Maintenance and Inspection

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11
Maintenance and Inspection
No.11Chapter Maintenance and Inspection IS550Series Servo Driver User Manual
No.11Chapter Maintenance and Inspection
11.1Abnormal diagnosis and handling measures
There are two levels of servo drive alarm levels:
Level 1 is "fault": the servo driver has a serious alarm and cannot work normally, and needs to be shut down for processing;doThe terminal output signal is /ALM.
Level 2 is "Warning": The servo driver issues a warning state, which will not damage the equipment temporarily, but if it is not handled in time,
it may evolve into a high-level fault output;doThe terminal output signal is /WARN.
11.1.1Fault display list
Faults can be divided into:
(1) are not resettable,NO.1Fault;
(2) can be reset,NO.1Fault;
(3) are resettable,NO.2Fault.
in,NO.1,NO.2Indicates the failure stop mode,NO.1: Corresponding function codeH02-05,NO.2: Corresponding function codeH02-06.
Fault codes and their codesH/LThe relationship between them is shown in the table below. The fault code is displayed asEr.xxx.
Fault shutdown Can Fault code output

fault name Fault content
the code Way reset AL0 AL1 AL2
Er.101 EEPROMParameter exception The internal parameters of the servo are abnormal NO.1 no h h h
Logic device failure or device configuration and driver
Er.102 Programmable Logic Configuration Fault NO.1 no h h h
The model does not match
An abnormal number occurred during the servo program selection judgment

Er.105 System exception NO.1 no h h h
need to restore the factory default
There are two or more mutually exclusive

Er.106 Expansion card configuration failure NO.1 no h h h
Expansion Card
Er.107 Product model selection failure Invalid motor model or drive model NO.1 no h h h
Er.108 Parameter storage failure Parameter storage device failure NO.1 no h h h
Frequency division pulse output The number of encoder frequency division pulses does not meet the setting conditions
Er.110 NO.1 no h h h
set failure /scope
Motor and drive power level (rated current

Er.120 product match failure ) does not match; or access to other unsupported products NO.1 no h h h
11
Product component type (such as encoder, etc.)
After executing the relevant helper function (for example,
Er.121 servoONcommand invalid fault inertia identification,JOGfunction, etc.), from the host NO.1 Can h h h
machine input servoONOrder
Er.130 DIallocation failure manyDIassigned the same function NO.1 Can h h h

Er.131 doallocation failure manyD0assigned the same function NO.1 Can h h h
Read and write motor encoder
Er.135 motor encoderEEPROMFault NO.1 no h h h
EEPROMParameter exception
motor encoderEEPROM
Er.136 motor encoderEEPROMParameter exception NO.1 no h h h
Data validation error in
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IS550Series Servo Driver User Manual No.11Chapter Maintenance and Inspection

Er.140 AIset failure sameAIassigned to different instruction sources NO.1 Can h h h
The phase sequence of the servo motor power cable wiring is wrong,
Phase loss, power cable short circuit to ground, etc.;

Er.200 Driver overcurrent1 NO.1 no L L h
The software detects the overcurrent of the power transistor;
The encoder is abnormal;
Er.201 Driver overcurrent2 The hardware detects the overcurrent of the power transistor; NO.1 no L L h
The encoder wiring is wrong or the encoder is damaged;
The hardware detects the overcurrent of the discharge tube;
Servo power-on self-test found output The servo power-on self-test found that the power circuit of the servo motor
Er.210 NO.1 no L L h
Short circuit fault to ground Cable to ground short circuit
Er.234 flying car failure When the given feedback forms positive feedback, the motor flies NO.1 no L L h
Er.400 Overvoltage The main circuitDCvoltage too high NO.1 Can L L h
Er.410 Undervoltage The main circuitDCvoltage undervoltage NO.2 Can h h L
Phase failure during operation,R\S\Tphase of a certain
Er.420 Power line phase loss NO.2 Can h h L
The state of low phase voltage continues1more than seconds
Er.500 excessive speed The motor speed exceeds the maximum speed NO.2 Can L h L
Exceeded the set encoder frequency division pulse number
Er.510 Frequency division pulse output overspeed NO.1 Can L L L
Motor speed upper limit
Er.600 Inertia identification failure fault Inertia ID run timed out NO.1 Can L L L
The return to origin time exceeds the set value and has not yet
Er.601 Return to origin timeout fault NO.1 Can L L L
If the origin is found, this fault will be reported
Er.602 Angle recognition failure fault Initial angle identification failed NO.1 Can L L L
Running with load exceeds the drive inverse time curve setting
Er.610 drive overload fixed overload time; NO.2 Can L L L

UVWThe output may be out of phase or wrong in phase sequence;
Running with load exceeds motor inverse time limit curve setting
Er.620 Motor overload the overload time; NO.2 Can L L L

heat sink
Er.650 Servo drive radiator temperature exceeds the set value NO.2 Can L L L
overheat
Er.651 No.2 Can L L L

11
motor overheat fault Motor over temperature fault point
Er.740 Encoder interference fault1 incremental encoderZsignal interference NO.1 no h h h

Er.741 Encoder interference fault2 incremental encoderABsignal interference NO.1 no h h h
Er.831 ADsampling failure1 ADinitialization failure NO.1 no h h h
Er.833 Current sampling failure Current detection circuit failure NO.1 no h h h
Er.834 AISampling voltage is too high Sampling voltage greater than11.5V No.1 no h h h
Rotary Encoder Encoder Pass
Er.A20 Encoder communication error NO.1 no L h L
letter failure
Er.A34 Encoder loopback verification exception The communication content with the encoder is wrong NO.1 no L h L
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Er.A35 EncoderZsignal loss fault Encoder not receivedZSignal NO.1 no L h L
in the servoONstatus, the position deviation exceeds the bit
Er.b00 Position deviation is too large NO.1 no L L h
The setting value of the deviation is too large (H0a-11)
Fully closed loop encoder position and Position and motor encoding for external fully closed-loop monitoring
Er.b02 NO.1 no L L h
Motor position deviation is too large The sensor feedback position deviation is too large
The electronic gear ratio exceeds the specification range [0.001,

Er.b03 Electronic gear setting error NO.2 Can L L h
4000]
11.1.2Warning display list
Warning codes and their encodingsH/LThe relationship between them is shown in the table below. The warning code is displayed asEr.9xx.
warn warning coded output

warning name warning content
the code AL0 AL1 AL2
Er.900 Position deviation is too large Accumulated position pulse deviation exceeds the set value h h h
Er.909 Motor overload Warning before motor overload is reached L h h

Er.910 drive overload Warning before drive overload is reached L h h
Er.922 The external regenerative discharge resistor is too small The external regenerative bleeder resistance is less than the minimum value required by the drive L L h
Er.941 Parameter changes that require turning on the power again Changed parameters that need to be turned on again to take effect h L L
Er.942 WriteEEPROMfrequent warnings Abnormal frequent operation of the programEEPROM h h L
1,PotandnotThey are valid at the same time, and generally do not appear on the
workbench at the same time.

Er.950 Overtravel warning prompt (V2.80previous version) L L L
2, The servo axis appears overtravel in a certain direction, it can be automatically
Automatic release
1,PotAlarm when valid.

Positive overtravel warning prompt (V2.80back
Er.951 2, Servo axis moving in the negative direction can release the overtravel status h h h
version containsV2.80)
State alarm
1,notAlarm when valid.

Negative overtravel warning prompt (V2.80back
Er.952 2, The servo axis moves in the positive direction to release the overtravel status. h h h
version containsV2.80)
State alarm
Absolute encoder angle Encoder angle re-initialization deviates too much (greater than7.2
Er.960 L L L
initialization warning electrical degree) warning
11
The bus voltage is lower than the warning value, and it is about to reach the threshold of the undervoltage fault
Er.971 Undervoltage warning L L L
warning display
Er.981 Heatsink Overheating Warning Exceeded radiator warning setpoint, not reached fault setpoint h L L
Er.990 Input phase loss warning The driver with three-phase input must be connected to two-phase operation h L L
Er.991 Communication module self-test failure warning Communication module self-test failed h L L
Er.992 Communication module communication abnormal warning Communication module communication abnormal h L L
11.1.3Causes of faults and solutions
When the servo drive fails, the digital operator will display a fault display "Er.xxx". The fault display and its treatment measures are as follows. If the fault still
cannot be eliminated after treatment, please contact the service department of our company.
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error code reason confirmation method Treatment measures
Set the power supply voltage within the specification range
1.Instantaneous drop in control supply voltage Measuring supply voltage Inside, restore the factory parameters (H02-
31).
2.cut off during parameter writing Restore factory parameters (H02-31)
Confirm the time of power outage
power supply After that, enter the parameters again.
Change the parameter writing method and rewrite

3.Write times of parameters within a certain period of time Check whether the host device frequently
input, or servo drive failure,
number exceeds the maximum A parameter change was made.
Er.101 Replace the servo drive
(servo internal parameters

4.Since it comes from AC power, ground to
Fault still reported after turning on the power several times
abnormal number) erroneous due to noise such as static electricity and Take measures to prevent noise disturbance.
, it may be the cause of the noise.
action
5.due to gas, water droplets or cutting oil It is possible that the servo driver is faulty.
etc. lead to internal parts of the servo driver Confirm the setting environment. Repair or replace the servo driver. change
a failure Variable parameter writing method.
After turning on the power several times and restoring the factory
It is possible that the servo driver is faulty.
6.Servo drive failure If the fault is still reported after setting parameters, it is possible
Repair or replace the servo driver.
It is the servo drive that has failed
Er.102 Fault still reported after turning on the power several times
(programmable logic logic device failure , it may be that the servo drive sends Repair or replace the servo driver
configuration failure) Something went wrong
Restore factory parameters (H02-31back,

1. EEPROMFault according toEr.101method confirmation
Er.105 power on again)
(internal program differs from

Fault still reported after turning on the power several times
often) 2.Servo drive failure , it may be that the servo drive sends Repair or replace the servo driver
Something went wrong
Er.106
Two or more View the expansion card number, according to the number
(extension cards are mutually exclusive Choose the right expansion card
mutex expansion card on View Expansion Card Instructions
Fault)
Er.107
Products that do not exist (motors, etc.) Check the product brochure to see if this product is available
(product model selection Reselect the correct product number
Number Product number
select failure)
Er.108
After changing a parameter, power on again to see If the fault still occurs after multiple power-on
(parameter storage error An exception occurred in parameter storage
Whether the parameter value is saved failure, the drive needs to be replaced
barrier)
Incremental code disc: encoder frequency division pulse
Er.110
(Frequency division pulse output
The stroke value cannot exceed the line of the encoder
The frequency division pulse number of the encoder does not meet the setting
number; absolute value code wheel: encoder frequency division
Change the encoder frequency division pulse value function
Energy code, so that it meets the specified range

11
set conditions/scope
setting error) The pulse value cannot exceed its resolution around
number1/4
The combination of several products is not appropriate,

Whether the rated current of the motor is driving
Such as: motor, drive power level Replace mismatched product
Er.120 Mismatch
within the drive current range of the
(product match
A drive that is not supported by the selected drive is connected Check the user manual to confirm the selected driver
barrier)
Select the correct encoder type or more
Encoder type (such asP/Atype drive Types of encoders and supported encoders
Change to another type of drive
Absolute encoders, etc. are not supported) Does the type contain such encoders
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Verify that you are using certain

Er.121 Auxiliary work performed to energize the motor
The auxiliary function of the motor is energized while the
(servoONinstruction After being able to, the host computer still gives the Change the wrong way of operation
Given from the host computerS-ONletter
invalid failure) servoONOrder
Number
Er.130
(differentDIHeavy DIWhen assigning, the same CheckH03-02,H03-04… H03-20, do
change the duplicateDIvariable
Redistributed the same variable you have the same configuration
a function)
Er.131
(differentdoHeavy doWhen assigning, the same CheckH04-00,H04-02… H04-14, do
change the duplicatedovariable
Redistributed the same a variable you have the same configuration
a function)
Confirm whether the motor encoder wiring is

Er.135 Serial encoder motorEEPROM Connect the encoder cable again, or replace
No Correct, whether the motor encoder is
(motor encoder Error during reading and writing into the correct motor type
serial
EEPROMginseng
After eliminating the above reasons, turn on the power several times
Abnormal number
Motor memory failure Repair or replace the servo motor
Still reporting failureEr.136
Check whether the wiring of the motor encoder is correct

Serial encoder motorEEPROM Connect the encoder cable again, or replace
Yes, whether the motor encoder is serial
correct motor type
Er.136 Chinese checksum error
Mode
(motor encoder
Confirm whether the motor is without our company
EEPROMmiddle Haven't used our company yethtype drive initial Contact the manufacturer's personnel to rewrite the
Driver initialized serial power
data parity error serialized motor machine parameters to the motorEEPROM
machine
error)
After eliminating the above reasons, turn on the power several times
Motor memory failure Repair or replace the servo motor
Still reporting failureEr.136
In torque mode (or with torque control
Composite mode of system) ViewH07-
00,H07-01,H07-07, H07-08 (H07-07

set totwenty three valid),H07-17,
H07-18 (H07-17set to1effective), to
determine whether there isAI
resources are allocated
used in a certain control mode place
AIResources are allocated repeatedly (egAI1

In speed mode (or with speed control
Er.140 Both used for torque controlAinstruction
Composite mode) ViewH06-00, Change and related function code value
(AIsetting failure) source(H07-00), also as speed
H06-01,H06-11,H07-08 (H07-07set totwenty
limitV_LMTsource(H07-17
11 H07-18))
threevalid), to determine whether there isAI
Resources are allocated repeatedly
In position mode (or with position control
Composite mode) ViewH05-19,

