwise it is OFF.
2.The comparator has hysteresis function and it is
set by PA-90.
3.It also has polarity setting function:
PA-91 PA-89 Comparator
0 >0 Torque without direction
1
>0 Only detect positive speed
<0 Only detect reversal speed
0-1 0
PA-92
Hysteresis of
zero speed
detection
1. The motor speed is lower than the value of this
parameter, ZSP(zero speed) of digital output is
ON, or else OFF.
2. The comparator has hysteresis function.
0-1000
r/min 5
PA-94
The delay
time of brake
on
This parameter defines the delay time from the
servomotor energized until the action( the digital
output( DO) BRK is ON .
0-200ms 0
PA-95 Motor encoder
Resolution
Motor encoder resolution,2
17=13107 and the
setting value 17. Please modify it carefully. 10-32 17
PA-96 Motor polarity It is motor polarity. Please modify it carefully. 1-360 5
PA-97 Motor zero
offset angle
Encoder zero bit and motor zero bias angle, which
is etermined by the motor. 0-3600 1800
PA-99 Maximum Maximum duty cycle on brake 5-90 50
EMSD5 AC Servo Manual Chapter 7 Parameters
71
No. Name Function Rang Default
duty cycle on
brake
PA-100
Filter selection
of position
loop
0:digital moving average filter.
1:index smooth filter. 0-1 0
PA-101
Feed forward
gain of
position loop
Feed forward can reduce the position tracking
error in position control. When set to 100, the
position tracking error is always 0 under any
frequency of instruction pulses.
0-100 0
PA-102
Filter time
constant of
position loop
feed forward
It is position loop feedforward filter to increase
the stability of feedforward controlling. 20-500 100
PA-103
Z Signal
Output Pulse
Width
Z Signal Output Pulse Width 1-200 50
PA-104
RS Output
Function
Selection
To set:
0: It can use RS485 communication function.
1: No RS485 communication function, but it can
add a programmable output port which can output
differential signal(Z signal as default).
0-1 0
PA-107
Zero offset
angle of
saving-line
encoder
When PA-62=1 and a saving-line motor is used,
this parameter determines the zero-point offset
angle of the encoder.
0-3600 1800
7.2 P3 Group Parameters For Multifunctional Terminals
7.2.1 Parameter Table
EMSD5 servo drives have 4 input terminals and 4 output terminals. The definition values can be
set by P3 group parameters.( Low level is effective as default for input terminals).
Parameter Name Range Default
P3-0 Digital Input DI1 Function 0-99 1
P3-1 Digital Input DI2 Function 0-99 2
P3-2 Digital Input DI3 Function 0-99 3
P3-3 Digital Input DI4 Function 0-99 4
P3-4 Digital Input DI5 Function 0-99 5[0]
P3-5 Digital Input DI6 Function 0-99 6[0]
P3-6 Digital Input DI7 Function 0-99 7[0]
P3-7 Digital Input DI8 Function 0-99 8[0]
P3-13 Low 8-bit current position value -32768-32767 0
P3-14 High 8-bit current position value -32768-32767 0
Chapter 7 Parameters EMSD5 AC Servo Manual
72
P3-15 Digital Input DI forced effective1 00000000-11111111 00000000
P3-16 Digital Input DI forced effective2 00000000-11111111 00000000
P3-17 Digital Input DI forced effective3 00000000-11111111 00000000
P3-18 Digital Input DI forced effective4 00000000-11111111 00000000
P3-19 Digital Input DI forced effective5 00000000-11111111 00000000
P3-20 Digital Output DO1 Function 0-99 18[2]
P3-21 Digital Output DO2 Function 0-99 3
P3-22 Digital Output DO3 Function 0-99 5
P3-23 Digital Output DO4 Function 0-99 8
P3-24 Digital Output DO5 Function 0-99 6[18]
P3-25 Digital Output DO6 Function 0-99 7
P3-30 Virtual Input Terminal Control 0-2 0
