Operate the switches and wiring with dry hand.

To prevent electric shock,

< Warranty coverage >
Model selection of peripheral braking resistor
injury or fire.
This warranty applies only when the condition, method, environment, etc. of use are in
Do not touch the keyway directly when using the motor compliance with the terms and conditions and instructions that are stated in the instruction Rated output 2kW
To prevent injury. 50W 100W 200W 400W 750W 1kW 1.5kW
with shaft-end keyway manual and user manual for the Product.
Do not touch the motor and drive heat sink, as they are To prevent burns or parts However, even during warranty period, the repair cost will be charged on customer in the Resistance 40~50Ω 40~0Ω 40~50Ω 40~50Ω 40~ 50Ω 40Ω 40Ω 30Ω
very hot. damaged. following cases. Capacity 40W 40W 40W 40W 40W 50W 60W 80W
1) A failure caused by improper storing or handling, repair and modification.
Do not drive the motor by external drive. To prevent fire. 2) A failure caused by the parts which have dropped down or damaged during transportation
Other s afety ins tructions 3) A failure caused when the products have been used beyond the product specification
4) A failure caused by external factors such as inevitable accidents, including but not limited
Confirm the equipment’s safety after the earthquake To prevent electric shock,
happens. injury or fire.
to fire, earthquake, lightning stroke, windstorm disaster, flood, salt damage, abnormal 2. Produc t s pec ific ation
fluctuation of voltage and other natural disaster.
Ins tallation and Wiring for S V-X2E Series Servo Drive To prevent injury, electric 5) A failure caused by the intrusion of water, oil, metal and other foreign matters.
Installing and setting correctly to prevent the fire and
shock, fire, malfunction or The warranty coverage is only for the product itself. We assume no responsibilities for any
personal injury when earthquake happens. S ervo drive s pec ific ation
Hardware Instruction damage. losses of opportunity and/or profit incurred by you due to a failure of the product
Provide an external emergency stop circuit to ensure To prevent injury, electric
that operation can be stopped and power switched off shock, fire, malfunction or
immediately. damage. Items S pecification
About maintenance and ins pection Model Name SV-X2EA□□□A-A-2-00000 005 010 020 040 075 100 150 200 250
Manual Number HPPD0140000EN
As there’s dangerous and high-voltage parts inside the 1. Produc t introduc tion and model s elec tion Applicable m o to r 50W 100W 200W 400W 750W 1KW 1.5KW 2.0KW 2.5KW
Manual Version V2.2 drive, before wiring or inspection, turn off the power
To prevent electric shock. W(mm) 42 52 65
Date Mar.2020 and wait for 5 minutes or more.
Moreover, do not disassemble the drive. Dimens ion H(mm) 165 165 169
Introduc tion for s ervo drive nameplate D(mm) 151 151 151
Weight(Kg) 0.8 0.9 1.2
C AUT I O N Servo drive nameplate Single-phase/three-
http://www.hcfa.com.cn Ins talling and wiring
Input power Single-phase 200~ 240V ± 10％ 50/60Hz phase 200~ 240V
± 10％ 50/60Hz
Thank you for purchasing this product. Please follow the specified combination of the motor To prevent fire or malfunction. Ambient temperature 0～55℃
and drive. M odel name MODEL for use
This manual mainly describes the safety use, installation and wiring for SV-X2E Temperature

Environmental specifications
Ambient temperature
series servo drive. Do not touch the terminals of connector directly. To prevent electric shock or INPUT: AC200-240 50/60HZ for storage -20～65℃
For more details, please refer to <SV-X2E Series Servo Drive User Manual>. malfunction. Power specifications OUTUT
Ambient humidity 20~85% RH or less (Without condensation)
Do not block intake and prevent the foreign matters for use
To prevent electric shock or fire. Humidity
C onfirm the following items when unpacking: from entering into the motor and drive. Ambient humidity 20~85% RH or less (Without condensation)
Serial number S/N for storage
Fix the motor and have the test run away from the
mechanical system. After confirming the operation, Atmosphere for use& storage Indoors(Not subject to direct sunlight); free from corrosive gas,
To prevent injury. flammable gas, oil mist, or dust
Number Name Quantity the motor can be securely mounted to mechanical

General specification
MADE IN CHINA
1 Servo drive 1 system. Altitude 1000m or less above sea level

Connecting terminal 1 The servo motor must be installed in the specified To prevent injury or malfunction. 5.8m/s2(0.6G) or less, 10~60Hz(No continuous operation
Vibration allowed at frequency of resonance)
Cold-pressed terminal direction.
9
2 Accessories Install the equipment correctly in accordance with Dielectric strength 1 minute at 1500 VAC across the primary and FG
Crowbar 1 To prevent injury or malfunction.
3 Installation and Wiring for SV-X2E Series Servo Drive Hardware Instruction 1
its weight and rated output. Model name identific ation Control type Three-phase PWM inverting sine-wave
Operation and running
4 Certificate of Quality 1 Encoder feedback Single-turn absolute 17-bit (multi-turn absolute with battery)
Do not climb or stand on servo equipment. Do not put To prevent electric shock,
◎Check if there are some damage to the products during transportation. Any heavy objects on equipment. injury, fault or damage. SV-X2 E A 005 A - A - 2 - 00 000 Digital signal
Input 8 inputs (24VDC, photo-coupler insulation) Switch by
control mode
◎questions, please contact the HCFA Technology. The parameter settings must not be changed
excessively. Operation will be instable.
To prevent injury. Output 5 outputs ( 24VDC, photo-coupl er i nsul ati on, open-col l
ector output) Swi tch by control mode

Input 2 i nputs ( photo-coupl er i nsul ati on, RS-422 di f f erenti al ,

Keep it away from the direct sunlight. To prevent malfunction. Serial name Product power Control power supply For manufacturer's use open-col l ector)
Do not put strong impact on the motor, drive and Symbol Types Symbol Types
S afety prec autions (Read carefully before use) To prevent malfunction. 005 50W A AC power
High-speed input 2 inputs（HPUL and HSIGN）
motor shaft. Product type Pulse signal
010 100W D 24V power 4 outputs ( A/B/Z-phase RS-422 di f f erenti al , Z-phase
Please pay attention to the following safety precautions anywhere and any time The electromagnetic brake on the servo motor is Symbol Types Output open col l ector output)
during acceptance inspection, installation, wiring, operation and maintenance. designed to hold the servo motor shaft and should To prevent injury or malfunction. 020 200W Products updates no.
USB Connection with PC (with “Servostudio” software)
In this manual, the safety precautions are ranked as "DANGER" and "CAUTION" not be used for ordinary braking. A Standard type 040 400W
Voltage specification Communication Remote communication(1: n)
075 750W RS-485
When power is restored after an instantaneous Symbol Types function
N CAN Open type 100 1kW
power failure, keep away from the machine A AC220V CAN CANOPEN
DANG E R Indicates that incorrect handling may result in death or severe injury. because the machine may be restarted suddenly To prevent injury. 150 1.5kW
T AC380V Regeneration function Optional, external regenerative resistor possible
(design the machine so that it is secured against 200 2kW
B AC110 Dynamic brake
Indicates that incorrect handling may result in medium or slight hazard if restarted). 250 2.5kW Provided
C AUTION personal injury or physical damage. To prevent injury, electric
L DC48V
6 control modes: Position control, speed control, torque control,
Do not install or operate a faulty servo motor or drive. M DC24V Control mode position/speed control, position/torque control, speed/torque control
shock or fire
Digital input signals Servo ON, alarm reset, deviation counter clear, positive/negative
Check the power specification. To prevent fault. direction over-travel, internal command selection, homing start etc.
Indicates “Prohibitions”(Indicates what must not be done.) Alarm state, servo ready, brake release, torque in-limit output,
The electromagnetic brake may not hold the servo Digital output signals position proximity, homing complete, position reached, motor
motor shaft. To ensure safety, install a stopper on To prevent injury. rotation output, zero-speed output, etc.
Indicates “Forced”.(Indicates what must be done.) the machine side. D rive parts n am e
General inputs: Up to 500KHz, pulse width larger than 1us
A sudden restart is made if an alarm is reset with the Max input High-speed inputs: Up to 4MHz, pulse width larger than 125ns
To prevent injury. pulse frequency Open-collector input: Up to 200Kpps, pulse width larger than
run signal on. 2.5us
Connect the relay for emergency stop and for brake To prevent injury or malfunction. CANOPEN/485
communication
port Input pulse type Differential input; open-collector