H06-11,H07-08 (H07-07set totwenty three
effective), to determine whether there is AI
Resources are allocated repeatedly
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Main circuit cable or motor main circuit Make sure the wiring is correct, see "
modify wiring
The cable wiring is wrong, or the contact is bad Main circuit wiring"
Main circuit cable or motor main circuit Confirm the cable'sUVWAlternate,
Internal short circuit in the cable, or a ground UVWDoes a short occur between ground and Repair or replace cable
ground short circuit road. See "Main Circuit Wiring" for details
Confirm the connection terminals of the servo motor
There is a short circuit inside the servo driver or UVWAlternate,UVWIs there a It is possible that the servo driver is faulty,
Er.200 short circuit to ground short circuit to ground. See "Main Repair or replace the servo drive
(over current1)
Circuit wiring"
Confirm that the motor terminalsUVWMutually

Er.201 There is a short circuit or a short circuit inside the servo motor It is possible that the servo motor is faulty, repair
between,UVWDoes it happen with the ground
(over current2) ground short circuit Repair or replace the servo motor
short circuit. See "Main Circuit Wiring" for details
Maybe the encoder wiring is aging and corroded; Confirm the reliability of the encoder wiring;
Re-solder or plug in the encoder cable
The encoder plug is loose; Confirm the reliability of the drive signal cable
and drive signal cables.
The drive signal cable is loose; sex;
function codeH0a-04set too small confirmH0a-04value ChangeH0a-04value to appropriate value
The external regenerative discharge resistor is too small or short Replace with a qualified regenerative bleeder
Measuring the resistance of the regenerative bleeder resistor
road resistance
Measuring Servo Motor Power CablesUVWyes

Servo motor short circuit; replace the motor
No short circuit to ground.
Er.210
Servo motor power cableUVWshort to ground Measuring Servo Motor Power CablesUVWyes
rewire
road No short circuit to ground.
Identify the angle or replace it correctly

UVWPhase sequence error CheckUVWIs the order correct?
Er.234 phase sequence
(flying car failure) Initial phase monitoring error caused by interference UVWRun when the phase sequence is correct
Power off and restart
error Just report
AC220V(AC380) with the servo

driver, detected the DC bus in the
WillACsupply voltage regulation to the product
420V(760V) above; or the supply voltage is Measuring supply voltage
within specification
higher than the input voltage range
around;
Improve power conditions, set surge suppression
After turning on the power supply after the controller, it still sends out
The power supply is unstable, or is affected by
Measuring supply voltage When a fault occurs, it may be the servo drive
to the impact of lightning
Er.400 Actuator failure. Repair or replace the servo
Overvoltage
In the case of already high voltage, enter Confirm the power voltage and running speed
driver
WillACsupply voltage regulation to the product
11
Acceleration and deceleration degree, torque/thrust within specification
Adjust bus voltage sampling gain

There is a large deviation in the sampling value of the bus voltage Confirm sampled value and actual value
(under technical support)
When the main circuit power is not turned on
Next, turn on the control power again, still
Servo drive failure - However, when an alarm occurs, it is possible that the
server drive failure. repair or replace

server Driver
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The supply voltage isAC220V
(AC380V) with time, check

The output DC bus voltage is at220V
Measuring supply voltage Adjust the power supply voltage to the normal range
(380V)the following;
Er.410 or supply voltage below the input voltage range
Undervoltage around;
Power supply voltage drops during operation Measuring supply voltage Increase the power supply capacitance
momentary power failure Measuring supply voltage Adjust the power supply voltage to the normal range
It is possible that the servo driver is faulty.

Servo drive failure -
Repair or replace the servo drive
Er.420
Bad connection of power cable Check wiring Check whether the power cable is badly connected
Power line phase loss
motor wiringUVWPhase sequence error Confirm the wiring of the servo motor Check if there is a problem with the motor wiring
The command input value exceeds the overspeed value Confirm input command Decrease the command value, or adjust the gain
Er.500 Lower the regulator gain, adjust the servo

Motor speed overshoot Confirm the waveform of the motor speed
(motor overspeed) gain, or adjust operating conditions
It is possible that the servo driver is faulty,

Change the frequency division output setting function code to make

Er.510 Encoder frequency division output pulse exceeds Calculate the running speed according to the encoder
have to work in the entire speed range of the servo
(Frequency division pulse outputThe number of encoder frequency division pulses set The frequency division output setting corresponds to the frequency division output
Within the range, the frequency division output pulse frequency will not
overspeed) Motor speed upper limit output pulse frequency, confirm whether it exceeds the limit
overrun
Eliminate mechanical causes to prevent motor shaft blockage

Er.600
The load torque is too large (such as the motor is blocked Convert or replace to match the current mechanical system
(Inertia identification lost Inertia ID run timed out
) or the load inertia is too large Matched motor (inertia matching and power, etc.
failure)
level matching)
When returning to zero, it has been searching at high speed without

Origin switch failure Replace the origin switch
with slow search process
Er.601 Confirm the zero return time (H0535)yes increase (H0535) during the search process
Search time set too short
(back to origin timeout No set too short between
Fault)
Increase the low-speed crawling process and reduce the high
Stop immediately after hitting the origin at high speed Check if it stops at the origin at high speed
Faster search speed, increase search addition and subtraction
without low speed reverse crawling process end
speed time
Er.602 too much load
11
See if the motor rotates during identification Remove the load or increase the current loop gain
(angular recognition lost The encoder cable is not in good contact and cannot be found
Check if the motor rotates normally Replaced wire
failure) ZSignal
- 130 -
Confirm motor wiring and encoder wiring

Poor wiring of motor and encoder Confirm wiring
Is there a problem
Er.610 The motor (or drive) runs beyond the Confirm the overload characteristics of the motor or drive Rediscuss load conditions, operating conditions
(drive overload) Overload Protection Features sex and run commands parts, motor capacity
Er.620 The motor does not drive due to mechanical factors

Confirm the operation command and motor speed Improve mechanical factors
(Motor overload) movement, resulting in excessive load during operation

Repair or replace the servo driver
Improve the setting bar of the servo drive

Ambient temperature is too high Measure ambient temperature
components, reduce the ambient temperature
Reset the overload fault by turning off the power Check the fault record, whether it has been reported Change the fault reset method, considering the negative
bit, made multiple runs like this load failure operating conditions
Er.650
The installation direction of the servo drive, and
radiator overheating According to the installation standard of the servo drive
The interval of other servo drives is not suitable Confirm the setting status of the servo driver
to install
reason

Er.651 The ambient temperature is too high, or the frequency of the motor Sensor monitors motor temperature or manually
The environment is ventilated and shut down for a period of time
(motor overheating) Heavy acceleration and deceleration or serious overload near
Er.740 EncoderZdisturbed;
Take shielding measures for the encoder line;
(Encoder UVWThe wiring is not normal; Check encoder wiring
Tighten the encoder terminals;
zinterference) The encoder cable is loose;
Er.741 EncoderABdisturbed;
Take shielding measures for the encoder line;
(Encoder UVWThe wiring is not normal; Check encoder wiring
Tighten the encoder terminals;
ABinterference) The encoder cable is loose;
Er.831 ADUnit data exception; ADModule failure or servo drive Power on again, if power on multiple times still
(ADsampling Drive signal when replacing control board Fault; Problem Replace Drive or Seek Tech
Fault1) loose cable; Check the drive signal cable; support or reseat the cable;
Er.833 The data of the current sampling unit is abnormal; The current sampling module is faulty or the servo drive Power on again, if power on multiple times still
(Current sampling failure Drive signal when replacing control board Actuator failure; Problem Replace Drive or Seek Tech
barrier) loose cable; Check the drive signal cable; support or reseat the cable;
Er.834 Check wiring is correct, ground

(AIsampling Sampling voltage greater than11.5V Multimeter to confirm input voltage wait. If the input module is broken then update
11
overvoltage) Change the input module,
Er.A20 Power on again, if power on multiple times still
(resolver communication Rotary encoder encoder communication failure Twist the motor shaft by hand Problem Replace Drive or Seek Tech
Fault) support or reseat the cable;
Replace the servo drive or seek technical support

Er.A21 Programmable Logic Fault seek technical support
support.
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The encoder is disconnected or not connected; Check if the encoder cable is incorrectly connected
Er.A34 The encoder cable is loose;

Confirm wiring
Connection or disconnection, poor contact, etc.
(encoder loopback
The motor model may be selected incorrectly seek technical support seek technical support
parity exception)
Encoder type may be wrongly selected seek technical support seek technical support
Er.A35 Twist the motor shaft by hand to rotate a few times to see
EncoderZno signal Check whether the encoder wire is in good contact
(Zsignal loss) Is thereZsignal output
Confirm motor cable or encoder cable

servo motorUVWIncorrect wiring Confirm the wiring of the motor main circuit cable
There are problems such as incorrect contact
Check if the gain of the servo driver is too high

Servo drive gain is low Increase gain (H08-02)
Low
Reduce position command frequency, command increase
The frequency of the position command pulse is higher Try to reduce the instruction frequency and then run
Er.b00 speed or adjust the electronic gear ratio
(Position follow error Add position command acceleration and deceleration time parameters
Acceleration of position command is too large Run after reducing the command acceleration
The difference is too large)
Numeral smoothing functions (H05-06)
Relative to operating conditions, position deviation Confirm the position deviation warning value (H0a-
set correctlyH0a-11value
Excessive warning value (H0a-11) 11)is it suitable
Turn on the power again, still alarm, there is
Servo drive failure - It may be the fault of the servo drive, repair
Repair or replace the servo driver
Er.b02 external mechanical slip Confirm machinery Need technical support
(external encoder
monitoring location and

Motor or external encoder wire contact is not Check if the encoder cable is incorrectly connected
Confirm wiring
motor feedback bit good Connection or disconnection, poor contact, etc.
set deviation too large)
Er.b03
The electronic gear ratio setting exceeds Determine the function codeH05-11/H05-10 WillH05-11/H05-10Ratio setting
(Electronic gear set
[0.001,4000]Predetermined area ratio of within the appropriate range
fixed error)
11.1.4Causes and solutions for warnings
When a warning occurs in the servo drive, a fault display "Er.9xx". The warning displays and their countermeasures are as follows.
If the warning still cannot be removed after handling, please contact the service department of our company.
error code
reason confirmation method Treatment measures
11
(alert content)
must be replaced with a compliant

Er.922 The external regenerative bleeder resistance is less than Measure the resistance and approve the function code
regenerative bleeder resistor while more
(External regenerative bleeder resistance is too small) The minimum required by the drive H02-27
change function codeH02-27
The first time to use our drive Re-initialize the angle This is normal, ignore this
Initialize the serial motor and the warning disappears warn
Er.960
The motor shaft is locked by external force or Check the motor and external machinery Let the motor run without load, re-
(absolute encoder angle initial
Too much load moment connect Start the initialization operation
warning)
Motor encoder or servo drive After eliminating the above reasons, again Contact the manufacturer to replace the servo motor
device failure operation, if this warning is still reported or servo drive
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11.1.5Causes and treatment measures of other adverse conditions
Note: For the gray parts in the table below, please set the power supply of the servo drive toOFFAfter checking and processing
bad condition reason Inspection Method Treatment measures
Check the voltage between the control power terminals

Control power is not connected Calibration Control PowerONcircuit
to press
Check the connection between the main circuit power supply terminals
The main circuit power is not connected Calibrate the main circuit power supplyONcircuit
Voltage
input Output(J9connector) wiring Do it rightJ9connector installation

examineJ9Connector installation and wiring
error, falling off Wire
Servo motor and encoder wiring disconnected Check wiring Connect the wiring correctly
Reduce the load, or choose a larger capacity

overload Carry out a no-load test run
Servo motors and servo drivers
Check input speed/position command letter Enter the speed/position command letter correctly
No speed/position command input
Number Number
Incorrectly set control mode (H02- Check the control mode (H02-00) Set the control mode correctly (H02-
00) settings 00)

The type of encoder used depends on the user parameter Correctly set the encoder type used
Check the type of encoder being used
Servo motors do not The number of settings is different (H00-30)
start Correctly carry out terminal input parameters
servoON(/S-ON) input Confirm terminal input parameters (H03
(H03group) setting, the servo
holdOFFstate group) set value
ON(/S-ON) input is set toON
During speed control: speed command input Confirm control mode (H02-00) Correctly set or input control parameters
inappropriate Is it consistent with the input enter
During torque control: Torque command input Confirm control mode (H02-00) Correctly set or input control parameters
During position control: command pulse input examine(H05-15) command pulse Correctly set or input control parameters
inappropriate Shape or sign + pulse signal enter
Deviation count clear signal (CLR) examineCLR+ andCLR- WillCLR+ andCLR-input is set
KeepONstate enter(J9-14,15) toOFF
Prohibit forward drive (P-OT), Prohibition

