V1.0 - 1901007 IS550 20140815 (001 194) .ZH CN - en Fusionado

Translated from Chinese (Simplified) to English - www.onlinedoctranslator.
com
IS550Series Servo Driver User Manual foreword
foreword
First of all, thank you for purchasing Shenzhen Inovance Technology Co., Ltd.IS550Series servo drives!
IS550The series AC servo driver is a new generation of high-performance AC servo driver launched by Shenzhen Inovance Technology Co., Ltd. This series of
drivers has the function of a general AC servo driver, and can drive a variety of servo motors (rotary, linear, torque, ordinary permanent magnet synchronous),
and has a wealth of industry-specific application functions and modules, such as center curling control, flying shears control, fixed-length control, etc.; drive
power range7.5~250kW, the built-inRS485,RS232The communication function can be flexibly configured and controlled by the host computer.
This manual isIS550Operation instruction manual of the series servo drive.
This manual provides relevant precautions and guidance for users on model selection, installation, parameter setting, on-site commissioning and fault diagnosis.
In order to use this series of servo drives correctly, please read this manual carefully in advance, and please keep it properly for future use. Equipment supporting customers
Please send this manual along with the device to the end user.
Unpacking inspection:
When unpacking, please confirm carefully:
Confirm item illustrate
Is the arriving product the same as the product model you ordered? The box contains the machine, product, certificate of conformity, user operation manual and warranty card you
match? ordered. Please check the "model number" on the nameplate of the servo motor and servo driver.
Please check the appearance of the whole machine to see if the product is damaged during transportation; if you find any
Is the product damaged? omission or damage, please contact our company or your supplier as soon as possible.
Merchant contact to solve.
It is normal to be able to turn it gently by hand. The exception is servo motors "with power-off
Is the servo motor rotary shaft running smoothly?
brake".
First time use:
For users who use this product for the first time, please read this manual carefully. If you have doubts about some functions and performance, please
Consulting our company's technical support personnel for help is beneficial to the correct use of this product.
Due to the continuous improvement of the servo drive, the information provided by the company is subject to change without prior notice.
-1-
No.1Chapter Safety Information and Precautions
1
No.2Chapter Servo System Selection 2
No.3Chapter Servo Motor Specifications and Outline Drawings 3
No.4Chapter Servo Drive Specifications and Outline Drawings 4
No.5Chapter Cable Specifications and Outline Drawings 5
No.6Chapter Wiring 6
No.7Chapter Interface Display and Key Operation 7
No.8Chapter Common Function Code Setting of Servo Drive 8
No.9chapter run 9
No.10Chapter Communication Function 10
No.11Chapter Maintenance and Inspection 11
No.12Chapter Appendix 12
Table of contents
Foreword................................................ ................................................... ...................................................1
No.1Chapter Safety Information and Precautions................................... ................................................... .........10
1.1Safety Precautions................................................ ................................................... ................................................10

1.2Electrical Design Considerations ................................................ ................................................... ...................................11
1.2.1Motor insulation check................................... ................................................... ...................................11

1.2.2Some precautions when using the motor................................... ................................................... …11
No.2Chapter Servo System Selection ................................................ ................................................... ...................................14
2.1Servo motor model description................................... ................................................... ...................................14

2.2Servo drive model description................................... ................................................... ................................15
2.3List of servo system configuration specifications................................... ................................................... ..........15
2.4Matching cables and models................................... ................................................... ................................................18
2.5Peripheral Brake Accessories ................................................ ................................................... ...................................18
No.3Chapter Servo Motor Specifications and Outline Drawings................................... ................................................... …twenty two
3.1Electrical Specifications of Servo Motors................................... ................................................... ...................................twenty two
3.1.1 ISMGsMechanical characteristic parameter specifications of series motors................................... ...................................................twenty two
3.1.2 ISMGsMotor Rating Specifications..................................... ................................................... .........twenty two
3.2Outline dimension drawing of servo motor................................... ................................................... ...................................twenty three
3.2.1Solid shaft, naturally cooled motor (ISMG1) ................................................ ................................................twenty three
3.2.2Solid shaft, forced air cooled motor (ISMG1) ................................................ ................................................twenty four
3.2.3Solid shaft, naturally cooled motor (ISMG2) ................................................ ................................................twenty four
3.2.4Solid shaft, forced air cooled motor (ISMG2) ................................................ ................................................25
3.3Servo motor installation..................................................... ................................................... ................................................26
3.3.1Precautions for Servo Motor Installation................................... ................................................... .........26

3.3.2Servo motor installation accuracy requirements................................... ................................................... .........27
3.3.3Direction of Servo Motor Rotation .............................................. ................................................... ...................27
3.3.4Shock resistance of servo motor................................... ................................................... ...................................28
3.3.5Vibration Resistance of Servo Motors................................... ................................................... ...................................28
3.3.6Servo Motor Vibration Levels ................................................ ................................................... ...................28
No.4Chapter Servo Drive Specifications and Outline Drawings................................... ................................................... .....30
4.1Servo Drive Specifications................................... ................................................... ...................................30

4.1.1The main technical parameters of the drive unit................................... ................................................... .........30
4.1.2General Specifications of Servo Drivers................................... ................................................... .........30

4.2Servo drive installation................................................ ................................................... ...................................33
4.2.1Operating environment during mechanical installation .............................................. ................................................... .........33
4.2.2Heat Dissipation Issues During Mechanical Mounting .............................................. ................................................... .........33
4.2.3Removing and installing the lower cover ................................... ................................................... ...................34
4.3Dimension drawing of servo drive................................... ................................................... ...................35

4.3.1 IS550AT017I~IS550AT032ISchematic diagram of external dimensions and installation dimensions................................... .........35
4.3.2 IS550AT037I~IS550AT304ISchematic diagram of overall dimensions and installation dimensions................................... .........35
4.3.3 IS550AThe shape of the servo drive and the size of the installation hole (mm) ................................................ ...................36
4.3.4Dimensions of external keyboard...................................... ................................................... ..........36
4.3.5Dimensions of installation opening for external keyboard................................... ................................................... .........37
No.5Chapter Cable Specifications and Outline Drawings................................... ................................................... ..........40
5.1Servo motor encoder cable................................................ ................................................... ...................................40

5.1.1Outline drawing of servo motor encoder cable................................... ................................................... .....40
5.1.2Servo motor encoder cable model................................................... ................................................... …40
5.1.3Servo motor encoder cable signal connection ................................... ...................................................40
5.2server DriverPCCommunication Cable................................................ ................................................... ..........41
5.2.1server DriverPCOutline drawing of communication cable................................... ...................................................41
5.2.2server DriverPCCommunication cable type................................... ...................................................41

5.2.3server DriverPCCommunication cable signal connection relationship................................... ................................................41
5.3server DriverPLCCommunication Cable................................................ ................................................... .........41

5.3.1server DriverPLCOutline drawing of communication cable................................... ...................................................41
5.3.2server DriverPLCCommunication cable type................................... ...................................................41

5.3.3server DriverPLCCommunication cable wiring diagram................................... ...................................................41
5.4Servo drive multi-machine parallel communication cable................................... ................................................... .........42
5.4.1Outline drawing of communication cable for multi-machine parallel connection of servo drives................................... ...................................................42
5.4.2Model of communication cable for multi-machine parallel connection of servo drives................................... ...................................................42
5.4.3The signal connection relationship of the multi-machine parallel communication cable of the servo driver................................... ...................................42
5.5Precautions for use of signal cables................................... ................................................... ...................42
No.6Chapter Wiring ................................................ ................................................... ...................................44
6.1Main circuit wiring................................... ................................................... ................................................44

6.1.1Names and functions of the main circuit terminals................................... ................................................... .........44
6.1.2Precautions for main circuit wiring...................................... ................................................... ..........44

6.2Encoder signal wiring...................................... ................................................... ...................................45
6.2.1Encoder signal line processing (wire-saving incremental encoder) ................................... ................................................45
6.2.2Encoder connector (J1) of the terminal arrangement ................................................ ...................................................46
6.2.3ResolverPGCardMF38PG4ofJ3definition................................................. ...................................46
6.2.4Incremental fully closed loop position encoder connectorJ7Terminal Description................................................ ...................................46
6.2.5Precautions for Encoder Signal Wiring................................... ................................................... .........47