P3-31 The State Value Of Virtual Input Terminal 00000000-11111111 00000000
P3-32 Virtual Output Terminal Control 0-1 0
P3-33 The State Value Of Virtual Output Terminal 0000-1111 0000
P3-38 Virtual I/O Input DI1 Function 0-99 0
P3-39 Virtual I/O Input DI2 Function 0-99 0
P3-40 Virtual I/O Input DI3 Function 0-99 0
P3-41 Virtual I/O Input DI4 Function 0-99 0
P3-42 Virtual I/O Input DI5 Function 0-99 0
P3-43 Virtual I/O Input DI6 Function 0-99 0
P3-44 Virtual I/O Input DI7 Function 0-99 0
P3-45 Virtual I/O Input DI8 Function 0-99 0
Remark:
1. P3-30=0, the number of IO input is 4 decided by DI1~DI4 and the corresponding parameter
P3-0~P3-3;
2. P3-30=1, the number of IO input is 8 decided by P3-31 and the corresponding parameter
P3-38~P3-45;
3. P3-30=2, the number of IO input is 12 decided by DI1~DI4 and P3-31 and the
corresponding parameter P3-0~P3-3 and P3-38~P3-45.
4. For parameter P3-24, when PA-104=1, this port can be set as differential output port.
7.2.2 DI Function Explanation
Input terminals( 8 input terminals are corresponding to the definitions of P3-0, P3-1, P3-2,
P3-7[P3-3]).
Value Symbol Function Explanation
0 NULL No Input state dose not effect system.
1 SON Servo Enable
Input terminal of servo enable.
OFF: servo driver can not be enabled and serv omotor
is not excited.
ON:servo driver is enabled and servomotor is excited.
2 ARST Alarm Clear Input terminal of alarm clearance.
EMSD5 AC Servo Manual Chapter 7 Parameters
73
Value Symbol Function Explanation
When an alarm occurs and if the alarm is allowed
clearance, the rising edge( from OFF becomes ON) of
ARST will clear the alarm. Attention: only a part of
alarms are allowed to clear.
3 CCWL CCW Drive
Inhibition
1.Input terminal of CCW drive inhibition:
OFF:Inhibit CCW running.
ON:Enable CCW running.
2.Use this function for protection of the mechanical
traveling limit.The function is controlled by the
parameter PA-20. Pay attention to that the default value
of PA-20 neglects this function.Therefore needs to
modify PA-20 if need to use this function:
(1):When PA-20=0,the function of input inhibition is
effective. Whether to inhibit is decided by PA-83.
(2):When PA-20=1, the function of input inhibition is not
effective. Whether to inhibit is not decided by PA-83
3. Inhibition function is valid(PA-20=0):
(1) PA-83=0, CCW torque limit is 0,but it does not
limit CCW pulse input.
(2) PA-83=1, it does not inhibit CCW pulse input.
4 CWL CW Drive
Inhibition
1.The input terminal of CW drive inhibition
OFF:Inhibit CCW running.
ON:Enable CW running
2.Use this function for protection of the mechanical
traveling limit.The function is controlled by the
parameter PA-20. Pay attention to that the default value
of PA-20 neglects this function.Therefore needs to
modify PA-20 if need to use this function:
(1):When PA-20=0,the function of input inhibition is
effective. Whether to inhibit for CW is decided by
PA-83.
(2):When PA-20=1, the function of input inhibition is
not effective. Whether to inhibit for CW is not decided
by PA-83
3.Inhibition function is valid(PA-20=0):
(1):PA-83=0, CW torque limit is 0,but it does not limit
CW pulse input.
PA-83=1, it does not inhibit CW pulse input.
5 TCCW CCW Torque
Limitation
OFF:Torque is not limited by parameter PA-36 in CCW
direction.
ON :Torque is limited by parameter PA-36 in CCW
direction.
Attention: Whether the TCCW is effective or not, the
Chapter 7 Parameters EMSD5 AC Servo Manual
74
Value Symbol Function Explanation
torque is also limited by PA-34 in CCW direction.