Pulse input
in series.
DANG E R Input pulse form Pulse+ direction, A-Phase + B-Phase, CW+CCW

Position control
Trans portation and s torage
Settingpanel,
parameter
setting,
Electronic gear ratio A/B A: 1~1073741824 B: 1~1073741824,
Ins talling and wiring Do not subject the equipment to the place with rain, Encoder resolution/10000000 < A/B <Encoder resolution/2.5
To prevent malfunction. adjustment,
status
display
Do not connect the motor to the commercial power. To prevent fire or malfunction. waterdrop, poisonous gases or liquids. Smoothing Smoothing filter, FIR filter
Do not carry the servo motor by the cables, shaft or
Do not place the combustibles around the servo To prevent injury or malfunction. A-Phase, B-Phase: Differential output

Pulse output
To prevent fire. encoder during transportation. Output pulse form Z-Phase: Differential output or open collector output
motor and drive. CN3PC
communication
port
Be sure to protect the drives through the case, and Do not drop or dump the motor during transportation To prevent injury or malfunction. Dedicated
software「Servostudio」 Division ratio Arbitrary frequency division
To prevent electric shock, and installation. to
set
and
adjust
parameters
leave specified clearances between the case or other Output pulse Encoder pulse or position Pulse instruction(can be set)
equipment and the drive. fire or malfunction. If you want to store it for a long time, follow the To prevent malfunction.

Speed control
Servo ON, alarm reset, speed instruction reversal, zero-speed
To prevent electric shock, instruction manual. Digital input signals clamp, internal speed control, external forward/reverse torque
Install it at the place free from excessive dust and dirt, limit, emergency stop etc.

Functions
water and oil mist fire , malfunction or damage Store the unit in a place in accordance with the Cn1
user
I/O
interface,
command
input,

To prevent malfunction. Alarm state, servo ready, brake off, speed reached, torque
Install the equipment to incombustibles, such as metal. To prevent fire. instruction manual. parallel
I/O
and
ABZ
output Digital output signals limiting, speed limiting, zero-speed output, etc.
Any person who is involved in wiring and inspection Other s afety ins tructions Servo ON, alarm reset, torque instruction negation,
To prevent electric shock. Digital input signals zero-speed clamp etc.

Torque control
should be fully competent to do the work. Please dispose the battery according to your local laws and regulations.
Cn2
encoder
interface
for
connecting Digital output signals Alarm state, servo ready, brake off, speed reached,
FG terminal of motor and drive must be grounded. To prevent electric shock. When disposing of the product, handle it as industrial waste. torque limiting etc.
encoder

To prevent electric shock, Maintenance and ins pection Torque command input Default, setting range adjustable by function codes
Perform the wiring correctly after cut off the breaker.
injury, malfunction or damage Speed limit Positive/ negative speed limit P03.27, P03.28
Do not disassemble and/or repair the equipment on To prevent malfunction.
Have the insulation processing when connecting cables. To prevent electric shock, customer side. L1,L2,L3
220VAC
power
input
interface
Speed monitoring Provided
fire or malfunction. For
1.5KW
or
more,“ -” is
“ L3".
Do not turn on or switch off the main power frequently. To prevent malfunction.
Vibration control Provided
Operation and running
Do not touch the servo drive heat sink, regenerative
During operation, never touch the internal parts of the To prevent burns or electric resistor, servo motor etc. Their temperatures may be To prevent burns or electric Adaptive notch filter Provided
Regenerativeresistor
interface
P&C

drive. shock. high while power is on or for some time after power-off. shock. Auto-tuning Provided

Common
for
connecting
regenerative
resistor
The cables should not be damaged, stressed loaded, To prevent electric shock, When the drive become faulty, switch off the control Encoder outputdivision andmultiplication Provided
or pinched. malfunction or damage. To prevent fire.
circuit and main power.
Internal position control Provided
During operation, never touch the rotating parts of the To prevent injury. If the servo motor is to be stored for a long time, To prevent misoperation UVW
motor
power
output
interface
servo motor. switch off the power. and injury. UVW
output PC setting Adj ust by Servostudi o sof tware of SV-X2E
Do not install the equipment under the conditions with Overvoltage, power supply error, overcurrent, overheat,
To prevent fire. Protective functions overload, encoder error, over speed, position deviation
water, corrosive and flammable gas. too large, parameter error
Do not use it at the location with great vibration and To prevent electric shock, About maintenance and ins pection
PE,
FG
terminals
to
the
ground
shock. injury or fire. Note 1) The ins tallation of regenerative res is tor is decided by s etting panel. F or details ,
< Warranty period> refer to「s election of external regenerative res is tors」. P leas e s elect the res is tor
Do not use the servo motor with its cable soaked in oil To prevent electric shock, The term of warranty for the product is 18 months from the date of manufacture. It’s with higher res is tance and power when the temperature is too high.
or water. malfunction or damage exceptional to brake motors as they are warranted when acceleration / deceleration times is FG
terminal,
M4
screw:8mm
with
spring Note 2) F or input puls e forms , refer to the Us er Manual.
not beyond the specified service life. washer,chrysanthemum
washer

1 2

Note 1: Internal 24V power (24V, G24V) can be used as I/O power. But the maximum output current is 150mA, and
when driving the output such as relay and brake, please use external independent power.
3. Ins tallation and s ize of s ervo motor and drive 5. Wiring Note 2: Please connect protective circuit (diode) when driving load with inductive component such as relay.
6. Parameter lis t
Note 3: Output pins can output high level or low level, based on different wiring mode. So perform the wiring
according to actual needs.
Ins tallation environment c onditions Note 4: The connecting terminal of differential pulse output signal, differential signal of 485 communication circuits
Wiring for us er I/O c onnec tor (CN1) and CANOPEN communication circuits need to be connected the terminal resistor. ■ C ommon P arameters
Note 5: OZOUT is open-collector output and no manual configuration required. Parameter
About the environmental conditions, make sure to follow the company’s instructions. If you Parameter name Description
Note 6: Two kinds of wiring according to the pulse generation mode: NPN and PNP. No.
need to use the product outside the scope of the environmental conditions, please consult hcfa P uls e ins truction differential input Note 7: If 5V open-collector circuit is required, be sure to connect an external 300Ω resistor.
Corporation in advance. Motor positive direction
Note 8) Please choose one according to the field demands between pulse instruction input and high-speed pulse input. P00.00 Check the positive direction of the motor rotation, generally by default
①Keep it away from the direct sunlight. ※ DI function can be configured by function code flexibly. DI becomes valid when connected and the positive/
definition
②Drive must be installed in the cabinet. negative logic can be changed by function code. P00.02 R eal time auto-tuning Set the “Real time auto-tuning” to 1 or 2, change the rigidity, the servo
I/O
power ※ DO function can be configured by function code flexibly. DO becomes valid when connected and the positive/ gain parameter adjust automatically. Set it to 0, adjust the gain
③Keep it away from the water, oil (cutting oil, oil mist) and moisture.
supply Servo
drive Twisted
pair negative logic can be changed by function code. P00.03 S tiffness grade setting parameter by manual
④Do not install the equipment under the conditions with water, corrosive and flammable gas. 24V GND 2m