6.3Interface Circuit................................................ ................................................... ................................................47
6.3.1Control board interface layout diagram................................... ................................................... ...................................47
6.3.2Connection Diagram of Input and Output Signals................................... ................................................... .........48
6.3.3Interface with Command Input Circuit ................................................ ................................................... .........49
6.3.4Interfacing with Output Circuitry ................................................ ................................................... ...................................51
6.4Holding Brake Wiring ................................................ ................................................... ................................................52
6.5Analog monitor signal wiring................................................... ................................................... ...................................52
6.5.1Analog monitor signal connector (J2) of the terminal arrangement ................................................ ...................................52
6.5.2What can be monitored................................... ................................................... ...................................53

6.6Communication signal wiring................................... ................................................... ...................................53
6.7Wiring and anti-interference countermeasures................................... ................................................... ...................................53
6.7.1Wiring Recommendations................................... ................................................... ...................................53

6.7.2Anti-interference wiring................................... ................................................... ...................................54
No.7Chapter interface display and key operation................................... ................................................... .........58
7.1Interface Introduction................................................ ................................................... ................................................58
7.1.1Key function description..................................................... ................................................... ...................................58
7.1.2Servo drive status display................................... ................................................... .........58

7.1.3Browsing and modifying operation methods of servo drive parameters................................... ................................................59
7.2Parameter setting and display................................... ................................................... ...................................59

7.2.1Modification properties and display characteristics of parameters................................... ................................................... .....59
7.2.2Setting of parameters below five digits................................... ................................................... ..........59

7.2.3Setting of more than six parameters................................................ ................................................... ..........59
7.3List of parameters that can be monitored................................... ................................................... ...................................60
No.8Chapter Common Function Code Setting of Servo Driver................................... ...................................................64
8.1Operation mode and selection................................... ................................................... ................................................64
8.2Speed mode related settings................................... ................................................... ...................................65

8.2.1Acquisition method of speed command................................... ................................................... ...................65
8.2.2Ramp function control ................................................ ................................................... ...................................66
8.2.3Speed command limit ................................................ ................................................... ...................................67
8.2.4Servo pulse output and its setting................................... ................................................... .........68

8.3Position mode related settings................................... ................................................... ...................................70
8.3.1Ways to acquire position command................................... ................................................... ...................70
8.3.2Pulse command input acquisition method................................... ................................................... .........71
8.3.3Pulse Deviation Clear................................... ................................................... ...................................73
8.3.4Setting of electronic gear function................................... ................................................... ..........73
8.3.5Position command smoothing function................................... ................................................... ...................74
8.3.6Output of positioning completion signal................................... ................................................... .........75

8.3.7Positioning proximity signal output................................... ................................................... .........75
8.3.8Position command prohibition function................................... ................................................... ...................76
8.3.9Handwheel function................................................ ................................................... ...................................76

8.3.10Multi-segment position function setting................................... ................................................... ..........77
8.3.11Interrupt fixed length setting................................... ................................................... ...................................80
8.3.12Return-to-origin function setting..................................... ................................................... ..........81

8.3.13External position fully closed loop function................................... ................................................... .........84
8.4Torque mode related settings................................... ................................................... ...................................87
8.4.1Torque command acquisition method................................... ................................................... ...................87
8.4.2Speed limitation during torque control................................... ................................................... .........89
8.4.3Torque limit selection function................................... ................................................... ...................90
8.5Common basic function settings................................... ................................................... ...................................91
8.5.1servoONset up................................................ ................................................... ...................................91
8.5.2Switching the direction of rotation of the motor................................... ................................................... .........92
8.5.3Overtravel setting................................................... ................................................... ................................................94
8.5.4Setting and protection of braking resistor................................... ................................................... .........94

8.6General purpose input and output signal settings................................... ................................................... ...................................95
8.6.1Configuration method of digital signal................................... ................................................... .........96

8.6.2How to configure the analog input .............................................. ................................................... .........97
8.6.3Other output signals ................................................ ................................................... ...................................101
No.9Chapter Run................................................ ................................................... ................................................104
9.1Inspection before trial operation................................... ................................................... ...................................104

9.2Jog test run example................................... ................................................... ...................................104
9.2.1By function code andDIInput terminal to realize jog test run..................................................... ...................................104
9.2.2Jog test run directly through the panel................................... ................................................... …105

9.2.3Jog test run through background control software................................... ...................................................105
9.3Example of speed control test run................................... ................................................... ...................................105

9.3.1continue to operate................................................ ................................................... ...................................105
9.3.2Multi-speed ................................................ ................................................... ...................................106
9.3.3Analog Control .............................................. ................................................... ...................................106
9.4Example of position control test run................................... ................................................... ...................................107
9.4.1Step setting method................................................... ................................................... ...................................107
9.4.2Pulse command mode................................................ ................................................... ...................................107
9.5Example of torque control test run................................... ................................................... ................................108

9.5.1Digital quantity setting method................................... ................................................... ...................108
9.5.2Analog Control .............................................. ................................................... ...................................108
9.6Trial run after the servo motor is connected to the mechanical structure................................... ................................................... ...109
No.10Chapter Communication Functions................................... ................................................... ................................112
10.1Hardware connection................................................ ................................................... ...................................112

10.2Communication parameter setting................................... ................................................... ...................................113
10.3 MODBUSletter of agreement................................................ ................................................... ...................113

10.3.1read function code (0x03) ................................................ ................................................... ..........113
10.3.2Write16bit function code (0x06) ................................................ ................................................... ..........114
10.3.3Write32bit function code (0x10) ................................................ ................................................... ..........115
10.3.4Error Response Frame................................................ ................................................... ...................................116
10.3.5Communication example................................... ................................................... ...................................116

10.3.6 CRCscheck................................................ ................................................... ...................................118
10.3.7signed16Hexadecimal representation................................................ ................................................... .....118
10.3.8 32Bit function code addressing................................... ................................................... ...................................119
10.3.9Definition of function code communication address................................... ................................................... .........119
10.3.10communication virtualVDI/VDO ................................................... ................................................... ..........119
10.3.11Communication is not performed when writing function codesEEPROMsave................................................. ...................................120
10.3.12Adding delay to servo response................................... ................................................... .........121

10.3.13 32Bit function code high and low16Transmission order of bits ................................................ ................................................121
No.11Chapter Maintenance and Inspection................................... ................................................... ...................................124
11.1Abnormal diagnosis and handling measures................................... ................................................... ...................124
11.1.1Fault display list ................................................ ................................................... ..........124

11.1.2List of warning displays................................... ................................................... ..........126
11.1.3Causes of failures and solutions................................................... ................................................... …126
11.1.4Causes of warnings and countermeasures..................................................... ................................................... …132
11.1.5Causes and solutions for other bad conditions................................... ...................................................133

11.2Servo drive maintenance and inspection................................................... ................................................... .........137
11.2.1Servo motor inspection..................................................... ................................................... ...................137

11.2.2Servo drive inspection..................................................... ................................................... .........137
11.2.3Approximate standards for replacing internal parts of the servo drive................................... ................................................137
11.2.4Servo motor fan maintenance................................... ................................................... .........138
No.12Chapter Appendix................................................ ................................................... ...................................140
12.1List of function code parameters................................... ................................................... ................................140

12.2 DIDOsDefinition of basic functional specifications................................... ................................................... .........179
12.3Fault parameter table................................... ................................................... ...................................182

12.4Motor number................................................ ................................................... ...................................184
12.5 IS550Quick Commissioning Guide................................... ................................................... ...................................185
12.5.1wiring................................................. ................................................... ...................................185

12.5.2Select the motor model................................... ................................................... ...................186
12.5.3Initial angle identification (general resolvers need to perform this step, photoelectric motors do not need it) ................................... ...................................188
12.5.4Motor test run ................................................ ................................................... ...................................188