6 TCW CW Torque
Limitation
OFF:Torque is not limited by parameter PA-37 in CW
direction.
ON :Torque is limited by parameter PA-37 in CW
direction.
Attention: Whether the TCW is effective or not, the
torque is also limited by PA-35 in CW direction.
7 ZCLAMP Zero Speed
Clamping
When it is satisfied with the followings, the function of
zero speed clamping is open(speed is forced to zero):
1: speed control mode(PA-4=1), and choose external
speed(PA-22=0);
2:ZCLAMP ON;
3:speed command is lower than the value of PA-75
When any one of the above conditions is not satisfied,
it will perform normal speed control.
8 CZERO Zero Command
In speed or torque control mode, speed or torque
command:
OFF:Normal command
ON::Zero command
9 CINV Instruction
Reverse
In speed or torque control mode, speed or torque
command:
OFF:Normal command
ON:Command reversed
10 SP1 Speed Choice 1
In speed control mode(PA-4=1), and choose internal
speed(PA-22=1). SP1 and SP2 combinations are used
to select different internal speeds:
SP2 SP1 Internal speed
OFF OFF Internal speed 1(PA-24)
OFF ON Internal speed 2(PA-25)
ON OFF Internal speed 3(PA-26)
ON ON Internal speed 4(PA-27)
11 SP2 Speed Choice 2
13 TRQ1 Torque Choice
1
In torque control mode(PA-4=2), and choose internal
torque(PA-32=1). TRQ1 and TRQ2 combinations are
used to select different internal torque:
TRQ2 TRQ1 Internal torque
OFF OFF Internal torque 1(PA-64)
OFF ON Internal torque 2(PA-65)
ON OFF Internal torque 3(PA-66)
ON ON Internal torque 4(PA-67)
14 TRQ2 Torque Choice
2
16 CMODE Composite
Mode
When PA-4 is set to 3, 4, 5, it is in mix control mode. It
can change control mode with this input terminal:
PA-4 CMODE state
EMSD5 AC Servo Manual Chapter 7 Parameters
75
Value Symbol Function Explanation
ON OFF
3 Speed control mode Position control mode
4 Torque control mode Position control mode
5 Torque control mode Speed control mode
18 GEAR1 Electronic Gear
1
When PA-11=0, Gear1 and Gear2 combinations are
used to select different numerator of gear ratio:
GEAR2 GEAR1 Gear ratio
OFF OFF Numerator 1(PA-12)
OFF ON Numerator 2(PA-77)
ON OFF Numerator 3(PA-78)
ON ON Numerator 4(PA-79)
19 GEAR2 Electronic Gear
2
20 CLR Position
Deviation Clear
In position control mode, the position deviation counter
clear input terminals.
21 INH Pulse Input
Inhibition
In position control mode, position command pulse
inhibit terminals:
OFF: The input command pulse is valid.
ON : The input command pulse input is prohibited.
22 JOGP CCW Inching
In speed control mode, PA-22=5, connect to the signal,
the motor isin inching in CCW and speed is set by PA-21.
Attention: If the signal is connected to CW inching,
inching function does not work.
23 JOGN CW Inching
In speed control mode, PA-22=5, connect to the signal,
the motor isin inching in CW and speed is set by PA-21.
Attention: If the signal is connected to CCW inching,
inching function does not work.
27 HOLD
Internal
Position
Control
Command
Stops
In internal position register mode, the motor will stop
rotating if the signal is active(It can only work when
internal position mode PA-14=3).
28 CTRG
Internal
Position
Command
Triggers
In internal position register mode, the signal will be
triggered once the internal position register control
commands(POS0-2) are chosen, and then the motor will
rotate according to the internal position register command.
Only when ZSPD=1(digital output) it would receive a next
internal position command trigger.