24V Set up the ratio of the load inertia against the rotor (of the motor) inertia
⑤Free from the dust, iron powder, cutting powder and so on. Note
1) 17:24V
or
less Description of User I/O connector (CN1) terminal arrangements P00.04 Load inertia ratio
⑥Keep it away from the area with high temperature, excessive vibration and shock. Pulse
instruction
input P ulse output positive
(Frequency
up
to
500KHz, P00.16 Set the reversal of pulse output B-phase, generally by default
Note
1) 14:G24V 35:CC-P
pulse
width
larger
than
1us)
Terminal arrangements direction definition
2K
Ins tallation direc tion and s pac e I/O
power
2VDC
input
11:COM1
G24V 62Ω
41:CMD_ PLS
15 14
G24
13
OUTZ
12 11
C OM1
10
I2
9
I1
8
I4
7
01+
6
01-
5
02+
4
02-
3
03+
2
03-
1
04+ P00.19
P osition deviation too
large threshold
Set excess range of positional deviation by the command unit (default).
Note
3) 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
Leave sufficient space around the drive to ensure the heat dissipation and convection in the Servo-ON I1 9:S_ ON 1.2K Pulse I8 GND_ OZ 05+ 05- 04- OUTB /OUTZ /OUTB /OUTA OUTA +24V
43:/CMD_ PLS 44 43 42 41 40 39 38 37 36 35 34 33 32 31 Select either to use built-in brake resistor or externally install the brake
cabinet when installing the drive. 62Ω OZOUT /CMD_PLS CM D_PLS /CMD_DIR CM D_DIR C C_ P I3 I5 I6 I7 P00.21 Brake resistor setup
Note
8) resistor. Default setting: 1 (external). No need to change.
Alarm
reset I2 10:ERR_ RST 2K 62Ω
37:CMD_ DIR
● Install the drives in the vertical direction. Please use two M5 screws to C onnector External regenerative
S et the external res is tor capacity and res is tance in accordance
30mm or more 50mm fix the drive of 750W or less respectively. Use three M5 screws to fix Pulse
inhibition I3 1.2K Direction 15 1 P00.22 resistor capacity
or more
34:INHIBIT 39:/CMD_ DIR with the actual conditions . F or the res is tance, pleas e refer to
the drive and master drive of 1kW or more respectively. 62Ω
10mm or more
Pulse
deviation
clear High-speed
pulse
instruction
30 16 External regenerative
Model s election of peripheral braking res is tor in Ins truction
● In order to ensure that surrounding temperature between internal I4 input
(Frequency
up
to
4MHz,
Manual.
8:PERR_ CLR P00.23
boards is not more than 55℃ , cooling fan or cooler is needed to Internal
position
pulse
width
larger
than
125ns) 44 31 resistor resistance value
reduce the temperature, when the drives are installed in the sealed instruction
enabled I5 38:HPULS+
33:PSEC_ EN Pulse P03.08 Torque limit source
cabinet. Positive
direction
330Ω

The temperature on the surface of cooling plate would be 30℃ higher over-travel I6 32:P_ OT 36:HPULS- P03.09 Internal forward torque limit
485 com m unication /CANOPEN wiring
●
than the surrounding temperature. Negative
direction
Set the torque limit source and setting value, generally internal torque
over-travel I7 42:HSIGN+ P03.10 Internal reverse torque limit limit by default. Default value 300% .
● Use heat-resistant material for the wiring and isolate wiring from the 31:N_ OT
machine and other cables which are easily affected by the 330Ω
Direction P03.11 External forward torque limit
temperature. 40:HSIGN- Pins arrangements
8 Pins No. Signal name Description P03.12 External reverse torque limit
● The service life of servo drive depends on the temperature around the
electrolytic capacitor. When the electrolytic capacitor is close to the Shell 7
50mm Note
2) Note
3) P09.00 Modbus/CANOPEN axis address
or more service life, the static capacity will decrease and internal resistance 6 1 CANH CAN
Brake
release + O1＋ Encoder
signal
output
will increase. Consequently, it will lead to overvoltage alarm, 7:BKOFF+ FG 5 communication port P09.01 Modbus baud rate
malfunction caused by noise and components damage. The service MAX50mA Shield
treatment Note
4)

RS-422
output

4 2 CANL Set the parameters related to the communication.
30mm or more life of electrolytic capacitor is approx. 5 to 6 years under the condition Brake
release - O1− 3 P09.02 Modbus data format
6:BKOFF- 21:OUT_ A 3 GND-CAN CAN grounding
「average annual temperature 30℃ , load rate 80% and operation of OA 2
less than 20 hours a day on average」 Motor
rotate + O2＋ 5:TGON+ A-phase
output P09.03 Communication response delay
1 4 485 RS485
MAX50mA 22:/OUT_ A
Motor
rotate - O2− 4:TGON- 8 5 /485 communication port Hexadecimal, check from the right to left
25:OUT_ B 7 1st digit：0, CANOpen communication；1, AO function
Drive dimens ion Positioning
complete + O3＋
OB
B-phase
output 6 6 / / Selection of AO function or 2nd digit：Allowable message missing value in synchronous mode
3:COIN+ P09.12
Positioning 23:/OUT_ B 5 7 / / CAN communication 3rd digit：EtherCAT synchronization，0, strict synchronization；
MAX50mA
complete - O3− 4 1, Non-strict synchronization
2:COIN- 3 8 / / 4th digit：For manufacturer’s use
13:OUT_ Z
W D Zero
speed
detection OZ
output + O4＋ 1:V_ ZERO+ Z-phase
output 2
Zero
speed
24:/OUT_ Z 1 Hexadecimal, check from the right to left
Dimension MAX50mA
M odel Weight detectionoutput - O4− 26:V_ ZERO- 1st digit, CAN communication baud rate：
SV-X2EA□□□A-A-2-00000 W(mm) (kg) 0，20k；1，50k；2，100k；3，125k；4，250k；
H(mm) D(mm) 5，500k；6，800k；7，1M
Torque
limit + O5＋ 28:T_ LT+
CAN communication nd
2 digit, gear ratio selection:
005 010 020 42 165 151 0.8 MAX50mA P09.13
H

44:OZOUT configuration 1 0: set by the drive; 1: set by the master station.

040 075 100 52 165 151 0.9
Torque
limit - O5−
27:T_ LT- OZ Appendix rd
3 digit, the unit of speed:
Note
5) 0: using internal unit; 1: using user unit.
th
29:GND_ OZ 4 digit, the unit of acceleration speed
150 200 250 65 169 151 1.2 0: using internal unit; 1: using user unit.
Rec ommended wire/c able
Hexadecimal, check from the right to left
st
CAN communication 1 digit，bus fault detection，0：OFF，1：ON
P09.14
Heat configuration 2 2nd digit，origin completion flag storage in absolute system
Cable name AWG UL Rem arks
resistance
4. Wiring explanation for s ervo motor and drive 0：No storage； 1：Store
P uls e ins truction 24V open collector input Motor power cable (750W or less) 18 2517 105℃
Motor power cable (1KW or more) 14 Note 1) 2501 105℃
220VAC input (750W or less)
■ P os ition c ontrol mode – E x ternal puls e input
W irin g diag ram ※Including FG cable 18 1015 105℃ Parameter
I/O
power
Servo
drive Twisted
pair Parameter name Description
No.
220VAC input (1KW or more)
24V GND 24V 2m
※Including FG cable 14 Note 1) 1015 105℃ P00.01 Control mode selection S et it to 0 – P osition control mode
Note
1) 17:24V or
less
Pulse
instruction
input P00.05 P osition instruction source S et it to 0-P ulse instruction
Note
3) Power: 22 5P(10-core) shielded cable: max. 20m
Single-phase Note
1) 14:G24V 35:CC-P
24V Encoder
Signal: 24 20276 80℃ (when using twisted shielded cable) Select one of the following pulse format:
220VAC P00.07 P ulse train form 0-Direction + pulse, positive logic
Setup support software 2K
power supply I/O
power
24VDC
input G24V 62Ω Pulse Twisted shielded cable 1-Direction + pulse, negative logic
11:COM1 41:CMD_ PLS User I/O 26 1007 80℃ 2-A-phase+ B-phase orthogonal pulse, 4 multiplication, positive logic
Note
3) Recommend cable: 50m or less
1.2K
3-A-phase+ B-phase orthogonal pulse, 4 multiplication, negative logic
Servo-ON I1
PC communication cable 9:S_ ON 62Ω
43:/CMD_ PLS SG
Regenerative resistor connection 18 1015 105℃ P00.27 High-speed pulse train form 4-CW +CCW, positive logic
5- CW +CCW, negative logic
Circuit breaker Alarm
reset I2 2K 62Ω Direction Brake 18 2517 105℃ 1P (2-core)
10:ERR_ RST 37:CMD_ DIR Instruction units per m otor
10-core, accessories P00.08 0 Unit/Turn ～1073741824 Unit/Turn
Pulse
inhibition I3 1.2K Communication among drives Note 2)
28 20539 80℃ (2.54mm space) one revolution (32-bit)
34:INHIBIT 39:/CMD_ DIR
62Ω SG P00.10 Electronic gear num erator 1 1~1073741824(Electronic gear is valid when setting P00.08 to 0)
Pulse
deviation
clear I4
Noise filter 8:PERR_ CLR Shell The length of cable depends on the actual situation. P00.12 Electronic gear denom inator 1~1073741824(Electronic gear is valid when setting P00.08 to 0)
User I/O cable Internal
position

Host controller instruction
enabled I5 Note 1) AWG 16 cable can be used for 1kW motor.
33:PSEC_ EN
FG
Shield
treatment Note 2) For multi-axial drive.
Positive
direction

over-travel I6 ■ Pos ition control mode –Internal multi- s tage pos ition command
32:P_ OT
Surge Encoder cable Negative
direction
Encoder
signal
output Wiring for power connector (L1/L2/L3,U/V/W) of s ervo drive Parameter
absorber over-travel I7 Description
31:N_ OT Note
4)