WillP-OTas well asN-OTThe input signal
of reverse drive (N-OT)lose examineP-OTorN-OTinput signal
is set toOFF
input signal holdONstate
Servo drive failure Servo drive circuit board failure Replace the servo drive
Servo motor instant Motor wiring error Check motor wiring Correct motor wiring
stop after running
stand still
Encoder wiring error Check encoder wiring Correct encoder wiring 11
power line (u,V,Wphase) and the connection of
servo motor Retighten and handle terminals and connections
Poor contact of servo motor wiring the encoder connector is unstable
rotation instability Loosening of fastening parts
Certainly
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During speed control: speed command input Confirm control mode (H02-00) Correctly set or input control parameters
During torque control: Torque command input Confirm control mode (H02-00) Correctly set or input control parameters

no order issued
timing servo motor Bias adjustment for servo drives Perform bias adjustment of the servo driver
Speed command has offset
to rotate (H03)bad (H03)
During position control: command pulse input examine(H05-15) command pulse Correctly set or input control parameters
inappropriate Shape or sign + pulse signal enter
Servo drive failure Servo drive circuit board failure Replace the servo drive
Servo motor mounting screws are loose Retighten the mounting screws
Poor mechanical installation Is the axis of the coupling misaligned? Align the shaft of the coupling
Coupling out of balance Ensure coupling balance
Check for sound, vibration near the bearing If there is any abnormality, please contact our company
Abnormal sound in the bearing
situation department contact
Twisted pair shielded cable, core wire
The input signal line specifications are different, subject to 0.12mm2above, and specification one
Make the input signal line specifications meet the requirements
interference Twisted pair shielded with tinned annealed copper
cable
The length of the input signal wire exceeds the use Confirm that the longest wiring length is3m.
Make the length of the input signal line meet the requirements
interfered with by range Impedance is100Ωthe following
Encoder signal wire specifications are different, subject to 0.12mm2above, and specification one Make the encoder signal line specifications meet the requirements
Servo motor generator to interfere Twisted pair shielded with tinned annealed copper beg
abnormal noise cable
The length of the encoder signal wire exceeds Make the length of the encoder signal line meet the requirement
Confirm that the longest wiring length is20m
interfered with using range beg
Encoder cable produces biting, outer sheath Replace the encoder cable and correct
Interference due to damaged encoder cable
damaged, the signal line is disturbed laying method
Servo motor ground terminal electricity Check the servo motor side, welding machine, etc.
Connect the device ground to avoid coding
Bit factor servo motor side equipment (electric welding grounding status (not grounded, not
tor signal line shunt
machines, etc.) fully grounded)
Servo drive pulse due to interference Implement anti-interference measures for encoder signal lines
Encoder signal line is disturbed
punch count error apply
11
Mechanical vibration or poor motor installation
Reduce mechanical vibration and standardize the installation of servo
The encoder is subjected to excessive vibration and impact (Mounting surface accuracy, fixation, deviation
clothing motor
Heart)
Encoder failure Encoder failure Replace Servo Motor
- 134 -
Factory setting:400.0Hz
Velocity Loop Gain (H08-00)set up Correct speed loop gain (H08-
Please refer to the user manual for gain adjustment
set too high 00)set up
all
Servo motor generator Position loop gain (H08-02)set up Correct position loop gain (H08-
The frequency is200 set too high 02)set up
all
~400Hzof
Factory setting:20.00ms
vibration Velocity loop integration time (H08- Correct speed loop integral time
01) is not set properly (H08-01)set up
all
Load moment of inertia ratio (H08- Check load moment of inertia ratio parameter Corrected load moment of inertia ratio (H08-
17) is not set properly (H08-17) 17)set up
Velocity Loop Gain (H08-00)set up Correct speed loop gain (H08-
set too high 00)set up
all
Position loop gain (H08-02)set up Correct position loop gain (H08-
start and stop set too high 02)set up
all
when the speed exceeds
Factory setting:20.00ms
Adjust too big Velocity loop integration time (H08- Correct speed loop integral time
01) is not set properly (H08-01)set up
all
Corrected load moment of inertia ratio (H08-
Load moment of inertia ratio (H08- Check load moment of inertia ratio parameter
17) setting, or use the mode switch
17) is not set properly (H08-17)
Function
11
- 135 -
The action state of the overtravel limit switch is not

Prohibition of forward/reverse drive input signal Correct the state of the overtravel limit switch
normal
number reached (P-OTorN-OT)
Incorrect wiring of overtravel limit switch Correct the wiring of the overtravel limit switch
Inhibit forward/reverse drive input The action of the overtravel limit switch is unstable Stabilize the operation of the overtravel limit switch
Signal malfunction (P-OTor Incorrect wiring of overtravel limit switch

N-OT) (Damaged cables, loose screws)
Correct the wiring of the overtravel limit switch
Check the Inhibit Forward Drive input signal Calibration inhibits positive drive input signal
Prohibition of forward/reverse drive input signal
(P-OT)set up(H03) (P-OT)set up(H03)
number setting error (P-OTor
Check the inhibit backdrive input signal Calibration inhibits backdrive input signal
N-OT)
(N-OT)set up(H03) (N-OT)set up(H03)
check servoOFFemergency stop correction servoOFFemergency stop
Certainly(H02-05) Certainly(H02-05)
Motor stop mode selection error
Check emergency stop setting during torque control Emergency stop setting during correction torque control
Certainly(H07-15) Certainly(H07-15)
OTThe location of the emergency stop travel is greater than the

Improper overtravel position WillOTThe location is set to a reasonable state
Overtravel (OT) short
(over superior
specified by the device
Encoder signal wire specifications are different, subject to 0.12mm2above, and specification one Make the encoder signal line specifications meet the requirements
area) to interfere Twisted pair shielded with tinned annealed copper beg
cable
The length of the encoder signal wire exceeds Make the length of the encoder signal line meet the requirement
Confirm that the longest wiring length is20m
interfered with using range beg
Encoder cable produces biting, outer sheath Replace the encoder cable and correct
Interference due to damaged encoder cable
damaged, the signal line is disturbed laying method
Servo motor ground terminal electricity Check the servo motor side, welding machine, etc.
Connect the device ground to avoid coding
Bit factor servo motor side equipment (electric welding grounding status (not grounded, not
tor signal line shunt
machines, etc.) fully grounded)
Servo drive pulse due to interference Implement anti-interference measures for encoder signal lines
Encoder signal line is disturbed
punch count error apply
Mechanical vibration or poor motor installation

Reduce mechanical vibration and standardize the installation of servo
The encoder is subjected to excessive vibration and impact (Mounting surface accuracy, fixation, deviation
clothing motor
Heart)
Encoder failure Encoder failure Replace Servo Motor
drive failure drive failure replace drive
11 Mechanical and servo motor coupling difference Coupling part of machine and servo motor Correctly connect the machine and the servo motor
often Offset coupling between

position offset
The input signal line specifications are different, subject to 0.12mm2above, and specification one
(no alarm output Make the input signal line specifications meet the requirements
interference Twisted pair shielded with tinned annealed copper
reported, resulting in
cable
position offset)
The length of the input signal wire exceeds the use Confirm that the longest wiring length is3m.
Make the length of the input signal line meet the requirements
interfered with by range Impedance is100Ωthe following
Encoder failure (pulse does not change) Encoder failure (pulse does not change) Replace Servo Motor
- 136 -
Ambient temperature is too high Measure the ambient temperature of the servo motor Lower the ambient temperature to40below ℃
Clean the dust and

servo motor The surface of the servo motor is not clean conduct a visual inspection
oil stain
overheat
Reduce the load, or choose a larger capacity

overload Carry out a no-load test run
Servo motors and servo drivers
11.2Servo drive maintenance and inspection
11.2.1Servo motor inspection
becauseACServo motors do not have brushes, so simple daily checks are all that is required. The inspection time in the table is an approximate standard. Please judge according to
the usage and usage environment to determine the most appropriate inspection time.
Notice
Do not disassemble the servo motor for maintenance and inspection.
Check item check the time Inspection and maintenance essentials Remark
Confirmation with vibration and sound every day Judging by feeling and hearing no increase compared to usual
Visual inspection According to the state of pollution Wipe with a cloth or clean with an air gun -
Cut off the connection to the servo drive,
use500VMegger to measure insulation resistance

as10MΩPlease contact this
Measurement of Insulation Resistance at least annually1Second-rate (servo motor power lineu,V,W respectively
Contact Corporate Services.
with the motor housing), the electrical
Resistance exceeds10MΩis normal
at least every5000Hour1 Remove the servo motor from the machine, then
Oil seal replacement Servo motors with oil seal only
Second-rate After replacing the oil seal
At least20000hours or
comprehensive inspection Please contact our service department Please do not disassemble the servo motor by yourself
By5Year1Second-rate
11.2.2Inspection of servo drive
Although daily inspections are not necessary, please check annually1more than times.
Check item check the time Inspection and maintenance essentials Remark
Cleaning of main body and circuit board No litter, dust, oil stains, etc. Wipe with a cloth or clean up with an air gun.
Terminal blocks, connector mounting screws
11
Loosening of screws Tighten further.
at least once a year There must be no looseness.
The main body and parts on the circuit board There must be no discoloration due to heat,
Please contact our service department.
Exception Damaged and short-term etc.
11.2.3Approximate standards for replacing internal parts of the servo drive
Electrical and electronic components are subject to mechanical wear and aging. To ensure safety, please conduct regular inspections.
For the servo drive overhauled by our company, its user parameters have been transferred back to the factory settings. Be sure to reset to the user parameters
at the time of use before operation.
- 137 -
Part Name Standard replacement period Replacement method, others Conditions of Use
cooling fan 4~5Year Replace with a new product
Replace with a new product

smoothing capacitor 7~8Year
(determined after inspection)
Ambient temperature: annual average30℃
Relay - check and decide Load rate:80%the following
Run rate:20less than hours/day

fuse 10Year Replace with a new product
printed circuit board Replace with new circuit board

5Year
Aluminum electrolytic capacitors (determined after inspection)
11.2.4Servo motor fan maintenance
Fan Service Life: Fan Life Estimates40000Hours (at rated voltage, ambient temperature of40℃, when the fan is running continuously at full
speed).
If the fan is covered with foreign matter, the performance of the fan will be reduced, and the air volume will be reduced. After the air duct is blocked, the wind resistance will increase, and the air volume
will also be reduced, which will affect the heat dissipation of the motor. When the temperature of the motor winding exceeds the motor protection temperature, the drive will reportERR45(IS300series drive)
error.
The steps to clean the fan are as follows;
1, Remove the fixed air duct cover at the motor tail8screws (G1forM4inner hexagon,G2forM5Inner hexagon screws, cross recessed pan head screws were
used in the early structure), and remove the cover plate;
remove the screws
open the cover
Fan and its surroundings
Pay attention to cleaning
2. After removing the cover plate, use a small flat-head screwdriver to clean the foreign matter on the surface of the fan. The foreign matter in the air duct should be cleaned as much as possible. No
foreign matter hinders the air path. After cleaning, blow it again with a high-pressure air gun;
3, After the cleaning is completed, cover the cover plate, tighten the original screws, and the cleaning is completed;
4, Determine the cleaning frequency of the fan according to the actual work site conditions.
11
- 138 -
12
appendix
No.12Chapter Appendix IS550Series Servo Driver User Manual
No.12Chapter Appendix
12.1List of function code parameters
Minimum order relevant

function code name Predetermined area factory setting effective time category
bit model
H0Group Servo Motor Parameters
0~65534 connect again shutdown

H00 00 Motor number 1 -
65535-The motor model is empty after power set up
0-counterclockwise live immediately

H00 08 Motor power line phase sequence 1 0
1-Clockwise direction effect
0-220V
H00 09 Rated voltage - - -
1-380V
H00 10 rated power 0.01kW~655.35kW 0.01kW - Effective immediately -
H00 11 rated current 0.001~655.35A 0.01A - Effective immediately -
H00 12 Rated torque 0.10Nm~655.35Nm 0.01Nm - Effective immediately -
H00 13 Maximum torque 0.10Nm~655.35Nm 0.01Nm - Effective immediately -
H00 14 Rated speed 1 rpm~9000rpm 1 rpm - Effective immediately -
H00 15 Maximum speed 1 rpm~9000rpm 1 rpm - Effective immediately -
0.01㎏c㎡〜655.35㎏ c 0.01
H00 16 Moment of inertiajm - -
㎏c㎡
Effective immediately
㎡
connect again
H00 17 2~360Opposite
Number of pole pairs of permanent magnet synchronous motor 1Opposite - -
after power
H00 18 Stator resistance 0.001Ω~65.535Ω 0.001Ω - Effective immediately -

H00 19 Stator inductanceQ 0.01mH~655.35mH 0.01mH - Effective immediately -
H00 20 Stator inductanceLd 0.01mH~655.35mH 0.01mH - Effective immediately -
0.01mV/rpm~ 0.01mV/
H00 twenty one opposite potential coefficient - Effective immediately -
655.35mV/rpm rpm
0.01Nm/Arms~ 0.01Nm/
H00 twenty two torque coefficientKt - Effective immediately -
655.35Nm/Arms Arms
H00 twenty three Electrical constantTe 0.01ms~655.35ms 0.01ms - Effective immediately -
H00 twenty four mechanical constantT m 0.01ms~655.35ms 0.01ms - Effective immediately -
connect again
H00 28 Absolute code wheel initial position 0~1073741824 1 - -
power supply
12
- 140 -
IS550Series Servo Driver User Manual No.12Chapter Appendix

bit model
000-common incremental encoding
device (UVW-ABZ)
001-Wire-saving encoder
(ABZ(UVW))
002- Incremental encoder
(WithoutUVW)//None 001(HTie connect again
H00 30 Encoder selection (HEX) 1 -
010-Tamagawa absolute formula List:010) power supply
Encoder
012-serial encoder (increased
amount, absolute)//none
020-SIN/COSEncoder
021-Resolver
1pulse/rev~ 1pulse/ 2500pulse connect again

H00 31 Encoder lines -
1073741824pulse/rev rev rush/rev power supply
connect again
H00 33 Initialize electrical angle 0.0°〜360.0° 0.1° 0.0° -
power supply
connect again
H00 34 uPhase electrical angle 0.0°〜360.0° 0.1° 0.0° -
power supply
connect again
H00 35 Resolver pole pairs 1—360 1 1 -
power supply
H1Group Driver Parameters
H01 00 software version number 10X.XX - 10X.XX - show -

H01 01 FPGASoftware version 111.XX - 111.XX - show -
connect again shutdown
H01 02 Servo drive number 20000~20013 20002 -
after power set up
H01 04 Voltage level 380 - 380V - show -

H01 05 rated power 0.01kW~655.35kW 0.01kW 15.00kW - show -
H01 07 Rated output current 0.01A~655.35A 0.01A 32.00A - show -
H01 08 Maximum output current 0.01A~655.35A 0.01A 57.60A - show -
H01 09 Temperature Curve Selection 0-2 1 1
after power set up
connect again
H01 10 Carrier period 4000Hz~8000Hz - 4000Hz -
after power

H01 12 Speed loop modulation selection 2000Hz~4000Hz - 2000Hz -
after power set up
connect again run