29 POS0
Internal
Position
Command
Selection0
The corresponding relationship of the internal position
selection:
POS2 POS1 POS0 CTRG Position command Speed
0 0 0 ↑ P4-2, P4-3 P4-4
0 0 1 ↑ P4-5, P4-6 P4-7
30 POS1 Internal
Position
Chapter 7 Parameters EMSD5 AC Servo Manual
76
Value Symbol Function Explanation
Command
Selection1
0 1 0 ↑ P4-8, P4-9 P4-10
0 1 1 ↑ P4-11, P4-12 P4-13
1 0 0 ↑ P4-14, P4-15 P4-16
1 0 1 ↑ P4-17, P4-18 P4-19
1 1 0 ↑ P4-20, P4-21 P4-22
1 1 1 ↑ P4-23, P4-24 P4-25
31 POS2
Internal
Position
Command
Selection2
33 SHOM Starting Origin
Regression
In internal position register mode,it needs to search for
origin. The signal turns on and starts searching for the
origin function( Refer to the setting of P4-34).
34 ORGP Origin Of
Regression
In internal position register mode,it needs to search for
origin. The signal turns on and starts searching for the
origin function( Refer to the setting of P4-32).
7.2.3 DO Function Explanation
Output terminals(6 input terminals are corresponding to the definitions of P3-20, P3-21, P3-22,
P3-25[P3-23]).
Value Symbol Function Explanation
1 ON Always Valid Forced output ON.
2 RDY Servo Ready OFF :Main power supply is off, or alarm occurs;
ON:Main power supply is normal, no alarm occurs
3 ALM Alarm OFF :alarm occurs.
ON :no alarm occurs.
4 ZSP Zero Speed
In speed or torque control mode:
OFF:motor speed is higher than the value of PA-75
(no direction).
ON:motor speed is higher than the value of PA-75
(no direction).
5 COIN Positioning
Completion
In position control mode:
OFF:position deviation is bigger than parameter PA-16.
ON: position deviation is bigger than parameterpa16.
6 ASP Arrival Speed
In speed or torque control mode:
OFF :motor speed is lower than parameter PA-28.
ON : motor speed is higher than parameter PA-28.
Polarity function can be set referring to the explanation
of PA-28.
7 ATRQ Arrival Torque
OFF : motor torque is lower than parameter PA-89;
ON : motor torque is higher than parameter PA-89.
Polarity function can be set referring to the explanation
of PA-89.
8 BRK Electromagnet
ic Brake
OFF : electromagnetic brake applies the brake.
ON : electromagnetic brake releases the brake.
9 RUN Servo OFF : servo motor does not excite.
EMSD5 AC Servo Manual Chapter 7 Parameters
77
Running ON : servo motor has excited.
10 NEAR Near Position
In position control mode:
OFF: position deviation is bigger than parameter PA-85.
ON: position deviation is smaller than parameter PA-85.
11 TRQL Torque
Limitation
OFF : motor torque has not reached the limitation.
ON : motor torque has reached the limitation.
Torque limitation is set bypa34,PA-35,PA-36 and
PA-37.
12 SPL Speed
Limitation
In torque control mode:
OFF : motor speed has not reached the limitation.
ON : motor speed has reached the limitation.
Speed limitation is set bypa50.
13 VCOIN Speed
Consistency
OFF: The absolute value of the difference between the
actual rotational speed and the instruction speed is
bigger than PA-76.
ON: The absolute value of the difference between the
actual rotational speed and the instruction speed is
smaller than PA-76.
15 HOME
Origin
Regression
Completion
OFF: No signal output when the origin regression
doesn’t complete.
ON: The signal outputs when the origin regression
completes.
16 CMDOK
Internal
Position
Command
Completion
OFF: No signal output when internal position command
doesn’t complete or internal position command doesn’t
stop.
ON: The signal outputs after the setting time of P4-1
when internal position command completes or internal
position command stops.
18 ZOUT Z Signal
Output
OFF: Do not output signal when Z signal is invalid.