RS-422
output

Parameter name
No.
Magnetic
OA
21:OUT_ A The crowbar bundled in the package is needed when wiring P00.01 Control mode selection S et it to 0 – P osition control mode
contactor
For 1.5kw or more, it is “L3" A-phase
output
P00.05 P osition instruction source S et it to 2-Internal position command
Note
2) Note
3)
22:/OUT_ A 1). S teps of cable connection
Instruction units per motor
Brake
release + O1+ P00.08 0 Unit/Turn ～1073741824 Unit/Turn
7:BKOFF+ 25:OUT_ B one revolution
MAX
50mA OB
B-phase
output
Brake
release - O1- P00.10 Electronic gear num erator 1 1~1073741824(Electronic gear is valid when setting P00.08 to 0)
External braking resistor 6:BKOFF- 23:/OUT_ B
P00.12 Electronic gear denom inator 1~1073741824(Electronic gear is valid when setting P00.08 to 0)
Power cable
Motor
rotate + O2+
5:TGON+ 13:OUT_ Z P08.01 S tarting stage number Set the Start stage No. of internal position command (1-P08.02)
OZ
MAX
50mA Z-phase
output
Motor
rotate - O2- P08.02 Ending stage number Set the End stage No. of internal position command (P08.01-16)
4:TGON- 24:/OUT_ Z
220VAC input cable
Positioning Internal position control 1st
complete + O3+ P08.06 -1073741824～1073741824
3:COIN+ stage length
Positioning MAX
50mA
complete - O3- 44:OZOUT Internal position control 1st
2:COIN- P08.08 1 ～ 9000rpm
Zero
speed
detection OZ stage max speed
Note
5) 1) Crowbar installed on the bracket.(Removable) 2) Press crowbar in the direction of arrow
output + O4+
1:V_ ZERO+ 29:GND_ OZ
Zero
speed
MAX
50mA Internal position control 1st stage
P08.09 0 ～ 65535m s
detectionoutput- O4- acceleration/deceleration time
26:V_ ZERO-
[P oints for correct wiring] Torque
limit + O5+
Waiting time after internal position
P08.10 control 1st stage completed 0 ～ 65535m s
28:T_ LT+
※ A twisted-pair shielded cable should be used when I/O cable length is over 50cm. MAX
50mA
Torque
limit - O5-
※ The encoder cable should be less than 20m. 27:T_ LT- P08.11-P08.85
Arrange by the order of parameter from the 1st stage position
command, then from the 2nd stage to 16th stage in turn

① Please note that there is high voltage in the solid line of wiring
Caution diagram when wiring and using. N otes
When using internal position command, set the DI function 25
(internal position command enabling)
② The broken lines in the wiring diagram indicates the non-dangerous
voltage circuit.
4) Loos en the crowbar. 3) Insert cable in the direction of arrow while pressing the crowbar.