12.5.5Speed Gain Adjustment ................................................ ................................................... ...................188
12.6Version Change Notes................................... ................................................... ...................................190
Translated from Chinese (Simplified) to English - www.onlinedoctranslator.com
1
Safety Information and Precautions
No.1Chapter Safety Information and Precautions IS550Series Servo Driver User Manual
1
No.1Chapter Safety Information and Precautions
Safety definition: In this manual, safety precautions are divided into the following two categories:
Hazard: Danger caused by failure to operate as required, which may lead to serious injury or even death;
Note: due to the danger caused by the failure to operate according to the requirements, it may cause moderate injury or minor injury, and equipment damage;
Please read this chapter carefully when installing, debugging and maintaining the system, and be sure to operate in accordance with the safety precautions
required in this chapter. The company has nothing to do with any damage or loss caused by illegal operations.
1.1Safety Precautions
use stage Security Level matter
1．The input power is consistent with the rated value of the servo drive, otherwise the servo drive will be damaged! 2．Make
sure that the motor and the servo driver are compatible, otherwise the motor may be damaged or the servo driver may be
design time Notice protected!
3．A contactor is designed and installed between the power supply and the input end of the servo driver for the purpose of cutting off the
power supply in case of emergency.
1．Do not use damaged or missing servo drives. Risk of injury! 2．please useBMotors with
before installation Danger
Class Insulation or above, otherwise there is a risk of electric shock!
Danger 1．Please install it on metal and other flame-retardant objects, away from combustibles. Otherwise it may cause a fire!
1．When two or more servo drives are placed in the same cabinet, please pay attention to the installation position to ensure the cooling effect. 2．
during installation
During installation and disassembly, do not strike the motor, because the photoelectric encoder is installed at the end of the motor, it is easy to be
Notice damaged under vibration. In a humid or dripping (oil) environment, pay attention to the direction of the motor outlet, and reserve a certain sag for
the cable to prevent oil and water from intruding into the motor from the cable interface. 3．Motors need reliable grounding.
1．It should be constructed by professional electrical engineering personnel. Otherwise there is a risk of electric
Danger
shock! 2．Please make sure the power is off before wiring. Otherwise there is a risk of electric shock!
When wiring 1．Make sure that the wiring complies withEMCrequirements and safety standards in the area. Please refer to the suggestion in the manual for
the diameter of the wire used. Otherwise accidents may occur!

Notice
2．The braking resistor cannot be directly connected between the (+) and (-) terminals of the DC bus. Otherwise it may cause a
fire!
1．Please confirm whether the power supply voltage level is consistent with the rated voltage of the servo drive; whether the input and output
Before power on wiring positions are correct, and pay attention to check whether there is a short circuit in the peripheral circuit. Whether the connected line is
Danger
tight. Otherwise, the servo drive may be damaged!
2．The servo driver must be covered before it can be powered on. Otherwise it may cause electric shock!
1．Do not open the cover after power on. Otherwise there is a risk of electric shock!
Danger
2．Do not touch the servo drive terminals (including control terminals). Otherwise there is a risk of electric shock!
after power on
Notice 1．Do not change the parameters of the servo drive manufacturer at will. Failure to do so may result in equipment damage!
- 10 -
IS550Series Servo Driver User Manual No.1Chapter Safety Information and Precautions
1
use stage Security Level matter
1．If you choose to run automatically after power-on, please do not get close to the mechanical equipment. Failure to do so may result in personal
injury! 2．Do not touch the motor, cooling fan and discharge resistor to test the temperature. Failure to do so may cause burns! 3．Non-
Danger
professional technicians should not detect signals during operation. Otherwise, personal injury or equipment damage may result!
running
1．When the servo drive is running, avoid things falling into the equipment. Otherwise it will cause equipment damage! 2．In
Notice order to prevent accidents, please conduct a test run on the servo motor alone (the state where the machine is not connected
to the drive shaft of the servo motor). Failure to do so could result in injury.
1．Do not repair and maintain the device with power on. Otherwise there is a risk of electric shock!
2．Confirm in the servo drivechargeOnly when the light goes out can the servo drive be maintained and repaired. Otherwise,
during maintenance Danger the residual charge on the capacitor will cause harm to people!
3．Do not repair and maintain the servo driver without professional training. Otherwise, personal injury or
equipment damage will result!
1.2Electrical Design Considerations
1.2.1Motor Insulation Inspection
When the motor is used for the first time, before re-use after long-term storage, and during regular inspection, the motor insulation inspection should be done to prevent the servo drive from being
damaged due to the insulation failure of the motor winding. When checking the insulation, be sure to separate the motor connection from the servo driver. It is recommended to use 500VVoltage type
megohmmeter should ensure that the measured insulation resistance is not less than5MΩ.
1.2.2Some precautions when using the motor
1) Use of the motor holding brake
The motor brake is used as a safety device when stopping under the condition of potential load to ensure that the load does not fall. It cannot be used as a brake device. Using the
brake device to brake the moving load will cause damage to the brake device.
2) Protection of the motor by the servo driver
The motor is not equipped with an overheating protection device. From the perspective of control performance and safety, please set the motor parameters correctly to achieve
the best control performance of the driver and overload protection for the motor.
3) for use other than rated voltage values
It is not suitable to use the servo driver outside the allowable working voltage range stipulated in the manual, otherwise it will easily cause damage to the components in the servo
driver. If necessary, use the corresponding step-up or step-down device for voltage transformation.
4) Three-phase input is changed to two-phase input
If the model has no special instructions, the three-phase power input cannot be changed to single-phase use. Failure to do so will result in failure or damage to the servo drive.
5) Lightning impulse protection
This series of servo drivers is equipped with a lightning strike overcurrent protection device, which has a certain self-protection ability against induced lightning. For areas where lightning occurs frequently,
customers should also install special protection at the front end of the servo drive.
6) altitude with derating using
at altitudes exceeding1000mIn the area, the heat dissipation effect of the servo drive is deteriorated due to the thin air, so it is necessary to derate it. At the same time, set the
motor parameters correctly. In this case, please contact our company for technical consultation.
7) some special usage
If the customer needs to use methods other than the wiring diagram suggested in this manual, such as common DC bus, etc., please consult our company. 8)
Precautions when the servo drive is scrapped
The electrolytic capacitor of the main circuit and the electrolytic capacitor on the printed board may explode when burned. Toxic gases are produced when plastic parts are
incinerated. Please dispose of with industrial waste.
- 11 -
2
Servo system selection
No.2Chapter Servo System Selection IS550Series Servo Driver User Manual
No.2Chapter Servo System Selection
2.1Servo motor model description
2 ISM G1-30D 15C D-R1 3 1 F
logo Serial Number
ISM ISSeries servo motor logo Customer individual needs
x natural cooling
logo characteristic f Forced air cooling
1 200×200Machine base
G
2 266×266Machine base Brake, reducer
logo
oil seal
logo rated power 1 oil seal
Composed of a letter and a number
logo Shaft connection

A ×1
B 1
×10
optical axis
C ×100 logo Rated speed

3
solid, with key, with
Threaded hole
D.
Composed of a letter and a number
×1000 logo encoder type
A ×1
E. ×10000 Composed of a letter and a number
B ×10
example: R1 1Opposite pole resolver
C ×100
15C:1500Ww U1
2500line saver
D. ×1000
30D:30000wW
incremental encoder
E. ×10000
logo Voltagewait class
example:
D. 400V
15C:1500rpm
20C:2000rpm
Example of servo motor nameplate identification:
HC SERVO MOTOR
MODEL: ISMG1-11D15CD-U131X
11kW 300V 21A IP65
70Nm 1500rpm B Ins
S/N: bar code
Shenzhen Inovance Technology Co., Ltd.
- 14 -
IS550Series Servo Driver User Manual No.2Chapter Servo System Selection
2.2Servo drive model description
IS55 0 AT32 I
logo
IS550
Serial Number
server Driver
2
logo installation method
I Substrate Mounting (Standard)

logo Product Category
A Universal
logo Voltagewait class
T 380V
Corresponding to rated output current
Correspondence
logo 017 025 032 037 045 060 075 091 112
Rated output current 17A 25A 32A 37A 45A 60A 75A 91A 112A
Example of the nameplate identification of the servo drive:
MODEL: IS550AT032I
POWER: 15K
kW
INPUT: 3PH AC380V 25.7A 50Hz/60Hz
OUTPUT: 3PH AC0-380V 32A 0-400Hz
S/N: bar code
2.3List of Servo System Configuration Specifications
surface2-1Servo system configuration specification table 1
IS550driver ISMG1Natural cooling motor
rated rated rated

H01.02 maximum H00.00 rated maximum
torque electric current power
driver Drive model torque motor motor model (Nm) (A) (kW) Rotating speed Rotating speed
serial number (Nm) serial number