ON : Signal outputs when Z signal is valid.
7.2.4 DI Forced Valid
There are 5 parameters( P3-15, P3-16, P3-17,P3-18,P3-19) in group P3 and they can force DI
valid.
(1) Corresponding functions for P3-15 is represented by 8-bit binary:
Number Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
Function CZERO ZCLAMP TCW TCCW CWL CCWL ARST SON
(2) Corresponding functions for P3-16 is represented by 8-bit binary:
Number Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
Function CMODE NULL TRQ2 TRQ1 NULL SP2 SP1 CINV
Chapter 7 Parameters EMSD5 AC Servo Manual
78
(3) Corresponding functions for P3-17 is represented by 8-bit binary:
Number Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
Function NULL JOGN JOGP INH CLR GEAR2 GEAR1 NULL
(4) Corresponding functions for P3-18 is represented by 8-bit binary:
Number Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
Function NULL POS2 POS1 POS0 CTRG HOLD NULL NULL
(5) Corresponding functions for P3-19 is represented by 8-bit binary:
Number Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
Function NULL NULL NULL NULL NULL NULL ORGP SHOM
Parameter Meaning:
One of 5 parameters Corresponding Function Result
0
Unplanned OFF（invalid）
Already Planned It is up to signals
1 Unplanned Or Already Planned ON（forced valid）
7.3 P4 Group Parameters For Internal Position Command
No. Name Function Rang Default
P4-0
Internal
position
instruction
control mode
0: absolute position instruction.
1: incremental position instruction. 0-1 0
P4-1
The digital
output delay
of internal
position
completion
1. When the internal position command is
completed or stops,the output internal position
command completes (CMDOK) this DO signal
after the delay time set by P4-1.
2. Only when the delay time P4-1=0 and
CMDOK=1 can it receive trigger internal position
command.
3. Only when the delay time P4=1 is not 0 and
CMDOK=1 can it receive the internal position
command triggered by CTRG.
0-200ms 0
P4-2
The setting of
position
Cycle
numbers for
To set position cycles of the first internal position. -30000-
30000 0
◆ Being planned means that the parameter has been selected by the input
terminal in the P3-0~P3-3.
EMSD5 AC Servo Manual Chapter 7 Parameters
79
internal
position
command 1
P4-3
The setting of
pulse number
in position
Cycle for
internal
position
command 1
1. To set position pulses of the first internal position.
2. Internal position command=the setting value
of the first internal position cycles+the setting
value of the first internal position pulses.
(Max is the pulse number of the motor rotation
for each roll, please refer to the settings of
PA-11,PA-12 and PA-13 ).
+/-max.cnt
/rev 0
P4-4
The move
speed of
Internal
position
instruction 1
To set the move speed of internal position instruction
1.
0-5000
r/min 1000
P4-5
The number of
position cycles
of internal
position
instruction 2
To set the number of position cycles of the second
stage internal position.
-30000-
30000 0
P4-6
The pulse
number setting
in position
loop of
internal
position
instruction 2
1. To set the position pulses of the second stage
internal position.
2. Internal position instruction 2=the position
cycles setting of the second internal position+the
pulse number setting of the second internal
position.
+/-max.cnt
/rev 0
P4-7
The move
speed of
internal
position
instruction 2
To set the move speed of internal position instruction
2.
0-5000
r/min 1000
P4-8
The position
cycles of
internal
position
instruction 3
To set the position cycles of the third stage
internal position instruction.
-30000-
30000 0
P4-9
The pulse
number setting
in position
loop of
internal
position
instruction 3
1. To set the position pulses of the third stage
internal position.
2. Internal position instruction 3=the position
cycles setting of the third internal position+the
pulse number setting of the third internal position.
+/-max.cnt
/rev 0
Chapter 7 Parameters EMSD5 AC Servo Manual
80
P4-10
The move
speed of
internal
position
instruction 3
To set the move speed of internal position
instruction 3.