3 4
■ R elated parameters for internal multi-s peed c ontrol Code and name C aus e What to do Code and name C aus e What to do Value S ign Name R emarks
Parameter Description 16 operation commands
Parameter name E rr. 069: 1. External encoder disconnect 1. Check/replace external encoder or wiring 6 M I_SEL1
No. Not enabled: Not enabled: Hybrid deviation 2. External encoder faulty 2. Check/replace external encoder or wiring
switchover
P00.01 Control mode selection S et to 1 – S peed control mode 1. The drive does not match. 1. Contact manufacturer too large 3. Equipment drive failure 3. Check mechanical drive part and repair it 16 operation commands
2. Incorrect encoder wiring 2. Check encoder wiring 7 M I_SEL2
P03.00 S peed command source S et to 3- internal multi-stage speed 1-16 switchover switchover 16 position commands or speed commands can be
Enabled: Enabled:
E rr. 024: E rr. 071： executed via DI terminals.
P03.14 Acceleration time 1 1. S peed instruction exceeds maximum 1. Lower speed instruction No response when node protection and 16 operation commands
S et the acceleration/deceleration time, range is between Overs peed Node protection 8 M I_SEL3
speed setting value; 2. Check if UVW phase sequence is correct; heartbeat monitoring reaches the setting Check if the node is online and NMT node reset switchover
P03.15 Deceleration time1 0 and 65535ms or heartbeat
2. Wrong UVW phase sequence; 3. Adjust speed loop gains to reduce over time.
P arameter P 03.36 is the 1st stage speed and so on P 03.51 the 3. S peed response over modulation; shoot; timeout 16 operation commands
P03.36- 9 M I_SEL4
S peed from segment 1 to 16 16th stage speed. Initial value is 0 and make the setting by the 4. Drive faulty 4. R eplace drive switchover
P03.51 actual usage E rr. 072：
S ynchronization failure with the host NMT node res et, or 6040 s end error res et Control mode S witchover of control modes(speed, position, torque)
S ynchronization command 10 M ODE_SEL
When using internal m ulti-stage speed, set the DI function 6-9 and select the speed controller in CANOpen IP mode switchover when P 00.01 is set to 3, 4 or 5.
E rr. 025: failure
N otes
by the switch com bination E lectrical angle 1. Load or inertia too large; 1. R educe load or increase current loop gains Valid-Enable zero-speed clamp
2. Wrong encoder cable wiring 2. R eplace encoder cable. 12 ZERO_SPD Zero-speed clamp
identification Check the communication line for interference Invalid-Disable zero-speed clamp
E rr. 073： S ynchronous clock lost more than 2
failure and confirm that the host computer operates
C ANOpen track times in CANOpen IP or CS P mode Valid-Disable pulse input
■ F ault and warning c ode des c ription buffer underflow
normally. NMT node reset, or 6040 send error 13 IN HIBIT P ulse input inhibition
Invalid-Enable pulse input
reset command
1. Load or inertia too large. Motor cannot
Err.026: run at specified curves; 1. R educe load or increase current loop gains
Code and name C aus e What to do Use with limit switches for over-travel protections.
Load identification 2. Verification process aborted by other 2. Make sure verification process correct. Check the communication line for interference P_OT
In CANOpen IP or CSP mode, the 14 P ositive over-travel Valid-P ositive over-travel, positive drive disabled
failure faults. E rr. 074： and confirm that the host computer operates
1. Control circuit power suddenly drops; synchronous clock is too fast, or the actual Invalid-Normal range, positive drive enabled
E rr. 001: 1. Make sure input power is within specified range; C ANOpen track normally and if the clock frequency is
2. After updating servo software, some clock frequency is inconsistent with the
S ys tem 2. Set P20.06=1 to initialized system parameters. buffer overflow consistent with setting value. NMT node reset, Use with limit switches for over-travel protections.
previously saved parameters exceed setting value.
parameter error 1. Different DOs are assigned with same or 6040 send error reset command 15 N _OT Negative over-travel Valid-Negative over-travel, positive drive disabled
settings range. E rr. 027:
DI parameter function; R eassign DI functions Invalid-Normal range, positive drive enabled
E rr. 002: 1. Encoder cable connection broken or loose; 1. Check and fasten encoder cable; 2. P hysical DI and communicational DI AL. 080:
P roduct model s etting fault Undervoltage 1. Check main circuit.
2. Invalid drive or motor model. 2. R eplace with valid drive or motor model. have definition conflicts DC bus voltage is relatively low. External forward Valid-External torque limit enabled
s election fault warning 2. Adjust P 06.36 16 P_CL
torque limit Invalid-External torque limit disabled
1. Check if upper controller is reading/writing 1. Check UVW/encoder cable wiring
E rr. 003: 1. Parameter reading/writing too frequent; External forward Valid-External torque limit enabled
E2P R OM too frequent; E rr. 028: 2. Check motor is not blocked and brake is 17 N _CL
F ault during ‘ 2. Parameter storage component fault; Different DOs are as s igned with s ame torque limit Invalid-External torque limit disabled
2. Check control circuit power cable and ensure DO parameter R eassign DO functions 1. Motor UVW or encoder cable bad released
parameter 3. Control circuit power unstable; function
control circuit power voltage is within s etting fault contact or loose 3. Check there is no wrong UVW/encoder cable Valid-Input instructions
s torage 4. Drive fault. P_JOG P ositive JOG
specified range. 2. Motor blocked or brake not released wiring for multiple drives/motors 18 Invalid-S top inputting instructions
AL. 081:
Drive overload 3. Wrong UVW/encoder cable wiring for 4. Increase acceleration/deceleration time or
E rr. 004: warning multiple drives/motors choose bigger drive/motor Valid-R everse input instructions
S oftware vers ion fault. C heck if s oftware vers ion is correct. E rr. 040: 19 N _JOG Negative JOG
F P G A fault Input S-ON signal after motor is energized 4. Motor/drive too small for load 5. Check UVW wiring Invalid-S top inputting instructions
S -ON ins truction by other auxiliary functions Change incorrect operation. 5. P hase loss or wrong phase sequence 6. R eplace drive/motor
1. Encoder cable connection broken or loose; invalid fault 6. Motor or drive broken Note: If this fault occurs, please wait for more
2. Use third-party encoder which is not 20 GEAR_SEL1 GEAR_ S EL1 invalid, GEAR_ S EL2 invalid: electronic gear 1
E rr. 005: than 10mins to operate the motor after Electronic gear GEAR_ S EL1 valid, GEAR_ S EL2 invalid: electronic gear 2
supported; 1. Check and fasten encoder cable;
P roduct restarting the power. selection GEAR_ S EL1 invalid, GEAR_ S EL2 valid: electronic gear 3
3. Motor capacity and drive capacity don’t 2. Replace products that don’t match; E rr. 042:
matching fault match. Motor capacity class is larger than 3. Choose correct encoder type or replace the drive. 1. Check UVW/encoder cable wiring 21 GEAR_SEL2 GEAR_ S EL1 valid, GEAR_ S EL2 valid: electronic gear 4
P uls e divis ion P ulse division output is over upper limit. Adjust pulse division output settings.
or two levels off the drive; output overs peed 2. Check motor is not blocked and brake is
4. Product model code doesn’t exist. 1. Motor UVW or encoder cable bad released P osition instruction Invalid-Not reverse；
contact or loose 3. Check there is no wrong UVW/encoder cable 22 POS_DIR
negation Valid-R everse
Err.006: 1. S ys tem parameter abnormal; S et P 20.06=1 to initialized system parameters 1. S ervo motor UVW wiring is wrong; wiring for multiple drives/motors
1. R econnect the cables AL. 082: 2. Motor blocked or brake not released
Software abnormal 2. Drive internal fault. and restart power. 2. S ervo drive gain settings are too low; 4. Increase acceleration/deceleration time or S peed instruction Invalid-Not reverse；
2. Increase servo gains Motor overload 3. Wrong UVW/encoder cable wiring for SPD_DIR
3. P osition instruction pulse frequency is 23 negation
Err.007: Err.043: 3. R educe instruction frequency, acceleration multiple drives/motors choose bigger drive/motor Valid-R everse
too high; warning
Incremental encoder E ncoder s ignal abnormal at power on. Check or replace encoder cable. P osition deviation or adjust gear ratio 4. Motor/drive too small for load 5. Check UVW wiring
4 P osition instruction acceleration is too 6. R eplace drive/motor Torque instruction Invalid-Not reverse；
UVW abnormal too large 4. S et up smoothing parameters; 5. P hase loss or wrong phase sequence 24 TOQ_DIR
large; Note: If this fault occurs, please wait for more negation Valid-R everse
5. Adjust the value of P 00.19 6. Motor or drive broken
E rr. 008: 1. Check if UVW is short circuited to ground. If 5. P 00.19 setting is too low; than 10mins to operate the motor after
1. UVW wiring fault; 6. S ervo drive/motor faulty; 6. R eplace the drive Internal multi-stage Invalid-Disable internal multi-stage instruction；
S hort circuit so replace cable; restarting the power. 25 PSEC_EN
2. Motor breakdown; enable Valid-Enable internal multi-stage instruction
to ground d 2. Check if motor cable or grounding resistance
3. Drive fault. E rr. 045: AL. 083:
etection fault is abnormal. If so replace the motor.
1. Motor UVW bad contact; 1. Check UVW wiring P arameter Interrupt positioning Invalid-No action;
Drive output modification Modify parameters which needs restarting. R estart power 26 IN TP_ULK
2. Motor broken 2. R eplace motor release Valid-when P 08.86 is set to 2 or 4
1. Check instruction input time sequence and phas e los s needs power
1. Instruction input is too fast; input after S -R DY; res tart Interrupt positioning Invalid-No action;
2. R egenerative resistor too small or 2. R eplace regenerative resistor; 27 IN TP_OFF
1. Check UVW/encoder cable wiring AL. 084: inhibit Valid-When P 08.86 is set to non-zero value
short circuited; 3. Check and fasten encoder cable; 2. Check motor is not blocked and brake is S -ON when servo is not ready. S -ON after detecting S -R DY signal.
S ervo not ready
E rr. 009: 3. Motor cable bad contact; 4. R eplace motor if UVW insulation resistor is 1. Motor UVW or encoder cable bad released Can be used as home position signal or deceleration-point
28 HOM E_IN Homing origin point
Overcurrent 4. Motor cable grounding; broken; contact or loose 3. Check there is no wrong UVW/encoder cable AL. 085: position signal
fault A 5. Motor UVW short circuited; 5. Check if UVW is short circuited; 2. Motor blocked or brake not released wiring for multiple drives/motors E E P R OM Reduce EEPROM using frequency. Use 29 STHOM E Homing start S tart homing.
6. Motor burnt; 6. R eplace motor if UVW don’t have equal E rr. 046: 3. Wrong UVW/encoder cable wiring for 4. Increase acceleration/deceleration time or frequency writing Operating EEP R OM too frequent. communication2 which do not save in EEPROM.