(rpm) (rpm)
S1 S1 S1
20000 IS550AT017I 99 5101 ISMG1-55C15CD-U131X 35 11 5.5 1500 1800
20001 IS550AT025I 121 5102 ISMG1-62C17CD-U131X 35 13 6.2 1700 2040
20001 IS550AT025I 107 5103 ISMG1-75C20CD-U131X 35 15 7.5 2000 2400
20000 IS550AT017I 154 5104 ISMG1-50C10CD-U131X 48 10 5.5 1000 1200
20001 IS550AT025I 135 5105 ISMG1-75C15CD-U131X 48 16 7.5 1500 1800
20001 IS550AT025I 124 5106 ISMG1-85C17CD-U131X 48 18 8.5 1700 2040
20002 IS550AT032I 147 5107 ISMG1-11D20CD-U131X 48 20 11 2000 2400
20001 IS550AT025I 213 5108 ISMG1-75C10CD-U131X 70 15 7.5 1000 1200
- 15 -
rated rated rated

(Nm) (rpm) (rpm)
2
serial number serial number
S1 S1 S1
20002 IS550AT032I 190 5109 ISMG1-11D15CD-U131X 70 twenty one 11 1500 1800
20003 IS550AT037I 183 5110 ISMG1-12D17CD-U131X 70 26 12 1700 2040
20004 IS550AT045I 205 5111 ISMG1-15D20CD-U131X 70 28 15 2000 2400
20002 IS550AT032I 285 5112 ISMG1-92C10CD-U131X 89 18 9.2 1000 1200
20004 IS550AT045I 259 5113 ISMG1-13D15CD-U131X 89 28 13 1500 1800
20005 IS550AT060I 279 5114 ISMG1-18D20CD-U131X 89 35 18.5 2000 2400
Remarks: The model of natural cooling motor starts withS1Working system definition
IS550driver ISMG1Forced air-cooled motor
rated rated rated


(rpm) (rpm)
S4 S4 S4
20000 IS550AT017I 99 5116 ISMG1-95C15CD-U131F 60 19 9.5 1500 1800
20001 IS550AT025I 121 5117 ISMG1-11D17CD-U131F 60 twenty three 11 1700 2040
20001 IS550AT025I 107 5118 ISMG1-12D20CD-U131F 60 26 12.6 2000 2400
20000 IS550AT017I 154 5119 ISMG1-95C10CD-U131F 90 18 9.5 1000 1200
20001 IS550AT025I 135 5120 ISMG1-14D15CD-U131F 90 30 14.1 1500 1800
20001 IS550AT025I 124 5121 ISMG1-16D17CD-U131F 90 34 16 1700 2040
20002 IS550AT032I 147 5122 ISMG1-18D20CD-U131F 90 36 18.8 2000 2400
20001 IS550AT025I 213 5123 ISMG1-14D10CD-U131F 135 29 14.1 1000 1200
20003 IS550AT037I 220 5124 ISMG1-22D15CD-U131F 135 41 twenty two 1500 1800
20004 IS550AT045I 223 5125 ISMG1-24D17CD-U131F 135 50 twenty four 1700 2040
20004 IS550AT045I 205 5126 ISMG1-28D20CD-U131F 135 54 28.3 2000 2400
20002 IS550AT032I 285 5127 ISMG1-20D10CD-U131F 195 40 20.5 1000 1200
20004 IS550AT045I 259 5128 ISMG1-30D15CD-U131F 195 61 30.6 1500 1800
20005 IS550AT060I 279 5129 ISMG1-41D20CD-U131F 195 76 41 2000 2400
Remarks: Forced fan cooling motor models start withS4Working system definition.
rated rated rated


(rpm) (rpm)
S1 S1 S1
20001 IS550AT025I 215 5200 ISMG2-84C10CD-U131X 80 18 8.4 1000 1200
20003 IS550AT037I 238 5201 ISMG2-11D13CD-U131X 80 twenty four 10.9 1300 1560
- 16 -
rated rated rated

(Nm) (rpm) (rpm)
2
S1 S1 S1
20003 IS550AT037I 298 5205 ISMG2-12D10CD-U131X 115 27 12 1000 1200
20004 IS550AT045I 290 5206 ISMG2-16D13CD-U131X 115 34 15.7 1300 1560
20005 IS550AT060I 338 5207 ISMG2-18D15CD-U131X 115 38 18.1 1500 1800
20005 IS550AT060I 290 5208 ISMG2-21D17CD-U131X 115 45 20.5 1700 2040
20006 IS550AT075I 302 5209 ISMG2-24D20CD-U131X 115 54 24.1 2000 2400
20004 IS550AT045I 386 5210 ISMG2-16D10CD-U131X 155 34 16.2 1000 1200
20005 IS550AT060I 386 5211 ISMG2-21D13CD-U131X 155 45 21.1 1300 1560
20006 IS550AT075I 402 5212 ISMG2-24D15CD-U131X 155 54 24.3 1500 1800
20007 IS550AT091I 439 5213 ISMG2-28D17CD-U131X 155 60 27.6 1700 2040
20008 IS550AT112I 481 5214 ISMG2-33D20CD-U131X 155 67 32.5 2000 2400
20006 IS550AT075I 604 5215 ISMG2-23D10CD-U131X 220 50 twenty three 1000 1200
20007 IS550AT091I 586 5216 ISMG2-30D13CD-U131X 220 63 29.9 1300 1560
20008 IS550AT112I 631 5217 ISMG2-35D15CD-U131X 220 72 34.6 1500 1800
20008 IS550AT112I 541 5218 ISMG2-39D17CD-U131X 220 84 39.2 1700 2040
20006 IS550AT075I 644 5220 ISMG2-29D10CD-U131X 275 59 28.8 1000 1200
20007 IS550AT091I 586 5221 ISMG2-37D13CD-U131X 275 78 37.4 1300 1560
20008 IS550AT112I 601 5222 ISMG2-43D15CD-U131X 275 94 43.2 1500 1800
20009 IS550AT150I 644 5224 ISMG2-58D20CD-U131X 275 117 57.6 2000 2400
Remarks: The model of natural cooling motor starts withS1Working system definition.
rated rated rated


(rpm) (rpm)
S4 S4 S4
20003 IS550AT037I 298 5235 ISMG2-21D10CD-U131F 200 46 20.9 1000 1200
20004 IS550AT045I 290 5236 ISMG2-27D13CD-U131F 200 57 27.2 1300 1560
20005 IS550AT060I 338 5237 ISMG2-31D15CD-U131F 200 65 31.4 1500 1800
20005 IS550AT060I 290 5238 ISMG2-36D17CD-U131F 200 76 35.6 1700 2040
20006 IS550AT075I 302 5239 ISMG2-42D20CD-U131F 200 92 41.9 2000 2400
20004 IS550AT045I 386 5240 ISMG2-28D10CD-U131F 270 58 28.3 1000 1200
20005 IS550AT060I 386 5241 ISMG2-37D13CD-U131F 270 77 36.8 1300 1560
20006 IS550AT075I 402 5242 ISMG2-42D15CD-U131F 270 92 42.4 1500 1800
20007 IS550AT091I 439 5243 ISMG2-48D17CD-U131F 270 102 48.1 1700 2040
20008 IS550AT112I 481 5244 ISMG2-57D20CD-U131F 270 115 56.5 2000 2400
20006 IS550AT075I 604 5245 ISMG2-40D10CD-U131F 385 87 40.3 1000 1200
- 17 -
rated rated rated

(Nm) (rpm) (rpm)
2
S4 S4 S4
20007 IS550AT091I 586 5246 ISMG2-52D13CD-U131F 385 109 52.4 1300 1560
20008 IS550AT112I 631 5247 ISMG2-60D15CD-U131F 385 125 60.5 1500 1800
20008 IS550AT112I 541 5248 ISMG2-68D17CD-U131F 385 145 68.5 1700 2040
20007 IS550AT091I 781 5250 ISMG2-53D10CD-U131F 510 108 53.4 1000 1200
20008 IS550AT112I 721 5251 ISMG2-69D13CD-U131F 510 144 69.4 1300 1560
20009 IS550AT150I 805 5252 ISMG2-80D15CD-U131F 510 173 80.1 1500 1800
Remark:
1, forced fan cooling motor model withS4Working system definition.
2, The above table only lists the corresponding driver of the photoelectric motor number. If you want to use a resolver motor, just find the corresponding photoelectric motor number and change the
hundreds place to the corresponding resolver motor number.
3, Resolver motor number50**,53**The corresponding photoelectric motor numbers are51**,52**, hundreds of different.
2.4Supporting cables and models
surface2-5Supporting cables and models
project cable length Cable model
L=3.0m S5-L-P21-3.0
Servo motor encoder cable L=5.0m S5-L-P21-5.0
L=10.0m S5-L-P21-10.0
server DriverPCCommunication Cable L=3.0m S5-L-T00-3.0
server DriverPLCCommunication Cable L=2.0m S5-L-T02-2.0
Servo drive multi-machine parallel communication cable L=0.2m S5-L-T01-0.2
2.5Peripheral brake accessories
surface2-6 IS550Servo drive brake component selection table
Servo drive type