0-5000
r/min 1000
P4-11
The number of
position cycles
of internal
position
instruction 4
To set the number of position cycles of the fourth
stage internal position.
-30000-
30000 0
P4-12
The pulse
number setting
in position
loop of
internal
position
instruction 4
1. To set the position pulses of the 4th stage
internal position.
2. Internal position instruction 4=the position
cycles setting of the 4th internal position+the pulse
number setting of the 4th internal position.
+/-max.cnt
/rev 0
P4-13
The move
speed of
internal position
instruction 4
To set the move speed of internal position instruction
4.
0-5000
r/min 1000
P4-14
The position
cycles of
internal
position
instruction 5
To set the position cycles of the 5th stage internal
position instruction.
-30000-
30000 0
P4-15
The pulse
number setting
in position
loop of
internal
position
instruction 5
1. To set the position pulses of the 5th stage
internal position.
2. Internal position instruction 3=the position
cycles setting of the 5th internal position+the pulse
number setting of the third internal position.
+/-max.cnt
/rev 0
P4-16
The move
speed of
internal
position
instruction 5
To set the move speed of internal position
instruction 5.
0-5000
r/min 1000
P4-17
The number of
position cycles
of internal
position
instruction 6
To set the number of position cycles of the sixth
stage internal position.
-30000-
30000 0
P4-18 The pulse 1. To set the position pulses of the 6th stage +/-max.cnt 0
EMSD5 AC Servo Manual Chapter 7 Parameters
81
number setting
in position
loop of
internal
position
instruction 6
internal position.
2. Internal position instruction 6=the position
cycles setting of the 6th internal position+the pulse
number setting of the 6th internal position.
/rev
P4-19
The position
cycles of
internal
position
instruction 7
To set the position cycles of the 7th stage internal
position instruction.
0-5000
r/min 1000
P4-20
The position
cycles of
internal
position
instruction 7
To set the position cycles of the 7th stage internal
position instruction.
-30000-
30000 0
P4-21
The pulse
number setting
in position
loop of
internal
position
instruction 7
1. To set the position pulses of the 7th stage
internal position.
2. Internal position instruction 7=the position
cycles setting of the 7
th internal position+the pulse
number setting of the 7th internal position.
+/-max.cnt
/rev 0
P4-22
The move
speed of
internal
position
instruction 7
To set the move speed of internal position instruction
7.
0-5000
r/min 1000
P4-23
The number of
position cycles
of internal
position
instruction 8
To set the number of position cycles of the eighth
stage internal position.
-30000-
30000 0
P4-24
The pulse
number setting
in position loop
of internal
position
instruction 8
1. To set the position pulses of the 8th stage
internal position.
2. Internal position instruction 8=the position
cycles setting of the 8th internal position+the pulse
number setting of the 8th internal position.
+/-max.cnt
/rev 0
P4-25
The move
speed of
internal position
instruction 8
To set the move speed of internal position instruction
8.
0-5000
r/min 1000
P4-32 The type of 0: Forward direction origin regression and CCWL 0-5 0
Chapter 7 Parameters EMSD5 AC Servo Manual
82
origin detector
and setting of
finding
direction
is as regression origin.
1: Reverse direction origin regression and CWL is
as regression origin.
2: Forward direction origin regression and ORGP
is as regression origin.
3: Reverse direction origin regression and ORGP
is as regression origin.
4: Forward looking for Z pulse as the origin of
regression.
5: Reverse looking for Z pulse as the origin of
regression.
P4-33
Set the mode of
short distance
movement to
the origin
0: Find the reference origin and return to search
for the Z phase pulse as the mechanical origin.
1: Find the reference origin and keep forward for
the Z phase pulse as the mechanical origin.
2: Find the rising edge of the detector ORGP as
the mechanical origin.
( when it is 2, only the type of origin detector and
the setting value of the search direction can be
used as 2, 3,4 or 5.)
0-2 0
P4-34 Origin trigger
start mode
0: Close origin regression function.
1: Automatically perform origin regression when
it is powering on.