H01 15 DC bus overvoltage protection point 1V~2000V 1V 780V -
after power set up
H01 16 DC bus voltage discharge point 1V~2000V 1V 700V

connect again run
-
12
after power set up
H01 17 DC bus voltage undervoltage point 1V~2000V 1V 380V - show -

100%, shutdown
H01 18 Driver overcurrent protection point 10%~100% 0.01 Effective immediately -
Model confirmed set up
- 141 -

bit model
run
H01 20 Dead zone compensation - 500.0~500.0 0.1% 80.0 Effective immediately
set up
run
H01 27 Current loop proportional gainKp 1~65535 1 2000 Effective immediately -
set up
run
H01 28 Current Loop Integral Gain 0~65535 1 2000 Effective immediately -
set up
run
H01 30 Bus Voltage Gain Adjustment 50.0%~150.0% 0.001 100.0% Effective immediately -
set up
run
H01 31 Current correction factor 50.0%~150.0% 0.001 100.0% Effective immediately -
set up
UVSampling Relative Correction System shutdown

H01 32 1-65535 1 16384 Effective immediately
number set up
shutdown
H01 33 AnalogAI1dead zone adjustment 0%~200% 0.01 2% Effective immediately -
set up
shutdown
set up
shutdown
set up
shutdown
H01 36 OffsetAI1Input voltage1 - 12000mV~1200mV 1mV 10000mV Effective immediately -
set up
shutdown
H01 37 OffsetAI1Sampling voltage1 - 12000mV~1200mV 1mV 10000mV Effective immediately -
set up
shutdown
H01 38 OffsetAI1Input voltage2 - 12000mV~1200mV 1mV - 10000mV Effective immediately -
set up
shutdown
H01 39 OffsetAI1Sampling voltage2 - 12000mV~1200mV 1mV - 10000mV Effective immediately -
set up
shutdown
set up
shutdown
H01 41 OffsetA2Sampling voltage1 - 12000mV~1200mV 1mV 10000mV Effective immediately -
set up
shutdown
H01 42 OffsetAI2Input voltage2 - 12000mV~1200mV 1mV - 10000mV Effective immediately
set up
shutdown
set up
shutdown
set up
12 H01 45 OffsetA3Sampling voltage1 - 12000mV~1200mV 1mV 10000mV Effective immediately

shutdown
set up
-
shutdown
H01 46 OffsetAI3Input voltage2 - 12000mV~1200mV 1mV - 10000mV Effective immediately -
set up
shutdown
set up
- 142 -

bit model
H01 48 101Troubleshooting code show

H01 49 101Troubleshooting code show
H2Group Basic Control Parameters
0-speed mode (default)

1-location mode
2-torque mode
3-speed mode↔torque mode 1 shutdown
H02 00 Control mode selection 1 Effective immediately -
4-location mode↔speed mode 1(P/H) set up
5-location mode↔torque mode
6-location mode↔speed↔
Torque Hybrid Mode
0-byCCWDirection is forward
direction(AadvancedB)
shutdown
H02 02 Rotation direction selection 1-byCWdirection is forward 1 0 Effective immediately PST
set up
to (reverse mode,Astagnant
backB)
0-byCCWDirection is forward
direction(AadvancedB)
Output pulse feedback direction connect again shutdown
H02 03 1-byCWdirection is forward 1 0 PST
choose after power set up
to (reverse mode,Astagnant
backB)
0-no filtering (default)

shutdown
H02 04 Speed Feedback Filter Selection 1-average filtering 1 0 Effective immediately PST
set up
2-low pass filter
0-The motor coasts to a stop, keeping
servoOFFShutdown mode free running state; shutdown

H02 05 1 0 Effective immediately PST
No.1choose 1-Stop at zero speed, free state set up
state
Failure stop modeNo.2 0-free run stop, hold shutdown

H02 06 1 0 Effective immediately PST
choose stay free set up
0-free run stop

1-The emergency stop torque will be
Set torque as maximum

to decelerate and stop the motor, then
shutdown
H02 07 Way to stop when overtravel After entering the servo lock state 1 0 Effective immediately P.S.
set up
2-The emergency stop torque will be
Set torque as maximum

to decelerate and stop the motor, then
After entering the free running state
H02 10
Brake command--servoOFF
delay
1ms~500ms 1ms 100ms Effective immediately
shutdown
set up
PST 12
Brake command output speed shutdown
H02 11 0rpm~1000rpm 1 rpm 100rpm Effective immediately PST
limit value set up
servoOFF-brake command shutdown

H02 12 100ms~1000ms 1ms 500ms Effective immediately PST
waiting time set up
- 143 -

bit model
0-LEDImmediately output warning letter

shutdown
H02 15 ledWarning display selection interest 1 0 Effective immediately PST
set up
1-LEDDo not output warning messages
shutdown
H02 20 Motor electrical angle offset 0-50.0 0.1Spend 0 Power on again -
set up
different models
Allowable power consumption of the drive
H02 twenty one 1~1000ohms read only 1ohm different silent Effective immediately show -
Minimum value of resistance
Default value
shutdown
H02 twenty four Momentary power failure holding time 20ms~1000ms 1ms 20 Effective immediately PST
set up
1-Use an external energy dissipation resistor
and natural cooling
2-Use an external energy dissipation resistor shutdown

H02 25 Energy Resistor Setting 1 1 Effective immediately -
and forced air cooling set up
3-No energy consumption resistors, all
absorption by capacitance
different models
External energy consumption resistor power shutdown
H02 26 1W~65535W 1W different silent Effective immediately -
capacity set up
Default value
different models
User can set shutdown
H02 27 Resistance value of external energy consumption resistor 1ohm different silent Effective immediately -
1ohm~1000ohm set up
Default value
H02 28
H02 29
H02 30 user password 0~65535 1 0 -
after power set up
0-no action
1-Restore factory settings shutdown
H02 31 System parameter initialization 1 0 Effective immediately -
(removeH0/1group parameter) set up
2-Clear fault records
run
H02 32 default display selection 0-50 1 50 Effective immediately
set up
Reserved parameters
H02 40 (Motor unit parameters can be seen 0~65535 - - - - -

Enable)
Reserved parameters
H02 41 0~65535 - - - - -
(factory password)
12
H3Group Terminal Input Parameters
0~0xFFFF
Bit0-correspondFun IN.1;
Fun INLsignal not assigned connect again run
H03 00 Bit1-correspondFun IN.2 1 0 -
status(HEX) after power set up
;…
Bit15-correspondFun IN.16
- 144 -

bit model
0~0xFFFF
Bit0-correspondFun IN.17;
Fun INHsignal not assigned connect again run
H03 01 Bit1-correspondFun IN.18 1 0 -
status(HEX) after power set up
;…
Bit15-correspondFun IN.32
Enter function code:0,

1-32
0: no definition connect again run
H03 02 DI1Terminal function selection 1 6 -
1~32:Fun IN.1~ 32 after power set up
(refer toDIDObasic
function code list)
Input polarity:0-4
0-Indicates active low
1-Indicates active high
connect again run
H03 03 DI1Terminal logic selection 2-Indicates that the rising edge is valid 1 0 -
after power set up
3-Indicates that the falling edge is valid
4-Indicates both rising and falling edges
efficient

1-32
0-no definition connect again run
(refer toDIDObasic
function code list)
Input polarity:0-4
connect again run
after power set up
efficient

1-32
(refer toDIDObasic
function code list)
Input polarity:0-4
run
12
connect again
after power set up
efficient
- 145 -

bit model

1-32
(refer toDIDObasic
function code list)
Input polarity:0-4
connect again run
after power set up
efficient

1-32
(refer toDIDObasic
function code list)
Input polarity:0-4
connect again run
after power set up
efficient

1-32
(refer toDIDObasic
function code list)
Input polarity:0-4
connect again run
after power set up
efficient
12 1-32
(refer toDIDObasic
function code list)
- 146 -

bit model
Input polarity:0-4
connect again run
after power set up
efficient

1-32
(refer toDIDObasic
function code list)
Input polarity:0-4
connect again run
after power set up
efficient

1-32
0-Handwheel pulse input connect again run
(refer toDIDObasic
function code list)
Input polarity:0-4
connect again run
after power set up
efficient

1-32
0-Handwheel pulse input connect again run
(refer toDIDObasic
function code list)
Input polarity:0-4
12
connect again run
H03 twenty oneDI10Terminal logic selection 2-Indicates that the rising edge is valid 1 0 -
after power set up
efficient
- 147 -

bit model
shutdown
H03 50 AI1minimum input - 10.00V~10.00V 0.01V - 10.00V Effective immediately -
set up
AI1Minimum value corresponds to the setting shutdown

H03 51 - 100.0%~100.0% 0.1% - 100.0% Effective immediately -
value set up
shutdown
H03 52 AI1input - 10.00V~10.00V 0.01V 10.00V Effective immediately -
set up
AI1Maximum corresponding setting shutdown

H03 53 - 100.0%~100.0% 0.1% 100.0% Effective immediately -
value set up
run
H03 54 AI1Zero trim - 500.0mV~500.0mV 0.1mV 0mV Effective immediately -
set up
shutdown
H03 56 AI1input filter time 0.00ms~655.35ms 0.01ms 2.00ms Effective immediately -
set up
shutdown
set up

value set up
shutdown
set up

value set up
run
set up
shutdown
set up
shutdown
set up

value set up
shutdown
set up

value set up
run
set up
shutdown
set up
12 H03 80
Analog100%corresponding speed
degree value
0rpm-9000rpm 1 rpm 3000rpm Effective immediately
shutdown
set up
-
Analog100%Corresponding turn 1.00times ~8.00times rated 1.00Double the amount 1.00Double the amount shutdown
H03 81 Effective immediately -
Moment torque constant torque constant torque set up
- 148 -

bit model
H4Group terminal output parameters
Output encoding:1~16
0: no definition
shutdown
H04 00 DO1Terminal function selection 1~16: 1 1 Effective immediately -
set up
Fun OUT.1~16refer to DIDO
Function Option Code Definition
Output polarity inversion setting:
0-1
DO1Terminal logic level 0-output when validL shutdown
H04 01 1 0 Effective immediately -
choose Low level (optocoupler conduction) set up
1-output when validh

High level (optocoupler off)
0: no definition
shutdown
set up
0-1

0: no definition
shutdown
set up
0-1

0: no definition
shutdown
set up
12
0-1
choose low level set up

high level
- 149 -

bit model
0: no definition
shutdown
H04 10 DO6Terminal function selection 1~17:Fun OUT.1~ 17refer 1 12 Effective immediately -
set up
toDIDOfunction selection
code selection definition
DO6Terminal logic level 0-1 0-Enter when it is valid shutdown

choose outLlow level1-Indicates valid set up
time outputhhigh level
0: no definition
shutdown
set up
DO7Terminal logic level 0-1 0-Enter when it is valid shutdown

choose outLlow level1-Indicates valid set up
time outputhhigh level
0: no definition
shutdown
set up
0-output when validLLow

DO8Terminal logic level shutdown
H04 15 level 1 0 Effective immediately -
choose set up
high level
Bit0-DO1source
...
Bit7-DO8source
Bit8~Bit15reserved. shutdown
H04 twenty two dosource selection - 0 Effective immediately PST
set up
Bitx=0:DO(x+1)given
by the driver;
Bitx=1:DO(x+1)given by
communication
12
- 150 -

bit model
00-Motor speed
(1V/1000rpm)default
01-speed command
(1V/1000rpm)
02-Torque command
(1V/100%)
03-Position deviation
(0.05V/1command unit)
04-Position Amplifier Offset
run
H04 50 AO1signal selection Poor (after electronic gear) 1 0 Effective immediately -
set up
(0.05V/1Encoder pulse
unit)
05-Position command speed
(1V/1000rpm)
06-Positioning completion command (setting
Bit done:5V, the location is not
Finish:0V)
07-speed feedforward
(1V/1000rpm)
run
H04 51 AO1Bias voltage 0-10000mV 1mV 5000mV Effective immediately -
set up
run
H04 52 AO1magnification - 99.99~99.99 0.01times 1.00 Effective immediately -
set up
H05Group Position Control Parameters
0-Pulse command
1-step given shutdown

H05 00 master position commandAsource 1 0 Effective immediately P
2-Multi-segment position command given set up
3-Communication given
H05 01
- 9999Command unit~ shutdown
H05 03 step amount 1command unit 50 Effective immediately P
9999command unit set up
H05 04 - - - - - - -
H05 05 - - - - - - -
Position instruction moving average shutdown
H05 06 0.0ms~128.0ms 0.1ms 0.0ms Effective immediately P
time set up
Electronic gear ratio1(point run

H05 07 1~1073741824 1 4 Effective immediately P
son) set up

H05 09 1~1073741824 1 1 P
12
Effective immediately
mother) set up

son) set up

mother) set up
- 151 -

bit model
0-direction+pulse, positive logic
edit. (Defaults)
1-direction+pulse, negative logic
H05 15 Burst Morphology 2-APhase +BPhase Orthogonal Vein 1 0 P
after power set up
rush,4multiplier
3-CW+CCW(Pulse type
The drive does not have this function)
0-servoOFFand accident
clear position deviation pulse
shutdown
H05 16 clear action selection rush 1 0 Effective immediately P
set up
1-Clear bit on fault
offset pulse
16P/Rev~ 2500P/ connect again shutdown

H05 17 Encoder frequency division pulse number 1P/Rev -
1073741824P/Rev Rev. after power set up
0-No speed feedforward shutdown

H05 19 Speed Feedforward Control Selection 1 1 Effective immediately P
1-Internal Velocity Feedforward set up
0-The absolute value of the position deviation is small
Input when the positioning complete range
out
positioning complete signal at the positioning completion range and shutdown

H05 20 1 0 Effective immediately P
(COIN) output condition Set command filtered command set up
for0time output
at the positioning completion range and
set command to0time output
1Command unit~65535refer to 1order sheet 7order sheet shutdown