Recommended power of braking resistor Braking resistor recommended resistance braking unit Remark
IS550AT
017 500W ≥65Ω
025 800W ≥43Ω
032 1000W ≥32Ω
Standard built-in no special instructions
037 1300W ≥25Ω
045 1500W ≥22Ω
060 2500W ≥16Ω
075 3.7 kW ≥16Ω external MDBU-35-B
- 18 -
Servo drive type

Recommended power of braking resistor Braking resistor recommended resistance braking unit Remark
IS550AT
176 4.5 kWx2 ≥8Ωx2 MDBU-70-Bx2
2
external
210 5.5 kWx2 ≥8Ωx2 external MDBU-70-Bx2

253 6.5 kWx2 ≥8Ωx2 external MDBU-70-Bx2
304 16kW ≥2.5Ω external MDBU-210-B
Note: ×2Indicates that two braking units are used in parallel with their respective braking resistors, ×3Same meaning as ×2.
- 19 -
3
Servo Motor Specifications and Outline Drawings
No.3Chapter Servo Motor Specifications and Outline Drawings IS550Series Servo Driver User Manual
No.3Chapter Servo Motor Specifications and Outline Drawings
3.1Electrical Specifications of Servo Motors
3.1.1 ISMGsMechanical characteristic parameter specification of series motor
project describe
rated time continuous
3 Vibration level
Insulation resistance DC500V, 50MΩabove

V15
Ambient temperature 0~40℃

Excitation method permanent magnet
installation method Flange

heat resistance grade f
insulation voltage AC1500V 1minute(400Vclass)
Shell protection method IP54(Except shaft through part)
Use environment humidity 20~80%(no condensation)
continuous mode direct connection
turn around When viewed from the load side under the forward rotation command, it is counterclockwise (CCW)to rotate
3.1.2 ISMGsMotor Rating Specifications
instant
rated rated rated rated Highest torque rotor inertia
cool down maximum
Servo motor model output torque electric current Rotating speed Rotating speed parameter Quantity ×10-4
Way torque
* kW * N·m * Arms *min-1 *min-1 N m/Arms kg·m2
* N·m
ISMG1-55C15CD-****X 5.5 35 130 11 1500 2000 3.24 75

ISMG1-75C15CD-****X 7.5 48 200 16 1500 2000 3.01 90
ISMG1-75C20CD-****X 7.5 35 130 15 2000 2500 2.39 75
ISMG1-11D20CD-****X 11 48 230 20 2000 2400 2.55 90
ISMG1-11D15CD-****X 11 70 340 twenty one 1500 1800 3.31 120
nature
ISMG1-13D15CD-****X 13 89 450 28 1500 1800 3.2 150
cool down
ISMG1-15D20CD-****X 15 70 340 28 2000 2400 2.53 120

ISMG2-18D15CD-****X 18 115 488 38 1500 1800 3.13 296
ISMG1-18D20CD-****X 18 89 450 35 2000 2400 2.58 150
ISMG2-24D15CD-****X twenty four 155 650 54 1500 1800 2.98 368
ISMG2-35D15CD-****X 35 220 975 72 1500 1800 3.13 500
ISMG1-18D20CD-****F 18 90 230 36 2000 2400 2.55 90
mandatory
ISMG1-28D20CD-****F 28 135 340 54 2000 2400 2.53 120
air cooled
ISMG2-42D15CD-****F 42 270 650 92 1500 1800 2.98 368
ISMG2-57D20CD-****F 57 270 650 115 2000 2400 2.39 368
Note: "*" indicates that these items and torque-speed characteristic values are combined with our company's servo driver and the temperature of the
armature coil is20value at °C.
- twenty two -
IS550Series Servo Driver User Manual No.3Chapter Servo Motor Specifications and Outline Drawings
3.2Dimensions of the servo motor
3.2.1Solid shaft, naturally cooled motor (ISMG1)
φ30
0.05 A
φ0.05A
82±1 19
45
5 °
4- φ 14.5
- 0.0 16
0
φ215
M10 35
φ42h6
450- 0.2 3
300
.0111
φ180j6+0- 0.0 4
107.5
4-φ12
0.05A
40 K 200
12.5
L
215
254
10 560- 0.74
278
12-00.02 7
Standard accessories:AType round head ordinary flat key
12×8×56 Refer to:GB/T1096
picture3-1Servo motor appearance and installation dimensions (solid shaft, natural coolingISMG1)
Motor outline dimension table:
motor model L(mm) K(mm)

ISMG1-75C20CD-①31X 295 190
ISMG1-75C15CD-①31X
330 230
ISMG1-11D20CD-①31X
406 305
485 380
Note: ①—Currently only provideR1orU1. The installation base is an optional accessory, and it is not installed on the standard model, unless the user specifically requires it
- twenty three -
3.2.2Solid shaft, forced air cooled motor (ISMG1)

φ0.05A
82±1 19
φ25
0.05A
45
°
5
4- φ 14.5
- 0.0 16
φ215
35
0
450- 0.23
3 13
φ42h6
M10
14 1
- 0.01
φ180j 6+ 0.0
231.5
3 A
124
0.05 A 4-φ12
40 K 200
12.5
L 223
254
10 560- 0.74 278
12-00.0 27
picture3-2Servo motor appearance and installation dimensions (solid shaft, forced air coolingISMG1)

ISMG1-18D20CD-①31F 395 230
ISMG1-28D20CD-①31F 471 305
Note: ①—Currently only provideR1orU1.
3.2.3Solid shaft, naturally cooled motor (ISMG2)

φ0.05A
φ25
0.05A
112±1 35 45
°
4 4-φ19
φ300
- 0.01 6
0
35
51.50- 0.2 9
φ48h6
373.5
M20
φ250h60- 0.02 9
A
140
4-φ18
16
0.05 A 266
60 K
280
L 356
395
900- 0.87
140- 0.02 7
11
Standard accessories:AType round head ordinary flat
key14×9×90 Refer to:GB/T1096
picture3-3Servo motor appearance and installation dimensions (solid shaft, natural coolingISMG2)
- twenty four -
motor model L(mm)

ISMG2-18D15CD-①31X 395
ISMG2-24D15CD-①31X 445
ISMG2-35D15CD-①31X 550
3
Note: ①—Currently only provideR1orU1. The installation base is an optional accessory, and it is not installed on the standard model, unless the user specifically requires it
3.2.4Solid shaft, forced air cooled motor (ISMG2)
φ25
φ0.05A
0.05 A
112±1 35
45
4 °
4-φ19
φ300
- 0.0 16
M20 35
0
51.50- 0.2 9
381.5
φ48h6
- 0.0 29
304
0
φ250h6
160
0.05 A
60 K 4- φ 18
16
266
L
288
900- 0. 87 356
140- 0.0 27
11 395
picture3-4Servo motor appearance and installation dimensions (solid shaft, forced air coolingISMG2)

ISMG2-27D20CD-①31F 475 200
ISMG2-42D15CD-①31F
575 300
ISMG2-57D20CD-①31F
Note: ①—Currently only provideR1orU1.
- 25 -
3.3Servo motor installation
3.3.1Precautions for Servo Motor Installation
Servo motors can be installed horizontally or vertically. If it is installed incorrectly or in an inappropriate place, it will shorten the
life of the servo motor or cause unexpected accidents.
Notice
-
3
Please do not directly connect the servo motor to the industrial power supply. Otherwise, the servo motor will be damaged.
- Without a dedicated servo driver, the servo motor will not be able to run.
Installation Precautions:
project describe
- When connecting with a machine, please use a coupling, and keep the axis of the servo motor
and the axis of the machine in a straight line. When installing the servo motor, make it meet the
centering accuracy requirements shown in the figure on the left.
- Insufficient centering may cause vibration, which may damage bearings,