7. S oftware detected power transistor resistance; Drive overload multiple drives/motors choose bigger drive/motor warning Invalid-No action
overcurrent 7. R educe load, use bigger drive and motor, 30 ESTOP Emergency stop
4. Motor/drive too small for load 5. Check UVW wiring Valid-Emergency stop
increase acceleration/deceleration time. 5. P hase loss or wrong phase sequence 6. R eplace drive/motor AL. 086: Trigger positive limit switch, check operation
6. Motor or drive broken Note: If this fault occurs, please wait for more P os itive 1. P _ OT & N_ OT valid simultaneously mode, move the servo towards negative Valid-S tep enable；
2. S ervo over-travel in some directions. 31 STEP S tep enable
1. Check instruction input time sequence and than 10mins to operate the motor after over-travel direction. After leaving positive limit switch, this Invalid-Instruction is 0
1. Instruction input is too fast; input after S -R DY; restarting the power. warning Can be removed automatically. alarm will be removed automatically.
2. R egenerative resistor too small or 2. R eplace regenerative resistor; Invalid-No action
32 FORCE_ERR Forced error protection
short circuited; 3. Check and fasten encoder cable; Valid-Forced error protection
E rr. 010: 3. Motor cable bad contact; 4. R eplace motor if UVW insulation resistor is 1. Check UVW/encoder cable wiring AL. 087: Trigger negative limit switch, check operation
1. Motor UVW or encoder cable bad 1. P _ OT & N_ OT valid simultaneously Invalid-No action;
Overcurrent 4. Motor cable grounding; broken; 2. Check motor is not blocked and brake is Negative mode, move the servo towards positive Interrupt positioning
contact or loose 2. S ervo over-travel in some directions. 34 IN TP_TRIG Valid-Valid: when P 08.86 is set to non-zero value,
fault B 5. Motor UVW short circuited; 5. Check if UVW is short circuited; released over-travel direction. After leaving negative limit switch, trigger
2. Motor blocked or brake not released Can be removed automatically. can only use DI8 or DI9.
6. Motor burnt; 6. R eplace motor if UVW don’t have equal 3. Check there is no wrong UVW/encoder cable warning this alarm will be removed automatically.
E rr. 047: 3. Wrong UVW/encoder cable wiring for
7. S oftware detected power transistor resistance; wiring for multiple drives/motors
Motor overload multiple drives/motors P ause generation of nvalid: No action
overcurrent 7. R educe load, use bigger drive and motor, 4. Increase acceleration/deceleration time or
4. Motor/drive too small for load AL.088: 35 IN POSHALT internal position Valid: Decelerate and pause internal multi-stage position
choose bigger drive/motor 1. R educe electronic gear ratio
increase acceleration/deceleration time. 5. P hase loss or wrong phase sequence
5. Check UVW wiring Positive instruction 1. Electronic gear ratio too large command and interrupt positioning
6. Motor or drive broken 2. P ulse frequency too high 2. R educe pulse frequency
6. R eplace drive/motor overspeed
Incremental encoder: S EN enabled absolute Invalid: No action
Err.012: Z-phase signal loss due to cable 37 EN C_SEN Valid: OAOBOZ send absolute position data, and the servo
Incremental E rr. 048: AL.090: position data sending
breakage or encoder fault; 1. R otate motor shaft manually, if error still Absolute encoder cannot be enabled.
encoder Z Absolute encoder: occurs, replace cable or encoder; E lectronic gear Electronic gear ratio exceeds setting range S et correct electronic gear Angle is over 7.2 degree. R eplace motor
breakage or s etting fault angle initialization
battery shortage, encoder cable 2. R eplace battery if undervoltage; warning
absolute encoder plugging & unplugging during power 3. P 20.06=7 and initialize.
number of turns off, or after P 06.47=1 not initialize the 1. Check fan. R eplace fan or drive DO function description
abnormal 1. R egenerative resistor wrong wiring or
encoder. 1. Fan broken 2. Measure ambient temperature and improved bad contact;
2. Ambient temperature is too high cooling conditions for servo drive 2. Internal resistor wiring breakage; 1. Check resistor wiring
Value S ign Name R emarks
3. Too many times of restarting power 3. Check error records and see if there has
Err.013: 1. Communicational encoder cable E rr. 049: 3. R esistor capacity insufficient; 2. Check internal resistor wiring; Valid-S ervo ready
after overload been overload error. R estart after 30s. 1 S_RDY S ervo ready
Encoder breakage; 1. Check or replace encoder cable; Heat s ink AL. 093: 4. R esistor resistance too large and 3. Increase resistor capacity Invalid-S ervo not ready
4. Inappropriate installation directions Increase acceleration/deceleration time.
communication 2. Encoder not grounded; 2. Check if encoder is grounded properly. too hot R egenerative causing long time braking; 4. R educe resistor resistance;
and spacing 5. Install the servo drive according to 2 S_ERR S ervo error Valid when detecting error
abnormal 3. Communication verification abnormal. overload 5. Input voltage exceeds specifications 5. R educe input voltage
5. S ervo drive faulty specifications in this manual. 6. R esistor resistance, capacity or 6. S et correct parameters 3 S_WARN S ervo warning Valid when warning signal output (connected)
6. Motor or drive broken 6. P ower off and wait for 5 minutes. If this error heating time constant parameters 7. R eplace drive
persists, replace drive. settings are wrong; Valid-When motor speed is larger than speed limit value.
Err.014: 1. Serial encoder breakage or bad contact; 4 TGON Motor rotation
Encoder 2. Serial encoder data reading/writing Check or replace encoder cable. 7. Drive faulty Invalid-Invalid motor rotation signal
1. Adjust P 06.38
data abnormal abnormal E rr. 050: 1. Input pulse frequency is larger than
2. Check wiring grounding conditions. Use Valid-Motor speed is 0.
P uls e input maximum frequency setting 5 V_ZERO Motor speed is 0
twisted-pair shielded cable. S eparate UVW AL. 094: 1. External regenerative resistor is less Invalid-Motor speed is non-zero.
abnormal 2. Input pulse is interfered. 1. R eplace resistor
Err.015: cable from encoder cable. R egenerative than minimum value
Encoder battery voltage is less than 2. Check parameters P 00.21~P 00.24 Speed control, valid when absolute deviation of motor speed
Encoder battery R eplace encoder battery. res is tor too s mall 2. Wrong parameter settings
P 06.48 and ten’s place of P 06.47 is 1. 6 V_CM P S peed conformity
undervoltage E rr. 054: User uses DI of function 32 FORCE_ ERR and speed instruction is less than the settings of P04.44.
Us er forced Disconnect DI of function 32.
to forcibly enter faulty state. AL. 095: Position control, valid when pulse deviation is less than the
1. Increase P 06.45 value; fault Emergency stop is triggered. This is a normal DI function (function 30)
Err.016: E mergency s top 7 COIN P ositioning completed
2. Increase acceleration/deceleration time or settings of P04.47.
S peed instruction and speed feedback
S peed deviation increase system responsiveness; E rr. 055:
deviation exceeds settings of P 06.45. 1. Homing time exceeds P 08.95 Position control, valid when pulse deviation is less than the
too large 3. S et P 06.45=0 to disable speed deviation too Abs olute pos ition Absolute encoder absolute position 8 N EAR P ositioning near
Contact hcfa. settings of P04.50.
large function. resetting faulty. AL. 096: 2. P 08.90 is set is 3, 4, or 5 and 1. Increase the value of P 08.95;
res etting fault
Homing error contacted limit switches 2. R educe homing speeds P 08.92, P 08.93
Err.017: 3. Contact limit switches twice when not Valid-Motor torque is in limit
Torque maintains saturated for time longer 1. Increase P 06.46 value; 9 T_LT Torque in limit
Torque saturation than settings of P06.46. E rr. 056: using limit switches as origin points. Invalid-Motor torque is not in limit
2. Check if UVW is broken. Check if there is instantaneous power failure.
overtime Main circuit Power outage or main circuit abnormal
Increase power voltage capacity. Valid-Motor speed is in limit
outage AL. 097: 10 V_LT S peed in limit
Err.019: Incorrect wiring may make the control 1. Check UVW and encoder wiring. E ncoder battery voltage is lower than Invalid-Motor speed is not in limit
E ncoder battery R eplace battery.
Tripping circuit diverge and result in motor stall. 2. Check the motor and drive. R eplace it when Err.060: what’s s et in P 06. 48.
undervoltage
necessary. First start after Valid-Break release
First start after writing customized software Initialize the servo drive. 11 BKOFF Brake release
writing customized Invalid-Break recover
1. Input power voltage exceeds 280VAC;
Err.020: 2. R egenerative resistor breakage or not 1. Check input power voltage;
2. Check or replace regenerative resistor;
software ■ DI/DO func tion c ode T_ARR Torque reached Valid when torque feedback reaches the settings of P04.55;
matching; 12
Overvoltage E rr. 065: CAN bus disconnection or abnormal allowable fluctuations set in P04.56.
3. Load inertia exceeds allowable range; 3. Increase acceleration/deceleration time or C AN bus OF F reception or sending
Check wiring and reconnect DI function description
4. Drive broken. replace more suitable drive/motor. Valid when speed feedback reaches the settings of P04.45;
13 V_ARR S peed reached
Value S ign N am e Rem arks allowable fluctuations ±10rpm
1. Input power voltage drops; E rr. 066：
NMT stop command or reset command NMT node reset. Do not stop or reset CAN node
2. Instantaneous power off; Abnormal NMT Invalid-S ervo disabled Interrupt positioning
received at servo-ON at servo-ON. 1 S _ ON S ervo enable 15 INTP_DONE Output after interrupt positioning complete
Err.021: 3. P 06.36 setting is too high; 1. Make sure input power is stable; command Valid- S ervo enabled complete
Undervoltage 4. Drive broken 2. Reduce P06.36 value if input power is normal.
E rr. 067： CAN bus disconnection or abnormal S ervo can continue to work after s ome error res et.
(Note: No storage record for this fault Check wiring and reconnect 2 ER R _ R S T Error reset 16 DB_OUT Dynamic brake output External relay/contactor and current-limiting resistor is required
C AN bus fault reception or sending Valid when detecting edge changes .
by default, but can be set by P 07.22.)
1. S peed command exceeds max. speed G ain switchover Invalid-S peed loop is P I control.
E rr. 068： 1. R educe speed command 3 G AIN_ S EL 17 HOM E Homing complete
Err.022: 2. UVW phase sequence is wrong Valid-S peed loop is P control.
E xternal 2. Check UVW phase sequence
Current Drive internal current sampling fault. R eplace servo drive. 3. S peed response severely overshoot
overs peed 3. Adjust speed loop gain Invalid: present command is A Interrupt positioning
sampling fault 4. S ervo drive faulty 4. R eplace drive 4 CMD_ S EL Command switchover 18 INTP_WORK Interrupt positioning working
（res erved） Valid: present command is B working