H05 twenty one Positioning Completion Range Effective immediately P
order unit bit bit set up
positioning complete approach signal 1Command unit~65535refer to 1order sheet 65535refer to shutdown
H05 twenty two Effective immediately P
amplitude order unit bit order unit set up
1-Use interrupt fixed length function shutdown

H05 twenty three interrupt fixed length enable / 0 Power on to take effect P
0-Prohibit interruption of fixed-length function set up
0~1073741824(command 1order sheet 10000refer to run

H05 twenty four Interrupt fixed length displacement Effective immediately P
unit) bit order unit set up
Interrupt fixed-length constant-speed operation run

H05 26 1 rpm~9000rpm rpm 200 Effective immediately P
speed set up
run
H05 27 0~1000
Interrupt fixed-length acceleration and deceleration time 1ms 100ms Effective immediately P
set up
12
Internal and external position deviation clear 0: clear run
choose 1: do not clear set up
Fixed-length lock release signal 0: disable run

Enable 1:Enable set up
- 152 -

bit model
0-Turn off homing function
able;
1-passDIenter
ORGSETsignal to enable
Return to origin function;
2-passDIenter
ORGSETsignal enable run
H05 30 Return-to-origin enable control 1 0 Effective immediately P
Air return to origin function; set up
3-Immediately after power-on, the original
point return;
4-Return to origin immediately
5-Start the electrical homing command
make
6-Take the current position as the origin
0-The origin of the deceleration point of positive return to zero
point as origin switch
1-Back to zero deceleration point original
point as origin switch
2-The origin of the deceleration point of positive return to zero
point for the motorZSignal
3-Back to zero deceleration point original shutdown

H05 31 Return-to-origin mode 1 0 Effective immediately P
point for the motorZSignal set up
4-The deceleration point for forward zero return is
Origin switch, the origin is electric
machineZSignal
5-The deceleration point for reverse zero return is
Origin switch, the origin is electric
machineZSignal
High-speed search origin point open shutdown

H05 32 0-3000 1 rpm 100rpm Effective immediately P
Speed of the off signal set up
Low speed search origin switch shutdown

H05 33 0-1000 1 rpm 10rpm Effective immediately P
speed set up
When limiting the search origin shutdown

H05 34 0-1000 ms 1000 Effective immediately P
Acceleration and deceleration time set up
shutdown
H05 35 Limit the time to find the origin 0-65535 ms 10000 Effective immediately P
set up
1order sheet shutdown

H05 36 Mechanical origin offset - 2^31arrive2^31 0 Effective immediately P
bit set up
12
- 153 -

bit model
0-H05.36return to origin
After the coordinate value, the row encountered
Travel limit does not reverse to find the origin
After the relative moving distance,
No reverse when encountering travel limit
Find the origin run

H05 40 Return to origin option 1 0 Effective immediately P
2-H05.36return to origin set up
After the coordinate value, the row encountered
Find the origin in the reverse direction of travel limit
After the relative moving distance,
Reverse search when encountering travel limit
origin
H05 41 Motor load deviation is too large - 2^31arrive2^31 1p 8192 Shutdown setting
Motor load deviation detection

H05 43 0-100% 0.01 20 Shutdown setting
percentage
run
H05 44 closed loop gain coefficient numerator 1-65535 1 1 Effective immediately P
set up
0-Do not use
1-in standard running direction
use
2-in reverse running direction
H05 45 Position closed-loop control mode use 1 0
after power set up
3-closed loopIOswitch and mark
used in the quasi-running direction
4-closed loopIOswitch and reverse
Use in the direction of rotation
run
H05 46 Closed-loop gain coefficient denominator 1-65535 1 1 Effective immediately P
set up

H05 47 External encoder lines 1-65535 1 2500
after power set up
One revolution of the motor corresponds to the outer shutdown

H05 48 0-2^31 1p 2730 Effective immediately
Number of encoder pulses set up
H06Group Speed Control Parameters
0-digital given
(H0603)
1-AI1 shutdown
H06 00 main speed commandAsource 1 0 Effective immediately S
2-AI2 set up
12 3-AI3
4-Jog speed command
- 154 -

bit model
0-digital given
(H0603)
1-AI1
2-AI2
shutdown
H06 01 Auxiliary speed commandBsource 3-AI3 1 3 Effective immediately S
set up
4-Jog speed command
5-Multi-stage speed command
6-reserve
7-reserve
0-main speed commandAsource
1-Auxiliary speed commandBsource

shutdown
H06 02 Speed command selection 2-A+B 1 0 Effective immediately S
set up
3-A/Bto switch
4-Communication given
Speed command keyboard setting run

H06 03 - 9000rpm~9000rpm 1 rpm 200rpm Effective immediately S
value set up
run
H06 04 Jog speed setpoint 0rpm~9000rpm 1 rpm 300rpm Effective immediately S
set up
Speed command acceleration ramp shutdown

H06 05 0ms-10000ms 1ms 0ms Effective immediately S
time set up
Speed command deceleration ramp shutdown

H06 06 0ms-10000ms 1ms 0ms Effective immediately S
time set up
shutdown
H06 07 Maximum speed limit 0rpm-9000rpm 1 rpm 9000rpm Effective immediately S
set up
shutdown
H06 08 forward speed limit 0rpm-9000rpm 1 rpm 9000rpm Effective immediately S
set up
shutdown
H06 09 speed reverse limit 0rpm-9000rpm 1 rpm 9000rpm Effective immediately S
set up
0-No torque feedforward

shutdown
H06 11 Torque feedforward selection 1-Internal Torque Feedforward 1 1 effective immediately P.S.
set up
2,3-reserve
shutdown
H06 15 Zero fixed speed limit fixed value 0rpm~1000rpm 1 rpm 10rpm Effective immediately S
set up
Motor rotation signal speed shutdown

H06 16 0rpm~1000rpm 1 rpm 20rpm Effective immediately PST
threshold set up
shutdown
H06 17 Speed arrival signal width 0rpm~100rpm 1 rpm 10rpm Effective immediately PST
set up
12
H07Group torque control parameters
0-Number given (H703)

1-AI1 shutdown
H07 00 main torque commandAsource 1 0 Effective immediately T
2-AI2 set up
3-AI3
- 155 -

bit model
0-Number given (H703)

1-AI1
2-AI2
shutdown
H07 01 Auxiliary torque commandBsource 3-AI3 1 1 Effective immediately T
set up
4-Multi-stage torque command
5-reserve
6-reserve
0-main torque commandAsource
1-Auxiliary torque commandBsource

shutdown
H07 02 Torque command selection 2-A+Bsource 1 0 Effective immediately T
set up
3-A/Bto switch 4-
Communication given
run
H07 03 Torque command keyboard setting value - 300.0%~300.0% 0.001 0 Effective immediately T
set up
shutdown
H07 05 Torque command filter time 0.00ms~655.35ms 0.01ms 0ms Effective immediately PST
set up
shutdown
H07 06 Torque command filter time2 0.00ms~655.35ms 0.01ms 0ms Effective immediately PST
set up
0-No.1Positive and negative internal torque limit
system (default)
1-Positive and negative external torque limit
(useP-CL,N-CL
choose)
shutdown
H07 07 Torque limit source 2-WillT-LMTused as external 1 0 Effective immediately PST
set up
Torque limit input
3-Take positive and negative external torque and
externalT-LMTminimum value of
is the torque limit (using the
P-CL,N-CLchoose)
1-AI1
shutdown
H07 08 T-LMTchoose 2-AI2 1 2 Effective immediately PST
set up
3-AI3
0.0%~300.0%
No.1Forward internal torque limit shutdown
H07 09 (100%Corresponding to double the rated 0.001 2.5 Effective immediately PST
system set up
Torque)
0.0%~300.0%
No.1Reverse internal torque limit shutdown
H07 10 (100%Corresponding to double the rated 0.001 2.5 Effective immediately PST
system set up
Torque)
0.0%~300.0%
12
shutdown
H07 11 Forward rotation side external torque limit (100%Corresponding to double the rated 0.001 2.5 Effective immediately PST
set up
Torque)
0.0%~300.0%
shutdown
H07 12 Reverse side external torque limit (100%Corresponding to double the rated 0.001 2.5 Effective immediately PST
set up
Torque)
- 156 -

bit model
0.0%~300.0%
shutdown
H07 15 Emergency stop torque (100%Corresponding to double the rated 0.001 1 Effective immediately PST
set up
Torque)
0-Internal speed limit (turn

speed limit in torque control) shutdown
H07 17 Speed limit source selection 1 0 Effective immediately T
1-WillV-LMTused as external set up
speed limit input
1-AI1
shutdown
H07 18 V-LMTchoose 2-AI2 1 3 Effective immediately T
set up
3-AI3
Internal speed under torque control shutdown
H07 19 0rpm-9000rpm 1 rpm 3000rpm Effective immediately T
degree limit set up
H08Group Gain Parameters
run
H08 00 speed loop gain 1.0Hz~2000.0Hz 0.1Hz 400.0Hz Effective immediately P.S.
set up
Speed loop integral time parameter run

H08 01 0.15ms~512.00ms 0.01ms 20.00ms Effective immediately P.S.
number set up
run
H08 02 Position loop gain 1.0Hz~2000.0Hz 0.1Hz 20.0Hz Effective immediately P
set up
run
H08 03 No.2speed loop gain 1.0Hz~2000.0Hz 0.1Hz 400.0Hz Effective immediately P.S.
set up
No.2Speed loop integration time run

H08 04 0.15ms~512.00ms 0.01ms 20.00ms Effective immediately P.S.
parameter set up
run
H08 05 No.2Position loop gain 1.0Hz~2000.0Hz 0.1Hz 20.0Hz Effective immediately P
set up
run
H08 06 Gain switching time1 0~65535 1ms 10 Effective immediately P
set up
run
H08 07 Gain switching time2 0~65535 1ms 10 Effective immediately P
set up
run
H08 08 Gain switching wait time1 0~65535 1ms 0 Effective immediately P.S.
set up
run
H08 09 Gain switching wait time2 0~65535 1ms 0 Effective immediately P.S.
set up
12
- 157 -

bit model
00-Disable gain switching, solid
set to No.1gain
1-Manual Gain Switching
via external input signal

(G-SEL) switching gain
2-Take position pulse difference as bar
pieces of automatic gain switching, this
When gain switching condition amplitude
(H0811)
3-Take position pulse difference as bar
and position command filter output shutdown

H08 10 Gain switching selector switch 1 0 Effective immediately P.S.
Out for0, automatic gain cut set up
at this time the gain switching bar
piece amplitude (H0811)

4-Conditional on speed command
automatic gain switching, at this time
Gain Switching Condition Amplitude
(H0812)
5-Conditional on torque command
automatic gain switching, at this time
Gain Switching Condition Amplitude
(H0813)
Gain switching position deviation shutdown
H08 11 0~65535 P 30 Effective immediately P
Conditional magnitude (threshold) set up
Gain switching speed command shutdown

H08 12 0~65535 rpm 100 Effective immediately P.S.
Gain switching torque command shutdown

H08 13 0~300.0 0.1% 20.0 Effective immediately P.S.
H08 14
Load moment of inertia ratio flat run
H08 15 1.00~120.00 0.01 1.00 Effective immediately PST
average set up
H08 16 Moment of inertia identification current value 1.00~120.00 0.01 1.00 -- show
Speed feed-forward filter time run
parameter set up
run
H08 19 Velocity Feedforward Gain 0.0%~100.0% 0.1% 0.0% Effective immediately P
set up
Torque feed-forward filter time run

parameter set up
run
12 H08 twenty one Torque Feedforward Gain 0.0%~200.0% 0.1% 0.0% Effective immediately
set up
P
shutdown
H08 twenty two Speed feedback filter time 0-64.00 0.01ms 0 Effective immediately P.S.
set up
0-PIcontrol
shutdown
H08 25 Speed loop control method 1-P-PIswitch control 1 0 Effective immediately P.S.
set up
2-IPcontrol
- 158 -

bit model
0-Take the internal torque command as
condition
1-Conditional on speed command

shutdown
H08 26 P-PIswitch control condition 2-conditional on acceleration 1 0 Effective immediately P.S.
set up
3-Take the position deviation pulse as
condition
4-With an external switch (DI)to switch
P-PISwitching condition torque shutdown

H08 27 0.0%~300.0% 0.1% 30.0% Effective immediately P.S.
instruction set up
P-PISwitch condition speed shutdown

H08 28 0rpm~9000rpm 1 rpm 0rpm Effective immediately P.S.
instruction set up
P-PIToggle Condition Acceleration 200rpm/ shutdown

H08 29 0rpm/s~30000rpm/s 1rpm/s Effective immediately P.S.
Spend ms set up
P-PIToggle condition location 0Command unit~10000refer to 1order sheet 0order sheet shutdown
H08 30 Effective immediately P
deviation order unit bit bit set up
HAGroup Fault and Protection
0-Enable Fault Disable Warning

Power input phase loss protection shutdown
H0A 00 1-Enable faults and warnings 1 0 Effective immediately -
choose set up
2-Disable faults and warnings
0-prohibit shutdown
H0A 03 Power-down save enable option 1 0 Effective immediately
1-Enable set up
run
H0A 04 Motor overload protection gain 50%-3000% 0.01 1 Effective immediately -
set up
shutdown
H0A 05 Overload warning value 1%~100% 0.01 0.8 Effective immediately -
set up
Reduced motor overload current shutdown

H0A 06 10%~100% 0.01 1 Effective immediately -
rated value set up
0-Does not detect main circuit under-power
pressure warning
When the main circuit is under voltage shutdown
H0A 08 1-Detect main circuit undervoltage 1 0 Effective immediately -
feature selection set up
warn
2-reserve
shutdown
H0A 09 Resolver Communication Fault Threshold 0-20 1 4 Effective immediately -
set up
1Command unit~32767refer to 32767refer to shutdown

H0A 10 Position deviation excessive warning value 1command unit Effective immediately -
order unit order unit set up
1Command unit~32767refer to 1order sheet 32767refer to shutdown