Centering
encoders, etc.
Installation direction Servo motors can be installed horizontally or vertically.
- When using it in a place where water drips, please use it after confirming the
protective structure of the servo motor. (Except for shaft penetration)
- Please specify a servo motor with an oil seal when using it in a place where oil drips onto the
shaft penetration.
Oil and water countermeasures

- Conditions of Use of Servomotors with Oil Seals
- Please make sure that the oil level is lower than the lip of the oil seal when using.
- Please use it in a state where the oil seal can keep the oil splash well.
- When using the servo motor above the shaft, be careful not to collect oil on the oil seal lip.
- Do not "bend" the wire or put "tension" on it.

cable stress
- In particular, the core wire of the signal line is0.2mmor0.3mm, very thin, so when wiring (use), please do not make
situation
it too tight.
- 26 -
project describe
- Please note the following regarding the connector section.
- When connecting the connector, please confirm that there is no foreign matter such as garbage or metal pieces in the connector.
- When connecting the connector to the servo motor, be sure to connect from the servo motor main circuit cable side first. If the
encoder cable side is connected first, the encoder mayPEThe potential difference between the faults.
connector part - When wiring, please confirm that the pin arrangement is correct.
-
3
processing
Connectors are made of resin. Do not apply shock as it may damage the connector.
- Be sure to hold the main body of the servo motor when carrying it with the cables connected. If you carry it by only
the cable, you may damage the connector or pull the cable.
- If a bent cable is used, be careful not to apply stress to the connector part during the wiring work. If stress is
applied to the connector part, it may cause damage to the connector.
Notice:
1) Precautions before installation
The shaft end part has been coated with "rust preventive agent". Please wipe off this "rust preventive agent" before installing the servo motor.
2) Insufficient centering will cause vibration and may damage the bearing.
3) When installing the coupling, do not subject the bearings to direct impact. Failure to do so may damage the code mounted on the shaft end on the opposite side of the load
device.
3.3.2Servo motor installation accuracy requirements
ISMH,ISMVPlease refer to the table below for the accuracy of the output shaft and the mounting periphery of the type servo motor. For the accuracy of each model, refer to the
dimension drawing of each servo motor.
precision reference image
A Perpendicularity of the flange face relative to the output shaft:0.06
B Eccentricity of flange face fit outer diameter:0.04
C Deviation of output shaft end:0.02
3.3.3Servo motor rotation direction
Viewed from the load side, the positive rotation direction of the servo motor is counterclockwise.
- 27 -
3.3.4Servo motor shock resistance
When the servo motor shaft is installed horizontally, the impact resistance in the vertical direction is as follows.
Impact acceleration:490m/s2
Impact times:2Second-rate
3
3.3.5Vibration Resistance of Servo Motors
When the servo motor shaft is installed horizontally, the up and down, left and right and front and rear3The vibration resistance in one direction is that the vibration acceleration is49m/s2
3.3.6Servo Motor Vibration Level
The vibration level at the rated speed of the servo motor isV15.
Note: Vibration levelV15Indicates that the maximum amplitude of the single servo motor at rated rotation is15μmthe following.
- 28 -
Translated from "?" to English - www.onlinedoctranslator.com
4
Servo drive specification and outline drawing
No.4Chapter Servo Drive Specifications and Outline Drawings IS550Series Servo Driver User Manual
No.4Chapter Servo Drive Specifications and Outline Drawings
4.1Servo Drive Specifications
4.1.1Main technical parameters of drive unit
Maximum applicable Consecutive loss Maximum loss

Servo unit model
Motor capacity out current out current Main circuit power Regeneration function
（IS550）
（kW）（Arms）（Arms）
IS550AT017I 7.5 17 30.6
IS550AT025I eleven 25 Four. Five
IS550AT032I fifteen 32 57.6
4
External regenerative resistor
IS550AT037I 18.5 37 66.6

IS550AT045I 22 Four. Five 81
IS550AT060I 30 60 108
three phaseAC380V-440V
IS550AT075I 37 75 135
+10%〜-fifteen%
IS550AT091I Four. Five 91 163.8 50Hz/60Hz
IS550AT112I 55 112 201.6
IS550AT150I 75 150 270
External braking unit
IS550AT176I 90 176 316.8
IS550AT210I 110 210 378
IS550AT253I 132 253 455.4
IS550AT304I 160 304 547.2
Notice
If the servo drive is used beyond the input power specification, the servo drive may alarm. When the power supply voltage does not meet
the following values, be sure to use a step-down transformer to control the power supply voltage within the specified range.
4.1.2General Specifications of Servo Drives
project describe
380V: Three-phase full-wave rectification

control method
IGBT PWMControl sine wave current drive mode
Line-saving incremental type:2500Wire
the feedback Serial incremental:17bit
resolver type
basic
Use/storage temperature (Note1） 0〜 +40℃ (ambient temperature at40℃〜55℃, please use with derating) /twenty〜 +85℃
Specification
Use/storage humidity 90%RH below (no condensation)
use Vibration/shock resistance 4.9m/s2/19.6m/s2

condition
degree of protection IP10
pollution level 2class
Altitude lower than1000m, higher than1000mPlease derate
- 30 -
IS550Series Servo Driver User Manual No.4Chapter Servo Drive Specifications and Outline Drawings
project describe
speed change
load change rate 0〜100%When loaded: ±0.01%Below (at rated speed)
Mobility Voltage change rate Rated voltage±10%::0%(at rated speed)

(Note2)
Temperature change rate 25±25℃：±0.1%Below (at rated speed)
performance Speed control range 1:5000(The lower limit of the speed control range is the condition for non-stop under rated torque load)
frequency characteristic 400Hz(JL = JMhour)
Torque control accuracy (repeatability) ±2%

Soft start time setting 0〜10s( Acceleration and deceleration can be set separately)
DC±10V/Rated speed (factory default setting, the setting range can be changed through the function
speed
code)
4
Command voltage (Note3)
torque
speed finger
Input voltage: max ±12V( The motor rotates forward when the command is positive)
control
make input
model input resistance about14kΩ
Circuit Time Parameters about47μs
enter DC±10V/Rated torque (factory default setting, the setting range can be changed through the function
Signal command voltage code)
torque index
Input voltage: max ±12V(Forward rotation torque command at positive command)
make input
input resistance about14kΩ
Circuit Time Parameters about47μs
multi-speed
speed selection useFROM) signal combination to realize multi-stage speed selection.
degree instruction
feedforward compensation 0〜100%(set resolution1%)

performance
Positioning completed width setting 0〜65535Command unit (setting resolution1command unit)
From "direction+pulse", "A、Bphase quadrature pulse", "CW/CCWChoose

Input Pulse Shape
one of the pulses.
differential drive
command pulse
input form
Location rush open collector
control Differential Driver: Maximum1Mpps

model enter Input pulse frequency
Open Collector: Maximum200kpps
Signal
control signal Clear signal (the input form is the same as the command pulse)
Built-in open collector power supply

+ 24V( built-in2.4kΩresistance)
(Note4）
Multi-rank
speed selection useFROM) signal combination to realize multi-stage position selection.
set command
- 31 -
project describe
Location output form A Mutually,B Mutually,WITHPhase: differential driver output, open collector output
output Frequency division ratio arbitrary frequency division
10roadFROM
number Servo enable, alarm reset, proportional action switching, running command switching, zero fixed function
enter enter Changes in signal assignments are possible enable, pulse prohibition, forward drive prohibition, reverse drive prohibition, external torque limit for
output Signal forward rotation, external torque limit for reverse rotation, forward rotation Input to jog, reverse jog, and
Signal position step.
6roadDO
number
Servo ready, motor rotating, zero speed signal, speed arrival, position arrival,
output Changes in signal assignments are possible
4
positioning approach signal, torque limit, speed limit, brake output, warning,
Signal
servo failure, alarm code (3bit output)
Overtravel (OT) to prevent the function P-OT、N-OTDecelerate and stop when moving
Electronic gear ratio 0.001 ≤ B/A ≤ 4000
Overcurrent, overvoltage, undervoltage, overload, main circuit detection abnormality, radiator
Protective function overheating, power supply phase loss, overspeed, encoder abnormality,CPU exception, parameter
exception, other
LEDdisplay function main powerCHARGE，5bitLEDshow
built-in Analog monitor function for observation Built-in analog monitoring connector for observing speed, torque command signal, etc.
Function connect device RS232、RS485

1::Ncommunication RS485, the maximum can beN=247 stand
communication
Axis address setting Set according to user parameters