2: Trigger the origin regression function by the
input contact of the origin search function.
0-2 0
P4-35
The setting of
origin stop
mode
0: The motor slows down and pulls back to the
origin when the origin detection completed.
1: The motor slows forward and stops when the
origin detection completed.
0-1 0
P4-36
The speed
setting of origin
regress in the
first stage of
high speed
(HSPD1)
To set homing speed at 1st stage.
1-2000
r/min 1000
P4-37
The speed
setting of origin
regress in the
first stage of
high
speed(HSPD2)
To set the speed of origin regression in the second
stage of high speed. 1-500
r/min 50
P4-38
The cycle
number of
origin
To set the cycle number of origin regression
offset.
-30000-
30000 0
EMSD5 AC Servo Manual Chapter 7 Parameters
83
regression
offset(HOF1)
P4-39
The pulse
number of
origin
regression
offset(HOF2)
1: To set the pulse number of origin regression offset.
2: When the parameter function HOF1 and HOF2 are
set to 0, the origin is defined as Z pulse or ORGP by
the origin regression mode. If they are not 0, the origin
will define the above Z pulse plus last pulse offset
HOF1 ×10000+HOF2 as the new origin.
+/-max.cnt
/rev 0
Chapter 8 Fault and Troubleshooting EMSD5 AC Servo Manual
84
Chapter 8 Fault and Troubleshooting
No. Fault Name Introduction
-- Normal
1 Over speed Motor speed over than the setting values.
2 Main circuit over voltage The voltage of main circuit is too high
3 Main circuit under voltage The voltage of main circuit is too low
4 Position overshoot
The value of position deviation counter is over than
the setting value.
5 Drive overheat The temperature of the drive is high
6 Speed amplifier saturation fault Speed adjustment for long time saturation
7 Drive inhibit error Speed adjustment in saturation for long time
8
Position deviation accumulation
was out of range
Absolute value of position deviation accumulation is
over than 230
.
11 IPM module error IPM smart module error
13 Drive overload
Servo drive and motor overload(overheat
instantaneously)
14 Brake fault Brake circuit Error
18 Relay switch fault The real state of relay is different from control state
19 Delay to open the brake Pulse inputs before opening
20 EEPROM error EEPROM error
21 FPGA module fault FPGA module fault
23 Current collecting circuit fault Current collecting circuit fault
29 Alarm for torque overload Motor load exceeds user-set values and range
38
Failure to read or write encoder
EEPROM communication
The encoder cable was not connected Or the encoder
interface circuit fault.
39 Data CRC checking error
The motor encoder hasn't written dataes and all are
0.
40 Model not supported Driver does not support this motor model
41 Need to switch motor model
The current motor is inconsistent with the selected
model of the drive.
42 AC input under voltage AC input under voltage
EMSD5 AC Servo Manual Chapter 8 Fault and Troubleshooting
85
47
Over voltage when main circuit in
powering up
Over voltage when main circuit in powering up
50 Encoder communication fault Driver and encoder are not connected
51
Encoder communication
abnormal
After the encoder established the communication,
there appears the interrupt and disconnection.
52
Encoder battery voltage
insufficient alarm
Encoder battery voltage insufficient alarm, but
information did not lost and needs to be replaced as
soon as possible.
53 Encoder battery voltage error alarm
Encoder battery voltage error alarm, and storage
information has occurred error needing to reset
encoder.
54 Encoder error alarm
Encoder non-battery alarm, but need to reset
encoder again.
55
CRC check occurs errors for 3
times in a row
Encoder communication received data CRC
validation 3 consecutive errors.
56 MODBUS frame is too long. MODBUS frame data received is too long
57
Abnormal MODBUS
communication format
Improper setting of communication parameters or
incorrect address or value
58 Single turn position error
Single turn position offset stored by the drive
exceeds encoder resolution
59 Encoder reporting CF error
Encoder continuously reports CF domain error and
is needed reset encoder