H0A 11 Position deviation is too large fault value Effective immediately -
bit
12
order unit order unit set up
0: Disable protection shutdown

H0A 12 Drive protection option 1 1 Effective immediately -
1: enable protection set up
motor temperaturePTCProtect 0-Disable motor temperature protection shutdown

H0A twenty two 1 0 Effective immediately -
Enable 1-Enable motor temperature protection set up
- 159 -

bit model
H0A twenty three - - - - - - -

Encoder feedback pin filter shutdown
H0A twenty four 3~100 1*20.8ns twenty four Power on to take effect -
wave time set up
run
H0A 25 Second encoder filter setting 0-200 20ns 20 Effective immediately -
set up
0-open motor overload1-shield shutdown

H0A 26 Motor overload shield enable 1 0 Effective immediately -
Motor overload warning and fault set up
shutdown
H0A 29 Bus voltage filter time 0-3.000 0.001ms 3.000 Effective immediately -
set up
H0bgroup display
H0b 00 Actual motor speed - 1 rpm - - show PST

H0b 01 speed command - 1 rpm - - show P.S.
Internal torque command (phase
H0b 02 - 0.001 - - show PST
for rated torque)
H0b 03 Input signal monitoringDI - - - - show PST

H0b 05 output signal monitoringdo - - - - show PST
H0b 06 - - - - - - -
Absolute Position Counter
H0b 07 (32bit decimal display - 1command unit - - show P

Show)
Mechanical angle (from origin

H0b 09 - 1p - - show P
number of pulses to start)
Rotation angle2(electric angle

H0b 10 - 0.1Spend - - show PST
Spend)
Correspondence to input position command

H0b 11 - 1 rpm - - show P
speed information
Deviation counter (position
H0b 12 offset) (position only - 1command unit - - show P

valid when controlling)
Input command pulse counter 1order sheet

H0b 13 - - - show P
(32digit decimal display) bit
Full-closed-loop single-turn accumulative deviation
H0b 15 - 1p show P
difference low
Full-closed-loop single-turn accumulative deviation

H0b 16 - 1p show P
difference high
12
Feedback pulse counter
(number of encoder pulses4

H0b 17 - 1p - - show P
Multiplier data:32
bit10base display)
Total power-up time (32bit

H0b 19 0.0-429496729.6s 0.1s - - show -
10base display)
- 160 -

bit model
H0b twenty one AI1Sampling voltage value - 1mV - show

H0b twenty two AI2Sampling voltage value - 1mV - show
H0b twenty three AI3Sampling voltage value - 1mV - show
H0b twenty four RMS value of phase current - 0.01A - show
H0b 26 Bus voltage value - 0.1V - show
H0b 27 Module temperature value - °C - show
H0b 28 Cumulative value of internal and external deviation - 1 - show
second encoderZNumber of latches
H0b 30 - 1 - show
value
H0b 31 Multi-turn encoder turns - 1 - show

0-Current fault type
1-superior1fault
run
H0b 33 Display of fault records 2-superior2fault 1 0 Effective immediately
set up
...
9-superior9fault
first failure
H0b 34 error code - - -
code
H0b 35 Selected failure timestamp - 0.1s - show
H0b 37 The current speed at the time of the selected fault - 1 rpm - - show
current power at the time of the selected fault
H0b 38 - 0.01A - - show
flowu
current power at the time of the selected fault

H0b 39 0.01A - show
flowV
H0b 40 Bus voltage at selected fault - 0.1V - - show

H0b 41 Input terminal status at fault - - - - show
Output at selected fault
H0b 42 - - - - show
substate
HCGroup Communication Parameters
shutdown
H0C 00 Servo axis address 1~247,0broadcast address 1 1 Effective immediately -
set up
0-2400
1-4800
bpserror shutdown
H0C 02 Serial port baud rate setting 2-9600 5 Effective immediately -
+ - 5% set up
3-19200 4-38400
5-57600
H0C 03 ModbusData Format

0-no parity1-even parity2-
Odd parity
1 0 Effective immediately
run
set up
- 12
shutdown
H0C 09 communication virtualVDI 0-disabled1-Enable 1 0 Effective immediately PST
set up
shutdown
H0C 11 communication virtualVDO 0-disabled1-Enable 1 0 Effective immediately PST
set up
- 161 -

bit model
Bit0-VDO1Defaults
VDOThe function is selected as0 shutdown
H0C 12 ...Bit15-VDO16silent 1 0 Effective immediately PST
default value set up
default value (HEX)
Communication write function code

0: do not updateEEPROM run
H0C 13 Is the value updated to 1 1 Effective immediately PST
1:renewEEPROM set up
EEPROM
Error Code Code Description
0x0002command code is not
0x03/0x06/0x10
0x0004Servo computing receive
to the dataframe'sCRCcheck
code and data frame check code
not equal
0x0006Write factory password
mistake
0x0008access function code

does not exist
0x0010write function code

H0C 14 error code type -
The value exceeds the upper and lower limits of the function code - - show -
0x0020The function code to be written belongs to
read-only function code
0x0030
0x10Write16bit function code
0x0040access function code

is password locked
0x0060read data length

for0
0x0080The function code to be written belongs to
Only in servo stop state

down change, while the servo current
running
MODBUScommand response run
H0C 25 0-5000ms 1 0 Effective immediately PST
time delay set up
0-high16first, lower16
after the (
MODBUS32bit function Use the background to modify the function code or run
H0C 26 1 0 Effective immediately -
code transmission sequence When reading the function code, it is set to0) set up
12
1-Low16first, high16 in
the back
H0dGroup Accessibility Parameters
0-no action shutdown

H0d 00 Software reset operation 1 0 Effective immediately -
1-software reset set up
- 162 -

bit model

H0d 01 fault reset 1 0 Effective immediately -
1-fault reset set up

H0d 02 Moment of inertia identification function 1 0 Effective immediately -
1-Start inertia identification set up
0-no action
H0d 03 Encoder initial angle identification 1 0 - reserve -
1-start angular initialization
0no action shutdown

H0d 10 Analog channel automatic adjustment 1 0 Effective immediately -
1~3AI1~3Adjustment set up
shutdown
H0d 11 JOGFunction 0~Rated speed 1 rpm 100 Effective immediately -
set up
electric currentUVrelative gain calibration 0-no action shutdown

H0d 12 1 0 Effective immediately -
positive function 1-start up set up
electric currentUVrelative gain calibration 0-no action shutdown

H0d twenty two 1 0 Effective immediately
positive function 1-start up set up
H11group multi-segment position
0-Stop at the end of a single run
(H1101Select the number of segments
select)
1-Loop runs (H1101

shutdown
H11 0 Multi-segment position operation mode select the number of segments) 1 1 Effective immediately P
set up
2-DIToggle operation (viaDI
to choose)
3-continue to operateH1101Enter
Line segment selection
End segment number of displacement command shutdown

choose set up
DImode other than

efficient
0: continue to run unfinished shutdown

H11 2 Margin processing method 1 0 Effective immediately P
part set up
1: from the1segment restart

run
0-ms shutdown
H11 3 waiting time unit 1 0 Effective immediately P
1-s set up
0-Relative displacement instruction shutdown

H11 4 command type 0 0 Effective immediately P
1-Absolute displacement command set up
Cycle start segment number selection

shutdown
H11 5 0-16 1 0 P
12
(This function code is only available in Effective immediately
set up
H11.00=3valid only when)
- 1073741824~ run
1order sheet 10000refer to
H11 12 No.1segment shift 1073741824(order sheet Effective immediately When set P
bit order unit
bit) Certainly
- 163 -

bit model
run
No.1Segment displacement maximum operation
H11 14 0rpm~9000rpm rpm 200 Effective immediately When set P
speed
Certainly
run
No.1During segment displacement acceleration and deceleration
H11 15 0~1000 1ms 100ms Effective immediately When set P
between
Certainly
run
No.1After the segment displacement is completed, wait
H11 16 0~10000 1ms(1s) 10 Effective immediately When set P
waiting time
Certainly
- 1073741824~ run
bit order unit
bit) Certainly
run
speed
Certainly
run
between
Certainly
run
H11 twenty one 0~10000 1ms(1s) 10 Effective immediately When set P
waiting time
Certainly
- 1073741824~ run
H11 twenty two No.3segment shift 1073741824(order sheet Effective immediately When set P
bit order unit
bit) Certainly
run
H11 twenty four 0rpm~9000rpm rpm 200 Effective immediately When set P
speed
Certainly
run
between
Certainly
run
waiting time
Certainly
- 1073741824~ run
bit order unit
bit) Certainly
run
12
speed
Certainly
run
between
Certainly
- 164 -

bit model
run
waiting time
Certainly
- 1073741824~ run
bit order unit
bit) Certainly
run
speed
Certainly
run
between
Certainly
run
waiting time
Certainly
- 1073741824~ run
bit order unit
bit) Certainly
run
speed
Certainly
run
between
Certainly
run
waiting time
Certainly
- 1073741824~ run
bit order unit
bit) Certainly
run
speed
Certainly
run
between
Certainly
run
12
waiting time
Certainly
- 1073741824~ run
bit order unit
bit) Certainly
- 165 -

bit model
run
speed
Certainly
run
between
Certainly
run
waiting time
Certainly
- 1073741824~ run
bit order unit
bit) Certainly
run
speed
Certainly
run
between
Certainly
run
waiting time
Certainly
- 1073741824~ run
bit order unit
bit) Certainly
run
No.10Maximum segment displacement
line speed
Certainly
run
No.10Segment displacement acceleration and deceleration
time
Certainly
run
No.10After segment displacement is completed
waiting time
Certainly
- 1073741824~ run
bit order unit
bit) Certainly
run
12
line speed
Certainly
run
time
Certainly
- 166 -

bit model
run
waiting time
Certainly
- 1073741824~ run
bit order unit
bit) Certainly
run
line speed
Certainly
run
time
Certainly
run
waiting time
Certainly
- 1073741824~ run
bit order unit
bit) Certainly
run
line speed
Certainly
run
time
Certainly
run
waiting time
Certainly
- 1073741824~ run
bit order unit
bit) Certainly
run
line speed
Certainly
run
time
Certainly
run
12
waiting time
Certainly
- 1073741824~ run
bit order unit
bit) Certainly
- 167 -

bit model
run
line speed
Certainly
run
time
Certainly
run
waiting time
Certainly
- 1073741824~ run
bit order unit
bit) Certainly
run
line speed
Certainly
run
time
Certainly
run
waiting time
Certainly
H12group multi-speed
0-Stop at the end of a single run
(H1201Select the number of segments
select)
Multi-stage speed command operation 1-Cycle shutdown

H12 00 1 1 Effective immediately
Way (H1201Select the number of segments set up
select)
2-through externalDIcut
Change
Number of end segments of speed command shutdown

H12 01 1~16 1 16 Effective immediately
choose set up
0-sec shutdown
H12 02 Run time unit selection 1 0 Effective immediately
1-min set up
shutdown
H12 03 acceleration time1 0ms~10000ms 1ms 10ms Effective immediately
set up
shutdown
H12 04 deceleration time1 0ms~10000ms 1ms 10ms Effective immediately
set up
12 H12 05 acceleration time2 0ms~10000ms 1ms 50ms Effective immediately

shutdown
set up
shutdown
set up
shutdown
set up
- 168 -

bit model
shutdown
set up
shutdown
set up
shutdown
set up
shutdown
H12 20 No.1segment instruction - 9000~+9000rpm 1 rpm 0rpm Effective immediately
set up
shutdown
H12 twenty oneNo.1Segment instruction run time 0~6553.5 0.1s(m) 5.0s(m) Effective immediately
set up
0-Zero acceleration and deceleration time
1-Acceleration and deceleration time1

shutdown
H12 twenty two 2-Acceleration and deceleration time2
No.1Segment acceleration and deceleration time 1 0 Effective immediately
set up
shutdown
H12 twenty three No.2segment instruction - 9000~+9000rpm 1 rpm 100rpm Effective immediately
set up
shutdown
H12 twenty fourNo.2Segment instruction run time 0~6553.5 0.1s(m) 5.0s(m) Effective immediately
set up

shutdown
H12 25 No.2Segment acceleration and deceleration time
2-Acceleration and deceleration time2 1 0 Effective immediately
set up
shutdown
set up
shutdown
H12 27 No.3Segment instruction run time 0~6553.5 0.1s(m) 5.0s(m) Effective immediately
set up

shutdown
H12 28 2-Acceleration and deceleration time2
set up
shutdown
set up
shutdown
set up
12

shutdown
set up
shutdown
set up
- 169 -

bit model
shutdown
set up

shutdown
set up
shutdown
set up
shutdown
set up

shutdown
set up
shutdown
set up
shutdown
set up

shutdown
H12 40 No.7Segment acceleration and deceleration time
2-Acceleration and deceleration time2 1 0 Effective immediately
set up
shutdown
set up
shutdown
set up

shutdown
set up
shutdown
set up
shutdown
set up
12 0-Zero acceleration and deceleration time

shutdown
set up
- 170 -

bit model
shutdown
H12 47 No.10segment instruction - 9000~+9000rpm 1 rpm - 100rpm Effective immediately
set up
shutdown
set up

shutdown
set up
shutdown
set up
shutdown
set up

shutdown
set up
shutdown
set up
shutdown
set up

shutdown
set up
shutdown
set up
shutdown
set up

shutdown
set up
shutdown
set up
shutdown
set up
12
- 171 -

bit model

shutdown
set up
shutdown
set up
shutdown
set up

shutdown
set up
shutdown
set up
shutdown
set up

shutdown
set up
H17group virtualDIDOset up
0: no definition
1~32:Fun IN.1~32 (refer connect again run

H17 00 VDI1Terminal function selection 1 0 -
toDIDObasic skills after power set up
code list)
0-expressVDI1to write1
efficient connect again run