Function
Status display, user parameter setting, monitoring display, alarm tracking display,JOG Running and
Function
automatic tuning operation, speed, torque command signal and other surveying and mapping functions
gain adjustment, alarm logging,JOGOperation and power supply high harmonic suppressionDCReactor
other
connection terminal
1) Note1: Please install the servo driver in this range of ambient temperature. When stored in the electric cabinet, the temperature in the electric cabinet is also low.
to exceed this temperature.
2) Note2: The speed change rate is defined by the following formula:
No-load speed - full load speed

Rate of change of speed = ×100％
Rated speed
In fact, the calculated resistance value changes due to variations in the amplifier due to voltage changes and temperature changes. Therefore, this influence will be manifested by
the change of rotational speed. This change in the rotational speed is expressed as a ratio of the rated rotational speed, and is the rate of change in speed due to a voltage change
and a temperature change, respectively.
3) Note3: Forward rotation refers to clockwise rotation when viewing the motor from the opposite load side. (If viewed from the load side and the shaft side, it is counterclockwise
The needle spins. )
4) Note4: The built-in open collector power supply is not electrically isolated from the control circuit inside the servo drive.
- 32 -
4.2Servo drive installation
4.2.1Operating environment during mechanical installation
1) Ambient temperature: the ambient temperature has a great influence on the service life of the servo drive, and the operating environment temperature of the servo drive is not allowed
over the allowable temperature range (-10℃〜fifty℃）；
2) Install the servo drive on the surface of the flame-retardant object, and there should be enough space around it for heat dissipation. When the servo drive is working, it is easy to generate a large amount of
heat. And install it vertically on the mounting support with screws;
3) Please install it in a place that is not easy to vibrate. Vibration should not exceed0.6G. Pay special attention to keep away from equipment such as punch presses;
4) Avoid placing in direct sunlight, humidity, and water droplets;
5) Avoid installing in places with corrosive, flammable and explosive gases in the air;
6) Avoid installing in places with oil, dust, and metal dust.

cold wind
4
superior
B B
A A A cold wind
left right
B B
Down
side by side installation diagram Up and down installation diagram
picture4-1Mechanical installation diagram of servo drive
installation size
power level
B A
≤IS550AT032I ≥100mm no requirement
IS550AT037I—IS550AT060I ≥200mm ≥50mm
≥IS550AT075I ≥300mm ≥50mm
Note: When the power of the servo driver is not greater thanIS550AT032Imay not be consideredAsize. when greater than or equal toIS550AT037IhourA should be greater than
50mm. When the servo drive is installed up and down, please install the heat insulation deflector shown in the figure.
4.2.2Heat dissipation during mechanical installation
Please note the following points:
1) Please install the servo drive vertically so that the heat can be dissipated upwards. But not upside down. If there are many servo drives in the cabinet, the best
It is better to install them side by side. For occasions where up and down installation is required, please refer to the diagram3-2The installation instructions, install the heat insulation deflector.
2) Installation space according to the diagram3-1As shown, ensure the heat dissipation space of the servo drive. However, when arranging, please consider the dispersion of other components in the cabinet.
thermal conditions.
3) The mounting bracket must be made of flame retardant material.
- 33 -
4) For applications with metal dust, it is recommended to install the radiator outside the cabinet. At this time, the space in the fully sealed cabinet should be as large as possible.
4.2.3Removal and installation of the lower cover
IS550AT032I(Included) The following servo drives use plastic casings, and the removal of the lower cover of the plastic casings is shown in the figure4-2. Use a
tool to forcefully push out the hook of the lower cover to the inside.
picture4-2Removal drawing of the lower cover of the plastic case
IS550AT037I(Included) The above servo drives use sheet metal casings, and the removal of the lower cover of the sheet metal casings is shown in the figure4-3. Tools can be used to
directly loosen the screws of the lower cover.
1, remove
two screws
Lower cover
3, move down 2, lift

Out cover lower cover
Bottom edge of cover
picture4-3Removal drawing of the lower cover of the sheet metal shell
Notice
When the lower cover is removed, avoid the falling of the lower cover, which may cause damage to the equipment and people!
- 3. 4 -
4.3Dimension drawing of servo drive
4.3.1 IS550AT017I〜IS550AT032ISchematic diagram of external dimensions and installation dimensions
4.3.2 IS550AT037I〜IS550AT304ISchematic diagram of external dimensions and installation dimensions
Phi
A
IN
- 35 -
4.3.3 IS550AThe shape of the servo drive and the size of the installation hole (mm）
Mounting holes Dimensions Mounting holes weight

model
A B H H1 IN D Diameter (kg)
IS550AT017I
IS550AT025I 190 305 322 / 208 192 f6 6.5
IS550AT032I
IS550AT037I
IS550AT045I 235 447 432 463 285 228 f6.5 twenty
IS550AT060I
4 IS550AT075I
IS550AT091I 260 580 549 600 385 265 f10 32
IS550AT112I
IS550AT150I
343 678 660 700 473 307 f10 47
IS550AT176I
IS550AT210I
IS550AT253I 449 903 880 930 579 380 f10 90
IS550AT304I
4.3.4Dimensions of external keyboard
76.00
27.00
54
15.0 0
Crystal Head
116.00
114
10. 00
Φ3.50/ typ2
- 36 -
4.3.5Installation opening size of external keyboard
73.50
63.75
Phi4.00/ty p 2
99.30
95.00
4
4.70
9.75
- 37 -
- 38 -
5
Cable Specifications and Outline Drawings
No.5Chapter Cable Specifications and Outline Drawings IS550Series Servo Driver User Manual
No.5Chapter Cable Specifications and Outline Drawings
5.1Servo motor encoder cable
5.1.1Outline drawing of servo motor encoder cable
5.1.2Servo motor encoder cable model
5
model length Applicable servo motor Applicable encoder
S5-L-P21-3.0 3.0m
S5-L-P21-5.0 5.0m ISMGseries Wire-saving incremental encoder
S5-L-P21-10.0 10.0m
5.1.3Servo motor encoder cable signal connection relationship
S5-L-P21-3.0、S5-L-P21-5.0、S5-L-P21-10.0Cable Wiring Diagram
J1terminal (driver) 20-29Aviation plug (motor) Twist instructions
Signal name Pin No. Pin No. Signal name A+ A-

A+ 1 A A+ B+ B-
A- 2 B A- Z+ WITH-
B+ 3 C B+ + 5V GND
B- 4 D B-
Z+ 5 AND Z+
WITH- 6 F WITH-
+ 5V 13 G + 5V
GND 14 H GND
case J
ON(shielding layer) ON(shielding layer)
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IS550Series Servo Driver User Manual No.5Chapter Cable Specifications and Outline Drawings
5.2server DriverPCCommunication Cable
5.2.1server DriverPCOutline drawing of communication cable
A B
5.2.2server DriverPCCommunication cable model
model length Remark
S5-L-T00-3.0 3.0m Applicable to all models
5.2.3server DriverPCCommunication cable signal connection relationship
A B
Signal name Pin No. Pin No. Signal name
5
GND 5 1 GND
PC-TXD 3 2 RS232-RXD
PC-RXD 2 3 RS232-TXD
ON(shielding layer) case case ON(shielding layer)
5.3server DriverPLCCommunication Cable
5.3.1server DriverPLCOutline drawing of communication cable
G ND
6 3
A direction 5+
RS4 8
1
R S 48 5 -
7 4
2
C
ANH
8 5
C AN
L
A B
5.3.2server DriverPLCCommunication cable model
model length describe
5.3.3server DriverPLCCommunication cable wiring diagram
A B Twist instructions
Signal name Pin No. Signal name 4 5