Invalid-No action P osition 1 comparison Output trigger signal when position 1 reaches the
5 PERR_CLR P ulse deviation clear 19 PCOM 1
Valid-Clear pulse deviation trigger signal corresponding range

5 6

DO function description P arameter C ontrol mode P arameter C ontrol mode P arameter C ontrol mode
Description Des cription Des cription
number P S T number P S T number P S T
Value S ign Name R emarks
Position 2 comparison Output trigger signal when position 2 reaches the 20 F irst vibration attenuation frequency ● ● — 33 Tripping pro tectio n functio n ● ● ● 00 Modbus axis address ● ● ●
20 PCOM 2 trigger signal corresponding range 21 F irst vibration attenuation filter setting ● ● — 34 O verload warning value ● ● ● 01 Modbus baud rate ● ● ●
S uppress ion P arameters
P 02 G roup Vibration

Position 2 comparison Output trigger signal when position 3 reaches the 22 S econd vibration attenuation frequency ● ● — 35 M o to r o verload pro tectio n co efficient ● ● ● 02 Modbus data format ● ● ●
21 PCOM 3
P 06 G roup E xpans ion P arameters

trigger signal corresponding range

23 S econd vibration attenuation filter setting ● ● — 36 Undervo ltage pro tectio n po int ● ● ● 03 C ommunication overtime ● ● ●
S etting P arameters
P 09 G roup C ommunication
Position 4 comparison Output trigger signal when position 4 reaches the 31 R esonance point 1 frequency ● ● ● 37 O ver-speed erro r po int ● ● ● 04 C ommunication response delay ● ● ●
22 PCOM 4 trigger signal corresponding range
32 R esonance point 1 bandwidth ● ● ● 38 M axim um input pulse frequency ● — — 05 C ommunication DI enabling setting 1 ● ● ●

33 R esonance point 1 amplitude ● ● ● 39 Short circuit to ground detection protection selection ● ● ● 06 C ommunication DI enabling setting 2 ● ● ●

■ P arameter lis t 34 R esonance point 2 frequency ● ● ● 40 Enco der interference detectio n delay ● ● ● 07 C ommunication DI enabling setting 3 ● ● ●

35 R esonance point 2 bandwidth ● ● ● 41 Input pulse filtering setting ● — — 08 C ommunication DI enabling setting 4 ● ● ●
C ontrol modes : P : P os ition control S : S peed control T: Torque control 42 Input pulse inhibitio n setting 09 C ommunication DO enabling setting 1
36 R esonance point 2 amplitude ● ● ● ● — — ● ● ●
● means applicable — means not applicable 43 10 C ommunication DO enabling setting 2
D eviatio n clearance input setting ● — — ● ● ●

C ontrol mode C ontrol mode 44 High speed D I filtering setting ● ● ● 11 C ommunication instruction holding time ● ● ●
P arameter P arameter Description
Description
number P S T number P S T 45 Speed deviatio n to o large thresho ld ● ● — 12 AO function or C AN communication selection ● ● ●

46 To rque saturatio n o vertim e setting ● ● ● C AN communication configuration 1/C AN communication

00 Motor positive direction definition ● ● ● 00 S peed instruction source selection — ● — 13/14/15 ● ● ●
47 configuration 2/C AN communication configuration 3
Abso lute system setting ● ● ●
01 C ontrol mode selection ● ● ● 03 S peed instruction digital setting — ● —
48 Enco der battery undervo ltage thresho ld ● ● ● 16 E therC AT disconnection detection ● ● ●
02 R eal time auto-tuning ● ● ● 04 JOG speed setting — ● —
49 High-speed pulse input filter ● ● ●
03 S tiffness grade setting ● ● ● 08 Torque limit source ● ● —
16 P osition comparison output mode ● — —
04 Load inertia ratio ● ● ● 09 Internal forward torque limit ● ● —
00 P anel display selection ● ● ● 17 1
ST
position(32-bit) ● — —
05 P osition instruction source ● ● ● 10 Internal reverse torque limit ● ● —
01 P anel monitoring parameter setting 1 ● ● ● 19 2 position(32-bit)
nd
● — —
P 00 G roup Bas ic P arameters

pos ition control

P 17 E xpans ion

07 P ulse train form ● — — 11 E xternal forward torque limit ● ● —

02 P anel monitoring parameter setting 2 ● ● ● 21 3 rd position(32-bit) ● — —
08 Instruction units per motor one revolution (32-bit) ● — — 12 E xternal reverse torque limit ● ● —
03 P anel monitoring parameter setting 3 ● ● ● 23 4 position(32-bit)
th
● — —
E lectronic gear numerator 1 (32-bit) 14 Acceleration time 1
P 07 G roup Auxiliary function P arameters

10 ● — — — ● ●
04 P anel monitoring parameter setting 4 25 E ffective time 1
C ontrol P arameters
P 03 G roup S peed & Torque

● ● ● ● — —
12 E lectronic gear denominator (32-bit) ● — — 15 Deceleration time 1 — ● ●
05 P anel monitoring parameter setting 5 ● ● ● 26 E ffective time 2 ● — —
14 P ulse output counts per motor one revolution (32-bit) ● — — 16 Acceleration time 2 — ● —
08 F unction selection 1 ● ● ● 27 E ffective time 3 ● — —
16 P ulse output positive direction definition ● ● ● 17 Deceleration time 2 — ● —
09 F unction selection 2 ● ● ● 28 E ffective time 4 ● — —
17 P ulse output OZ polarity ● — — 19 Zero-speed clamp function — ● ●
10 User pass word ● ● ● 29 Display delay ● — —
18 P ulse output function selection ● — — 20 Zero-speed clamp threshold value — ● ●
11 Instant power failure immediate memory function ● ● ●
19 P osition deviation too large threshold ● ● ● 22 Torque instruction source — — ●
Parameters
Motor
P18 Group

12 User password screen-lock time ● ● ●

21 Braking resistor setting ● ● ● 25 Torque instruction digital setting value — — ●

26 S peed limit source in torque control

14 F as t deceleration time ● ● ● 00 Motor model code ● ● ●
22 E xternal resistor capacity ● ● ● — — ●
16 F unction selection 3 ● ● ●
23 E xternal resistor resistance value ● ● ● 27 Internal positive speed limit — — ●
17 Maximum division number pre motor one revolution ● — —
24 E xternal resistor heating time constant ● ● ● 28 Internal negative speed limit — — ●
19 F unction selection 5 ● ● ● 00 P anel JOG ● ● ●
25 Brake voltage point 29 Hard limit torque limit ● ● ●
Interface Parameters
Communication
P20 Group Panel and

● ● ●
20 F unction selection 6 ● ● ● 01 F ault reset ● ● ●
26 S tep value setting ● — — 30 Hard limit torque limit detection time ● ● ●
21 F unction selection 7 ● ● ● 03 P arameter identification function ● ● ●
27 High-speed pulse train format ● — — 31 Internal speed instruction segment number selection mode — ● —
22 F unction selection 8 ● ● ● 06 S ystem initialization function ● ● ●
32 Acceleration time selection for internal speed segment 1-8 — ● —
23 F ault reset ● ● ● 08 C ommunication operation instruction input ● ● ●
00 P osition loop gain 1 ● — — 33 Deceleration time selection for internal speed segment 1-8 — ● —
24 P ositive soft limit(32-bit) ● ● ● 09 C ommunication operation status output ● ● ●
01 S peed loop gain 1 ● ● — 34 Acceleration time selection for internal speed segment 9-16 — ● —
26 R everse soft limit(32-bit) ● ● ● 11 Multi-stage operation selection by communication ● ● —
02 S peed loop integral time 1 ● ● — 35 Deceleration time selection for internal speed segment 9-16 — ● —
12 Homing start by communication ● — —
03 S peed detection filter 1 ● ● ● 36~ 51 Segment 1~16 speed — ● —
00 Multi-stage position execution pattern selection ● — —
04 Torque instruction filter 1 ● ● ●
01 S tarting stage number ● — — 00 S ervo status ● ● ●
05 P osition loop gain 2 ● — — 00 Normal DI filter selection ● ● ●
02 E nding stage number ● — — 01 Motor speed feedback ● ● ●
06 S peed loop gain 2 ● ● — 01~ 08 DI1~DI8 terminal function selection ● ● ●
03 R estarting pattern of residual stags after pausing ● — — 03 S peed instruction ● ● ●
07 S peed loop integral time 2 ● ● — 11~ 18 DI1~DI8 terminal logic selection ● ● ●
04 P osition instruction type selection ● — — 04 Internal torque instruction (relative to rated torque) ● ● ●
S peed detection filter 2 21~ 25 DO1~DO5 terminal function selection
P 04 G roup Digital Input/output P arameters

08 ● ● ● ● ● ●
05 Unit for waiting time ● — — 05 P hase current effective value ● ● ●
09 Torque instruction filter 2 ● ● ● 31~ 35 DO1~DO5 terminal logic selection ● ● ●
06/08/09 1 stage length (32-bit), max speed, acceleration/deceleration time
st
● — — 06 DC bus voltage ● ● ●
10 S peed regulator P DF F coefficient ● ● — 41 F unINL signal unass igned state (Hex) ● ● ●
10 Waiting time after 1 stage completed
st
● — — 07 Absolute position counter (32-bit) ● ● ●
11 S peed feedforward control selection ● — — 42 F unINH signal unass igned state (Hex) ● ● ●
11/13/14 2 stage length (32-bit), max speed, acceleration/deceleration time
nd
● — — 09 E lectrical angle ● ● ●
12 S peed feedforward gain ● — — 43 Motor rotational signal threshold ● ● ●
P 01 G roup G ain Tuning P arameters