H17 01 VDI1Terminal logic selection 1 0 -
1-expressVDI1Write the value by after power set up
0becomes1Valid from time to time
0: no definition

H17 02 VDI2Terminal function selection 1 0 -
code list)

H17 03 VDI2Terminal logic selection 1 0 -
12
0: no definition

H17 04 VDI3Terminal function selection 1 0
code list)
- 172 -

bit model

H17 05 VDI3Terminal logic selection 1 0
0: no definition

code list)

0: no definition

code list)

0: no definition

code list)

0: no definition

code list)

0: no definition

code list)
12
- 173 -

bit model
0: no definition

code list)

0: no definition

code list)
1-expressVDI10write value after power set up
Depend on0becomes1Valid from time to time
0: no definition

code list)
0-expressVDI11to write1efficient
connect again run

H17 twenty oneVDI11Terminal logic selection 1 0
1-expressVDI11Write the value by 0 after power set up
becomes1Valid from time to time
0: no definition

H17 VDI12Terminal
twenty two function selection 1 0
code list)
H17 VDI12Terminal
twenty three logic selection 1 0
0: no definition

H17 VDI13Terminal
twenty four function selection 1 0
code list)
0-expressVD13to write1efficient
connect again run

12 Depend on0becomes1Valid from time to time
0: no definition

code list)
- 174 -

bit model
0: no definition

code list)
0: no definition

code list)
Bit0:VDO1virtual level
slightly
H17 32 VDOvirtual level - - - - -
Bit15:VDO16virtual
level
0-no definition
1~16:Fun OUT.1~ 16refer shutdown

H17 33 VDO1Terminal function selection 1 0 Effective immediately -
toDIDOfunction selection set up
VDO1Terminal logic 0-output when valid1 shutdown

flat selection 1-output when valid0 set up
0-no definition

VDO2Terminal logic level 0-output when valid1 shutdown

choose 1-output when valid0 set up
0-no definition

H17 37 VDO3Terminal function selection 1 0 Effective immediately

12
- 175 -

bit model
0-no definition


0-no definition


0-no definition


0-no definition


0-no definition


0-no definition


0-no definition

H17 51 1 0
12
VDO10Terminal function selection Effective immediately

- 176 -

bit model
0-no definition


0-no definition


0-no definition


0-no definition


0-no definition


0-no definition


Communication reads servo status variables (panel is not visible)
12
- 177 -

bit model
Bit0 ~ 11reserve
Bit12~13Servo running status
Bit14 ~15reserve
Bit12~13=0: Servo not

get ready;
H30 00 Communication read servo status - - - - PST
Bit12~13=1: Servo standard
ready;
Bit12~13=2: Servo drive
BehaviorBit12~13=3:wait
failure state
Bit0-FunOUT1
H30 01 communication readFun Out ... 1 - - - PST
Bit15-FunOUT16
Bit0-FunOUT17
H30 02 communication readFun Out ... 1 - - - PST
Bit15-FunOUT32
Communication read input pulse
H30 03 - 1 - - - P
command sampled value
Communication given related variables (panel not visible)
Bit0-VDI1virtual level
H31 00 VDIvirtual level ... - - - - PST
Bit15-VDI16virtual level
Bit0-DO1
Bit1-DO2
Bit2-DO3
Bit3-DO4
Bit4-null
Bit5-DO6
Communication givendooutput status run
H31 04 Bit6-DO7 - - Effective immediately PST
state set up
Bit7-DO8
Bit8~Bit15-reserved.
1:dooutput low level

(optocoupler conduction)
0:dooutput high level
12 (optocoupler off)
-2147483647~ 1order sheet run

H31 07 Communication given position increment 0 Effective immediately P
2147483647 bit set up
run
H31 09 Communication given speed -9000000~9000000 0.001rpm 0 Effective immediately S
set up
- 178 -

bit model
run
H31 11 Torque command - 100000~100000 0.00001 0 Effective immediately T
set up
When communicating a given position increment,
The maximum operating speed of the motor (etc. run

H31 15 0~9000 1 rpm 1500 Effective immediately P
The electronic gear ratio is1:1 set up
actual speed at
Note: Instructions for the use of communication given position increments: (newly added, this content has not been updated in the manual) In position mode, ifH05-00for3, the
position command comes from the communication given position incrementH31-07,H31-07The number of command pulses given by communication can be realized. The higher
the command pulse input frequency, the faster the motor speed, similar to this,H31-07The larger the written value, the faster the motor runs, but not exceedingH31-15set speed,
H31-15The set speed is equal to the electronic gear ratio of1:1When the actual speed of the motor, if the electronic gear ratio is not1:1, then the actual speed of the motor =(
H31-15)×Electronic gear ratio.
H31-07only atH05-00set to3, and the current mode is the running state in the position mode, the written data will take effect, otherwise the written data will
not become the position value.
12.2 DIDOsDefinition of basic functional specifications
coding name function name describe state Remark
DIInput signal function description
Invalid - Servo motor enable and disable

Fun IN.1 /S-ON Servo enable distribute
active-servodMotor power-on enable
According to the type of alarm, some alarm reset
Alarm reset signal The rear servo can continue to work. this
Fun IN.2 /ALM-RST (along effective work function is along the active level, when the terminal is set distribute
able) When the level is active, only the edge is detected
Valid when changed.
Inactive - The speed control loop isP.I.control

Fun IN.3 /P-CON Proportional Action Toggle distribute
Valid - The speed control loop isPcontrol
invalid - the current running command isA

Main and auxiliary running commands
Fun IN.4 /CMD-SEL distribute
to switch valid - the current running command isB
Multi-stage operation instruction void - default command direction

Fun IN.5 /DIR-SEL distribute
direction selection Valid - Reverse direction of command
Multi-stage operation instruction 0000Default No.0part,

Fun IN.6 CMD1 16Segment command selection distribute
to switchCMD1 is zero speed.
Multi-stage operation instruction

to switchCMD2

to switchCMD3

Fun IN.9 CMD4
12
16Segment command selection distribute
to switchCMD4
Depending on the selected control mode (3,4,

mode switch
Fun IN.10 M1-SEL 5), for speed, position, torque distribute Switching requires twoDI
M1-SEL
switch between
mode switch Depending on the selected control mode (6),Enter

Fun IN.11 M2-SEL distribute Switching requires twoDI
M2-SEL Switch between speed, position and torque
- 179 -
ZCLAMfunction for
Zero fix function Valid - enable the zero fix function, 0, for the speed control bar
Fun IN.12 /ZCLAMP distribute
enable signal Invalid - disable zero fix function , and the command source is
Analog
Valid - Prohibition of command pulse input bit with pulse control

Fun IN.13 /INHIBIT Pulse inhibit distribute
Invalid - allow command pulse input It is only effective if the ring is set
When the mechanical movement exceeds the movable range,
Enter the overtravel prevention function.

Fun IN.14 P-OT Forward drive prohibited distribute
Inactive - forward drive disabled
Valid - Allows forward drive
When the mechanical movement exceeds the movable range,
Enter the overtravel prevention function.

Fun IN.15 N-OT Backdrive prohibited distribute
Inactive - Backdrive disabled
valid - backdrive allowed
Forward rotation external torque Valid - the external torque limit is valid
Fun IN.16 /P-CL distribute
limitON Invalid - external torque limit is invalid
reverse external torque Valid - the external torque limit is valid

Fun IN.17 /N-CL distribute
limitON Invalid - external torque limit is invalid
valid - enter as given

Fun IN.18 /JOGCMD+ forward jog distribute External pop-up button
Invalid - run command stops input
Valid - enter in reverse order as given

Fun IN.19 /JOGCMD- negative jog distribute External pop-up button
Invalid - run command stops input
Position step input Valid - Execute the instruction of the instruction step amount;
Fun IN.20 /POSSTEP distribute External pop-up button
enterDIvariable Invalid - instruction is zero, bit state
Fun IN.21 HX1 Handwheel override signal1 HX1efficient,HX2invalid:X10 distribute
HX1invalid,HX2efficient:X100
Fun IN.22 HX2 Handwheel override signal2
other:X1
distribute
void - followH05.00function code selection

Row position control;
Fun IN.23 HX_EN Handwheel enable signal distribute
Valid - receive handkraft pulse in position mode
Punch signal for position control;
Invalid - electronic gear ratio1

Fun IN.24 GEAR_SEL Electronic gear selection distribute
Effective - electronic gear ratio2
Torque command direction

Fun IN.25 TOQDIRSEL invalid - positive direction; valid - negative direction distribute
set up
Speed command direction The logic of the corresponding port needs to be

Fun IN.26 SPDDIRSEL invalid - positive direction; valid - negative direction distribute
set up logic level is set to0or1.
Direction of position command

Fun IN.27 POSDIRSEL invalid - positive direction; valid - negative direction distribute
12
set up
- 180 -
The signal can only be “along the
effective", the servo is in the waiting state
Valid along state,DISelect execution segment

Internal multi-segment location
Fun IN.28 POSINSEN void - ignore internal multi-segment directives; distribute When it is valid, it will start the next
enable signal
valid - start internal multisegment segment displacement. Other multi-segment
mode requires this signal to be
Execute multi-segment functions only when valid
Interrupt fixed length state Invalid - does not respond to position commands; valid - solution The logic of the corresponding port needs to be
Fun IN.29 XINTFREE distribute
disarm signal In addition to position command lock state logic level is set to2or3
void-th1gain The logic of the corresponding port needs to be

Fun IN.30 G-SEL Gain switch distribute
valid-th2gain logic level is set to0or1.
invalid - does not trigger The logic of the corresponding port needs to be
Fun IN.31 ORGNEAR Origin switch distribute
active-trigger logic level is set to2or3
void - forbidden The logic of the corresponding port needs to be

Fun IN.32 ORGSET Return to origin enable distribute
active-enable logic level is set to2or3
doOutput signal function description
The servo status is ready to receiveS-

valid signal.
Fun OUT.1 /S-RDY+- servo ready distribute
valid - servo ready
invalid - servo not ready
The speed of the servo motor is higher than the speed threshold
Motor rotation output value(H0616)hour

Fun OUT.2 /TGON+- distribute
Signal Valid - the motor rotation signal is valid
Invalid - The motor rotation signal is invalid
Signal output when the servo motor stops rotating Instructions and feedback are both
Fun OUT.3 /ZERO+- Zero speed signal Effective motor speed is zero distribute Zero, not in torque mode
Invalid motor speed is not zero Consider the torque command
In speed control, the servo motor speed and speed
Fun OUT.4 /V-CMP+- Speed up The absolute value of the difference between degree instructions is less thanH0617
distribute
Valid when the speed deviation is set.
During position control, the position deviation pulse arrives

Fun OUT.5 /COIN+- location reached distribute
Positioning Completion RangeH0521Effective within
During position control, the position deviation pulse arrives
Fun OUT.6 /NEAR+- positioning approach signal Up to positioning proximity signal amplitudeH0522set up distribute
Valid at fixed value
Confirmation signal of torque limit
Fun OUT.7 /C-LT+- Torque limit signal Active - motor torque limited distribute
Inactive - Motor torque is not limited
12
Confirmation signal of speed limitation during torque control
Fun OUT.8 /V-LT+- speed limit signal Active - motor speed limited distribute
Inactive - motor speed is not limited
Brake signal output: with servoONSimultaneous signal
Fun OUT.9 /BK+- brake output signal active - close, release brake distribute on, servoOFFOf
Inactive - Start Brake laterBKoutput
Fun OUT.10 /WARN+- Warning output signal Warning output signal is valid (conduction) distribute
- 181 -
Fun OUT.11 /ALM+- Fault output signal The status is valid when a fault is detected distribute
output3bit alarm
Fun OUT.12 ALMO1 output3bit alarm code distribute
the code
output3bit alarm The best of these three signals

the code allocated toDO678terminals.
output3bit alarm
the code
Interrupt fixed length completion

Fun OUT.15 XINTCOIN Output after interrupt fixed length distribute
Signal
Origin return to zero state.
Fun OUT.16 ORGOK Origin return to zero output Valid - return to zero distribute
Invalid - the origin has not returned to zero
Electric back to zero state.