15 Waiting time after 2 stage completed

nd
● — — 10 Mechanical angle (relative to encoder zero point) ● ● ●
13 S peed feedforward filtering time ● — — 44 S peed conformity signal width — ● —
16/18/19 3 stage length (32-bit), max speed, acceleration/deceleration time
rd
● — — 11 Load inertia identification value ● ● ●
14 Torque feedforward control selection ● ● — 45 S peed reached designated value ● ● ●
20 Waiting time after 3 stage completed
rd
● — — 12 S peed value relative to input instruction ● ● ●
15 Torque feedforward gain ● ● — 47 P ositioning completion range ● — —
21/23/24 4th stage length (32-bit), max speed, acceleration/deceleration time ● — — 13 P osition deviation counter (32-bit) ● ● ●
16 Torque feedforward filtering time ● ● — 48 P ositioning completion output setting ● — —
25 Waiting time after 4 stage completed
th
● — — 15 Input puls e counter (32-bit) ● ● ●
17 Digital input G AI N-S WI T C H function s election ● ● — 49 P ositioning completion holding time ● — —
26/28/29 5 stage length (32-bit), max speed, acceleration/deceleration time
th
● — — 17 F eedback pulse counter (32-bit) ● ● ●
18 P osition control gain switchover mode ● ● — 50 P ositioning near (NE AR ) threshold ● — —
30 Waiting time after 5 stage completed
th
● — — 19 P osition instruction deviation counter unit (32-bit) ● ● ●
19 P osition control gain switchover delay ● ● — 51 Servo OFF delay time after holding brake taking action when speed is 0 ● ● ●
31/33/34 6th stage length (32-bit), max speed, acceleration/deceleration time ● — — 21 Digital input signal monitoring ● ● ●
20 P osition control gain switchover class ● ● — 52 S peed setting for holding brake to take action in motion ● ● ●
35 Waiting time after 6 stage completed
th
● — — 23 Digital output signal monitoring ● ● ●
P21 Group Status Parameters

21 P osition control gain switchover hysteresis ● ● — 53 Waiting time for holding brake to take action in motion ● ● ●
36/38/39 7 stage length (32-bit), max speed, acceleration/deceleration time
th
● — — 24 E ncoder status ● ● ●
22 P osition control gain switchover time ● ● — 55 Torque reached designated value ● ● ●
40 Waiting time after 7 stage completed
th
● — — 25 Total power-on time (32-bit) ● ● ●
P 08 G roup G ain adjustment

23 S peed control gain switchover mode — ● — 56 Torque reached signal width ● ● ●

41/43/44 8th stage length (32-bit), max speed, acceleration/deceleration time ● — — 31 Module temperature ● ● ●
24 S peed control gain switchover delay — ● — 57 Z-pulse width adjustment ● ● ●
45 Waiting time after 8 th stage completed ● — — 32 Number of turns of absolute encoder (32-bit) ● ● ●
25 S peed control gain switchover class — ● — 58 Zero-speed output threshold ● ● ●
46/48/49 9th stage length (32-bit), max speed, acceleration/deceleration time ● — — 34 S ingle turn position of absolute encoder (32-bit) ● ● ●
26 S peed control gain switchover hysteresis — ● —
50 Waiting time after 9 stage completed
th
● — — 36 Version code 1 ● ● ●
27 Torque control gain switchover mode — — ● 00 E lectronic gear numerator 2(32-bit) ● — —
51/53/54 10th stage length (32-bit), max speed, acceleration/deceleration time ● — — 37 Version code 2 ● ● ●
28 Torque control gain switchover delay — — ● 02 E lectronic gear numerator 3(32-bit) ● — —
55 Waiting time after 10 stage completed
th
● — — 38 Version code 3 ● ● ●
29 Torque control gain switchover class — — ● 04 E lectronic gear numerator 4(32-bit) ● — —
56/58/59 11 stage length (32-bit), max speed, acceleration/deceleration time
th
● — — 39 P roduct series code ● ● ●
30 Torque control gain switchover hysteresis — — ● 06 P osition deviation clearance function ● — —
60 Waiting time after 11 stage completed
th
● — — 40 F ault record display ● ● ●
31 Observer enabled ● ● ● 09 E lectronic gear ratio switchover delay ● — —
61/63/64 12th stage length (32-bit), max speed, acceleration/deceleration time ● — — 41 F ault code ● ● ●
32 Observer cutoff frequency ● ● ● 10 P otential energy load torque compensation ● ● —
65 Waiting time after 12 stage completed
th
● — — 42 Time stamp upon selected fault (32-bit) ● ● ●
33 Observer phase compensation time ● ● ● 11 P 06. 10 / F riction compensation memory selections ● ● —
66/68/69 13 stage length (32-bit)
th
● — — 44 Motor speed upon selected fault ● ● ●
12 F orward rotation friction torque compensation
P 06 G roup E xpans ion P arameters

34 Observer inertia coefficient ● ● ● ● ● —

70 Waiting time after 13 stage completed
th
● — — 45 U-phase current upon selected fault ● ● ●
13 R everse rotation friction torque compensation ● ● —
71/73/74 14 stage length (32-bit), max speed, acceleration/deceleration time
th
● — — 47 DC bus voltage upon selected fault ● ● ●
00 P osition instruction smoothing filter ● — — 14 Viscous friction compensation ● ● —
75 Waiting time after 14 stage completed
th
● — — 48 Input terminal status upon selected fault ● ● ●
01 P osition instruction F IR filter ● — — 15 F riction compensation time constant ● ● —
76/78/79 15 stage length (32-bit), max speed, acceleration/deceleration time
th
49 Output terminal status upon selected fault
P 02 G roup Vibration S uppression P arameters

● — — ● ● ●
02 Adaptive filtering mode ● ● ● 16 F riction compensation low speed interval ● ● —
80 Waiting time after 15 stage completed
th
● — — 50 C ustomized serial number ● ● ●
03 Adaptive filter load mode ● ● ● 19 P arameter identification rate ● ● —
81/83/84 16th stage length (32-bit), max speed, acceleration/deceleration time ● — — 51 Accumulative load ratio ● ● ●
04 F irst notch filter frequency (manual) ● ● ● 20 P arameter identification acceleration time ● ● —
85 Waiting time after 16 stage completed
th
● — — 52 R egenerative load ratio ● ● ●
05 F irst notch filter width ● ● ● 21 P arameter identification deceleration time ● ● —
86 Interrupt po sitio ning setting ● — — 53 Internal warning code ● ● ●
06 F irst notch filter depth ● ● ● 22 P arameter identification mode selection ● ● —
88 Homing start modes ● — — 54 Internal instruction present stage code ● ● ●
07 S econd notch filter frequency (manual) ● ● ● 23 Initial angle identification current limit ● ● ●
89 Homing modes ● — — 55 C ustomized serial code ● ● ●
08 S econd notch filter width ● ● ● 24 Instantaneous power failure protection ● ● ●
90 Limit switch and Z-phase signal setting at homing ● — — 56 High 32 place of absolute position counter (32-bit) ● ● ●
09 S econd notch filter depth ● ● ● 25 Instantaneous power failure deceleration time ● ● ●
92 Origin search high speed ● — — 58 High 32 place of feedback pulse counter (32-bit) ● ● ●
10 Third notch filter frequency ● ● ● 26 S ervo OF F stop mode selection ● ● ●
93 Origin search low speed ● — —
11 Third notch filter width ● ● ● 27 S econd category fault stop mode selection ● ● ●
94 Acceleration/deceleration time at origin search ● — —
12 Third notch filter depth ● ● ● 28 Over-travel input setting ● ● ●
95 Homing time limit ● — —
13 F ourth notch filter frequency ● ● ● 29 Over-travel stop mode selection ● ● ●
96 Origin point coordinate offset (32-bit) ● — —
14 F ourth notch filter width ● ● ● 30 Input power phase loss protection ● ● ●
98 Mechanical origin point offset (32-bit) ● — —
15 F ourth notch filter depth ● ● ● 31 Output power phase loss protection ● ● ●
HCFA TECHNOLOGY
19 P osition instruction F IR filter 2 ● — — 32 E mergency stop torque ● ● ●

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