ORGOK
Fun OUT.17 Electrical zero return output Valid - electrical origin return to zero distribute
ELECTRIC
Invalid - electrical origin is not returned to zero
12.3Fault parameter table

Er.101 EEPROMParameter exception The internal parameters of the servo are abnormal NO.1 no h h h
Logic device failure or device configuration and driver
Er.102 Programmable Logic Configuration Fault NO.1 no h h h
The model does not match
An abnormal number occurred during the servo program selection judgment

Er.105 System exception NO.1 no h h h
need to restore the factory default
There are two or more mutually exclusive

Er.106 Expansion card configuration failure NO.1 no h h h
Expansion Card
Er.107 Product model selection failure Invalid motor model or drive model NO.1 no h h h
Er.108 Parameter storage failure Parameter storage device failure NO.1 no h h h
The number of frequency division pulses of the encoder does not meet the setting conditions/
Er.110 Frequency division pulse output setting failure NO.1 no h h h
scope
Motor and drive power level (rated current)

Er.120 product match failure Mismatch; or access to other products that are not supported NO.1 no h h h
Component type (such as encoder, etc.)
After executing the relevant helper function (for example,
Er.121 servoONcommand invalid fault inertia identification,JOGfunction, etc.), from the host NO.1 Can h h h
machine input servoONOrder
12 Er.130
Er.131
DIallocation failure
doallocation failure
manyDIassigned the same function
manyD0assigned the same function

NO.1
NO.1
Can
Can
h
h
h
h
h
h
Read and write motor encoder
Er.135 motor encoderEEPROMFault NO.1 no h h h
EEPROMParameter exception
motor encoderEEPROM
Er.136 motor encoderEEPROMParameter exception NO.1 no h h h
Data validation error in
- 182 -

Er.140 AIset failure sameAIassigned to different instruction sources NO.1 Can h h h

Er.200 Driver overcurrent1 NO.1 no L L h
The software detects the overcurrent of the power transistor;
The encoder is abnormal;
Er.201 Driver overcurrent2 The hardware detects the overcurrent of the power transistor; NO.1 no L L h
The encoder wiring is wrong or the encoder is damaged;
The hardware detects the overcurrent of the discharge tube;
Servo power-on self-test found output The servo power-on self-test found that the power circuit of the servo motor
Er.210 NO.1 no L L h
Short circuit fault to ground Cable to ground short circuit
Er.234 flying car failure When the given feedback forms positive feedback, the motor flies NO.1 no L L h
Er.400 Overvoltage The main circuitDCvoltage too high NO.1 Can L L h
Er.410 Undervoltage The main circuitDCvoltage undervoltage NO.2 Can h h L
Phase failure during operation,R\S\Tphase of a certain
Er.420 Power line phase loss NO.2 Can h h L
The state of low phase voltage continues1more than seconds
Er.500 excessive speed The motor speed exceeds the maximum speed NO.2 Can L h L
Exceeded the set encoder frequency division pulse number
Er.510 Frequency division pulse output overspeed NO.1 Can L L L
Motor speed upper limit
Er.600 Inertia identification failure fault Inertia ID run timed out NO.1 Can L L L
The return to origin time exceeds the set value and has not yet
Er.601 Return to origin timeout fault NO.1 Can L L L
If the origin is found, this fault will be reported
Er.602 Angle recognition failure fault Initial angle identification failed NO.1 Can L L L
Running with load exceeds the drive inverse time curve setting
Er.610 drive overload fixed overload time; NO.2 Can L L L

Running with load exceeds motor inverse time limit curve setting
Er.620 Motor overload the overload time; NO.2 Can L L L

heat sink
Er.650 Servo drive radiator temperature exceeds the set value NO.2 Can L L L
overheat
Er.651 motor overheat fault Motor over temperature fault point No.2 Can L L L
Er.740 Encoder interference fault1 incremental encoderZsignal interference NO.1 no h h h
Er.741 Encoder interference fault2 incremental encoderABsignal interference NO.1 no h h h
Er.831 NO.1 no h h h
12
ADsampling failure1 ADinitialization failure
Er.833 Current sampling failure Current detection circuit failure NO.1 no h h h

Er.834 AISampling voltage is too high Sampling voltage greater than11.5V No.1 no h h h
Rotary Encoder Encoder Pass
Er.A20 Encoder communication error NO.1 no L h L
letter failure
Er.A34 Encoder loopback verification exception The communication content with the encoder is wrong NO.1 no L h L
- 183 -

Er.A35 EncoderZsignal loss fault Encoder not receivedZSignal NO.1 no L h L
in the servoONstate, the position deviation exceeds the position
Er.b00 Position deviation is too large NO.1 no L L h
Deviation too large set value (H0a-11)
Fully closed loop encoder position and Position and motor encoding for external fully closed-loop monitoring
Er.b02 NO.1 no L L h
Motor position deviation is too large The sensor feedback position deviation is too large
The electronic gear ratio exceeds the specification range [0.001,

Er.b03 Electronic gear setting error NO.2 Can L L h
4000]
12.4Motor number
Resolver Optoelectronics Resolver Optoelectronics

motor model motor model
machine number machine number machine number machine number
ISMG1Motor (remark ①--Rmeans rotation,uIndicates photoelectric encoder)
5000 5100 ISMG1-37C10CD-①131X 5015 5115 ISMG1-63C10CD-①131F

no number no number ISMG1-47C13CD-①131X no number no number ISMG1-85C13CD-①131F
5002 5102 ISMG1-62C17CD-①131X 5017 5117 ISMG1-11D17CD-①131F
no number no number ISMG1-65C13CD-①131X no number no number ISMG1-12D13CD-①131F
5007 5107 ISMG1-11D20CD-①131X 5022 5122 ISMG1-18D20CD-①131F
no number no number ISMG1-12D13CD-①131X no number no number ISMG1-27D13CD-①131F
12
- 184 -


5324 5224 ISMG2-58D20CD-①131X 5354 5254 ISMG2-11E20CD-①131F
12.5 IS550Quick Commissioning Guide
12.5.1wiring
12.5.1.1Photoelectric encoder wiring
1) Photoelectric encoderJ1wiring
Aviation pins on the motor side A B C D. E. f G h J

The wiring color of the photoelectric encoder at the motor end orchid blue black green green black yellow yellow black red black
signal definition A+ A- B+ B- Z+ Z- +5V GND PE

IS550drive sideJ1definition 1 2 3 4 5 6 13 14 shell
2) Confirm whether the wiring of the photoelectric encoder is correct
12
a)Power on the drive, and when the servo is not enabled, face the motor shaft, turn the motor shaft counterclockwise, and observeH0B10Electrically from0degree to360The
degree increases continuously and changes cyclically, indicating that the wiring of the photoelectric encoder is correct.
b)likeH0B10The electrical angle is from360°change0°, descriptionA+,-andB+, - reversed, please exchangeAgroup andBgroup signal.
c)ifH0B10If there is no change in the electrical angle, it means that the encoder wiring is incorrect, please checkH00.00Whether the motor number setting
and encoder wiring are correct.
12.5.1.2Resolver wiring
- 185 -
1)MF38PG4Resolver wiring
PE
COS+
FAN-N
FAN-P
PTC-N
PT CP
QUR
KYP
W
COS -
EXT+
u
S IN-
SIN+
EXT-
PE
black/white
red/white
black
red
blue
yellow
Note: This color is Danaher resolver Note: KTY, PTC and FAN wiring do not need
Thread color definition. To distinguish positive/negative.
The definitions and colors of motor wire terminals are shown in the table below:
Danaher resolver wire colors red/white black/white red black yellow blue
signal definition EXC- EXC+ SIN+ SIN- COS+ COS-
"MF38PG4" PGCardDB9pin 1 2 3 4 5 9
2) Confirm whether the resolver wiring is correct
◆ After the driver is powered on, when the servo is not enabled, face the motor shaft, turn the motor shaft counterclockwise, and observeH0B10Electrically from0degree to360The
degree increases continuously and changes cyclically, indicating that the resolver wiring is correct.
◆ IfH0B10The electrical angle is from360°change0°, descriptionSINgroup andCOSThe group signal is reversed, please exchangeSINgroup and
COSgroup signal;
◆ IfH0B10If there is no change in the electrical angle, it means that the resolver wiring is not correct, please checkH00.00Whether the motor number and
resolver wiring are correct.
12.5.2Select motor model
H00.00It is the function code for selecting the motor model. If the default motor model is inconsistent with the motor model you are using, please re-select the motor model, that is,
modifyH00.00function code. Please refer to the following table for the corresponding relationship of specific motor models:


no number no number ISMG1-47C13CD-①131X no number no number ISMG1-85C13CD-①131F
12 no number no number ISMG1-65C13CD-①131X no number no number ISMG1-12D13CD-①131F
- 186 -


no number no number ISMG1-12D13CD-①131X no number no number ISMG1-27D13CD-①131F

5323 5223 ISMG2-49D17CD-①131X 5353 5253 ISMG2-91D17CD-①131F 12
5324 5224 ISMG2-58D20CD-①131X 5354 5254 ISMG2-11E20CD-①131F
Note:
1)ISMG1The motor number corresponding to the photoelectric encoder feedback of the motor is51**, the motor number corresponding to the resolver feedback is50**;
- 187 -
2)ISMG2The motor number corresponding to the photoelectric encoder feedback of the motor is52**, the motor number corresponding to the resolver feedback is53**;
3)ISMG1Rated speed1300rpm, there is no motor number temporarily, if you need to use it, please putH00.00Set the corresponding rated speed to be
1500RPMThe motor parameters can be. To useISMG1-47C13CD-U131X,H00.00can enter5101.
4) or putH00.00Set as65535,BundleISMG1-47C13CD-U131XThe corresponding motor parameters are downloaded through the background software
arriveH00Group. Power on again.
12.5.3Initial angle identification (general resolvers need to perform this step, photoelectric motors do not need it)
Ensure that the motor is under no-load conditions,H0d03=1, which is the initial angle identification, at this time must be inrdystate, namelyservo_offstate, in the process of
performing angle identification, the motor will slowly rotate counterclockwise, and the maximum rotation1circle, approx.1minutes or so.
12.5.4Motor test run
After completing the steps above, just to be on the safe side check firstH02.00Is it0, confirm that the servo is under the speed loop, then proceed SERVO_ON, to
see if the motor can rotate. If the motor does not turn, it will reportEr.610drive overload,ER.500, or for other alarms, execute12.5.4Initial angle identification,
otherwise, the motor can rotate, please execute12.5.5, speed gain adjustment.
12.5.5speed gain adjustment
in speed modeH02.00=0In the case of the situation, use the background software to observe the speed command and speed feedback, and adjust the speed ratio according to
the waveform H08.00, speed integration timeH08.01.
Problem: The short-term process is too long, but it is more stable in continuous operation Problem: Excessive speed overshoot
Solution: increase the ratioH08.00, increasing the integration timeH08.01 Solution: increase the ratioH08.00, can increase the integration time
H08.01
12 Problem: Small sustained oscillations, noise, vibration during steady state operation Problem: The dynamic response is too slow, and the system has static deviations
Solution: reduce the ratioH08.00 Solution: reduce integration timeH08.01
- 188 -
Problem: The overshoot time is too long, and the dynamic speed reduction is large when the load changes Problem: Sustained Violent Vibration
Solution: reduce integration timeH08.01 Solution: increase the integration timeH08.01or reduce the ratioH08.00
12.6Version Change Notes
date changed version change content
2012-06 V0.0 first edition release
2013-03 V0.0 DI/DOTerminal function code factory value error correction
No.3Chapter Updating Motor Dimensions and Related

2014-08 V1.0
Parameters12Added Maintenance of Motor Fan
warranty agreement
The warranty period of this product is eighteen months (subject to the barcode information on the fuselage). During the warranty period, under normal use according to the instruction manual, if the
product fails or is damaged, our company is responsible for free maintenance.
During the warranty period, a certain maintenance fee will be charged for damage caused by the following reasons:
A, Machine damage caused by mistakes in use and unauthorized repair and modification;
B, Machine damage caused by fire, flood, abnormal voltage, other natural disasters and secondary disasters;
C、Hardware damage caused by human fall and transportation after purchase;
D., Machine damage caused by not following the user manual provided by our company;
E., Failure and damage caused by obstacles other than the machine (such as external equipment factors);
When the product fails or is damaged, please fill in the contents of the "Product Warranty Card" correctly and in detail.
The collection of maintenance fees shall be in accordance with the latest adjustment of our company's "Maintenance Price List".
This warranty card will not be reissued under normal circumstances, please be sure to keep this card and show it to the maintenance personnel during warranty.
If you have any questions during the service, please contact our agent or our company in time.
The right to interpret this agreement belongs to Shenzhen Inovance Technology Co., Ltd.
Shenzhen Inovance Technology Co., Ltd.
service department
Address: Baocheng, Baoan District, Shenzhen70Hongwei Industrial Park, Liuxian 2nd Road, DistrictE.Building
Telephone:400-777-1260 post code:518101
URL:www.inovance.cn
warranty card
Unit address:
company name: Contact:

client
information
Zip code: contact number:
Product number:
Body barcode (pasted here):

product
information
Agency name:
(Maintenance time and content):
Fault
information
Repair man:

Maintenance and Inspection

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Maintenance and Inspection

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No.11Chapter Maintenance and Inspection

11.1Abnormal diagnosis and handling measures

There are two levels of servo drive alarm levels:

11.1.1Fault display list

Faults can be divided into:

(1) are not resettable,NO.1Fault;

(2) can be reset,NO.1Fault;

(3) are resettable,NO.2Fault.

Fault shutdown Can Fault code output

An abnormal number occurred during the servo program selection judgment

There are two or more mutually exclusive

Motor and drive power level (rated current

After executing the relevant helper function (for example,

Er.130 DIallocation failure manyDIassigned the same function NO.1 Can h h h

Fault shutdown Can Fault code output

Phase loss, power cable short circuit to ground, etc.;

The encoder is abnormal;

Phase loss, power cable short circuit to ground, etc.;

The hardware detects the overcurrent of the discharge tube;

Er.610 drive overload fixed overload time; NO.2 Can L L L

Er.620 Motor overload the overload time; NO.2 Can L L L

Er.651 No.2 Can L L L

Er.740 Encoder interference fault1 incremental encoderZsignal interference NO.1 no h h h

Fault shutdown Can Fault code output

The electronic gear ratio exceeds the specification range [0.001,

11.1.2Warning display list

warn warning coded output

Er.909 Motor overload Warning before motor overload is reached L h h

workbench at the same time.

1,PotAlarm when valid.

1,notAlarm when valid.

11.1.3Causes of faults and solutions

error code reason confirmation method Treatment measures

Set the power supply voltage within the specification range

Change the parameter writing method and rewrite

(servo internal parameters

a failure Variable parameter writing method.

configuration failure) Something went wrong

Restore factory parameters (H02-31back,

(internal program differs from

Something went wrong

Incremental code disc: encoder frequency division pulse

Energy code, so that it meets the specified range

The combination of several products is not appropriate,

error code reason confirmation method Treatment measures

Verify that you are using certain

Confirm whether the motor encoder wiring is

Check whether the wiring of the motor encoder is correct

In torque mode (or with torque control

Composite mode of system) ViewH07-

00,H07-01,H07-07, H07-08 (H07-07

AIResources are allocated repeatedly (egAI1

Resources are allocated repeatedly

In position mode (or with position control

Composite mode) ViewH05-19,

effective), to determine whether there is AI

Resources are allocated repeatedly

error code reason confirmation method Treatment measures

Main circuit cable or motor main circuit Confirm the cable'sUVWAlternate,

Confirm the connection terminals of the servo motor

Confirm that the motor terminalsUVWMutually

Measuring Servo Motor Power CablesUVWyes