GND 1 GND 6 7
RS485+ 4 RS485+
RS485- 5 RS485-
SOUP 6 SOUP
LIVE 7 LIVE
case ON ON
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No.5Chapter Cable Specifications and Outline Drawings IS550Series Servo Driver User Manual
5.4Servo drive multi-machine parallel communication cable
5.4.1Outline drawing of communication cable for multi-machine parallel connection of servo drive
A B
5.4.2Model of communication cable for multi-machine parallel connection of servo drive
model length describe
5.4.3Communication cable signal connection relationship of multi-machine parallel connection of servo drive
A B Twist instructions
Signal name Pin No. Pin No. Signal name 4 5
5 RS485+ 4 4 RS485+ 6 7
RS485- 5 5 RS485-
SOUP 6 6 SOUP
LIVE 7 7 LIVE
ON(shielding layer) case case ON(shielding layer)
5.5Precautions for using signal cables
1) during routing or operation, the bending radius of the cableRnot less than90mm, otherwise the cable may disconnect prematurely.
2) When wiring, pay special attention to try to ensure that the cable is in a straight state, not in a twisted state, otherwise it will easily lead to premature disconnection
Wire. Please use the mark on the surface of the cable to check whether the cable is twisted.
3) Do not fix the active part of the cable, otherwise the stress will be concentrated on the fixed part, which will lead to premature disconnection, please replace the fixed part
set to a minimum.
4) The length of the cable should be appropriate, if it is too short, tension will be generated at the fixed position, which will easily lead to premature disconnection, please adjust the cable to the most suitable
Use after length.
5) Take measures such as setting sufficient intervals between cables or using partitions to avoid mutual interference between cables.
- 42 -
6
Wiring
No.6Chapter Wiring IS550Series Servo Driver User Manual
No.6Chapter Wiring
6.1main circuit wiring
Wiring when using a single servo driver.
For wiring
servo motor
breaker
noise
filter
6
When servo alarm
power off power on
open circuit1RY ） +24
1RY relay)
surge
suppressor 1 (diode)
When servo alarm
Servo alarm display
connected1RY
6.1.1Names and functions of main circuit terminals
Terminal marking name illustrate
R、S、T Three-phase power input terminal AC input three-phase power connection point
Common DC bus input point (IS550AT075I(includes) above external braking

(+)、(-) DC bus positive and negative terminals
unit connection points)
(+)、PB Brake resistor connection terminal IS550AT060I(included) the following braking resistor connection points
P、(+) External reactor connection terminal IS550AT150I(included) above external reactor connection points
IN、IN、IN Servo drive output terminal Connecting a Three-Phase Motor
ON Ground terminal Ground terminal
6.1.2Precautions for main circuit wiring
1) input powerR、S、T: There is no phase sequence requirement for the input side wiring of the servo drive.
2) DC bus (+), (-) terminals:
Note that there is still residual voltage at the (+) and (-) terminals of the DC bus immediately after the power failure.CHARGEAfter the light goes out and confirm that it is
less than36VDo not touch it at the rear, otherwise there is a risk of electric shock.
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IS550Series Servo Driver User Manual Chapter 6 Wiring
3）IS550AT075I(Included) When using the above external brake components, pay attention to the (+) and (-) polarities can not be reversed, otherwise
Cause damage to the servo drive or even a fire.
4) The wiring length of the braking unit should not exceed10m. Twisted pair or tight two-wire parallel wiring should be used.
5) Do not directly connect the braking resistor to the DC bus, which may cause damage to the servo drive or even fire.
6) Braking resistor connection terminal (+),PB::
7）S550AT060I(Included) The braking resistor connection terminal is only valid for the following models that have been confirmed to have a built-in braking unit.
Refer to the recommended value for braking resistor selection and the wiring distance should be less than5 m. Otherwise, the servo drive may be damaged.
8) External reactor connection terminalP、（+）
IS550AT150I(Included) Servo drivers and reactors with the above power are externally installed, and thePRemove the connecting piece between the (+)
terminals, and connect the reactor between the two terminals.
9) Servo drive output sideIN、IN、IN::
Do not connect capacitors or surge absorbers to the output side of the servo drive, otherwise it will cause frequent protection or even damage to the servo drive.
When the motor cable is too long, due to the influence of distributed capacitance, it is easy to generate electrical resonance, which will cause damage to the motor
insulation or generate a large leakage current to protect the servo drive from overcurrent. Motor cable length greater than100m, an AC output reactor must be installed.
10)Ground terminal ON::
The terminal must be reliably grounded, and the resistance of the grounding wire must be less than0.1Ω. Otherwise, it will cause the equipment to work abnormally or even be damaged. Do not 6
connect the ground terminal and the neutral wire of the power supplyNShared terminal.
6.2Encoder signal wiring
6.2.1Encoder signal line processing (wire-saving incremental encoder)
server Driver
Wire-saving incremental encoder
*2
*1
3（A) blue A+ 1
6（B) blue black A- 2
2（C） B+ 3
PG
green
5（D） green black B- 4
）
1 AND yellow Z+ 5
4（F） yellow black 6
WITH-
9（G） red + 5V 13
PG+5V
8（H） GND 14
PG0V
black
1 SG
0V
Connector housing
7 (connector housing) shielded wire Connector housing
- Four. Five -
Note:*1: The wiring pin number of the servo motor side connector varies depending on the type of servo motor used.
* 2:: Indicates a twisted-pair shielded wire.
6.2.2Encoder connector (J1) of the terminal arrangement
Pin No. Signal name Pin No. Signal name
1 A+ 2 A-
3 B+ 4 B-
5 Z+ 6 WITH-
7 reserve 8 reserve
9 reserve 10 reserve
eleven reserve 12 reserve
13 + 5V 14 GND
fifteen PS+ 16 PS-
17 reserve 18 reserve
6 19 reserve twenty reserve
case ON(shielding network layer)
6.2.3ResolverPGCardMF38PG4ofJ3definition
Motor Terminal Board Definition Danaher Rotator Tama River Circulation MF38PG4CardDB9pin Matching resolver cable color
EXC- R1red and white R1red and white 1 EXC- 1red

EXC+ R2black and white R2yellow white/black and white 2 EXC+ 2blue
WITHOUT+ S1red S1red 3 WITHOUT+ 3pink
WITHOUT- S3black S3black 4 WITHOUT- 4Ash

COS+ S2yellow S2yellow 5 COS+ 5yellow
COS- S4blue S4blue 9 COS- 9green
PTC+ – – 6 PTC+ 6white
PTC- – – 7 PTC- 7brown
Note: Do not connect the wire to the "reserved" terminal.
Recommended UseAWG26~AWG16Twisted-pair shielded cable, wiring length20mwithin.
6.2.4Incremental fully closed loop position encoder connectorJ7Terminal description
serial number name describe serial number name describe
1 A+ 5 Z+
second encoderAphase feedback signal second encoderWITHphase feedback signal
2 A- 6 WITH-
3 B+ 7 + 5V
second encoderBphase feedback signal
4 B- 8 GND 2nd encoder+5Vpowered by
/ 9 GND
- 46 -
Note: Do not connect the wire to the "reserved" terminal.
Recommended UseAWG26~AWG16Twisted-pair shielded cable, wiring length20mwithin.
6.2.5Precautions for Encoder Signal Wiring
1) The wiring sequence of the encoder and the servo drive varies with the servo motor and encoder.
2) Recommended UseAWG26~AWG16Twisted-pair shielded cable, wiring length20mwithin.
3) cannot tie wires to "reserved" terminals.
6.3Interface Circuit
The input and output signals of the servo driver and the connection example with the host device are shown below.
6.3.1Control board interface layout
JJ2
12 23 4
J13 powered by
show simulationQuality Supervision Depending on the terminal
6
J8
keyboard interface
Rotary encoder
J15
J3
J5
burn program port
External keyboard interface
J4
J7 J1 J9 communication terminal
bitplace Encoder incremental encoder control terminal
- 47 -
6.3.2Connection Diagram of Input and Output Signals
Servo unit
AI3+ 48
High precision analog signal input
input range±12V low pass filter

AI3- 49 5V
16 + 5V Provide externally5Vpower supply
AI1 5 A/D maximum200mA

Analog speed input
low pass filter
1
change
input range±12V Change GND

GND 6 2
GND
AI2 9
low pass filter
Analog torque input
input range±12V
GND 10
7150O
PULSE PULSE 33
PAO
[CW AMutually] /PULSE 8 3. 4
SIGN SIGN
eleven150O J9 35
/PAO
PBO
[CCW BMutually] /SIGN 12 end 36
Encoder frequency division output
/PBO
CLR
fifteen150O Child 19
PZO
bitplace instruction CLR
/CLR 14
twenty
/ PZO
6
17
24V PZ_OUT
3 2.4k fifty
PL1 WITH
open collector 13 2.4k
PL2 WITH
18 2.4k
input power
PL3
24IN 29 DO1+
30 DO1-
+ 24Vpower supply
47 Can pass function code
DI1 46
27 DO2+
Flexible configurationDOFunction
DI2 28 DO2-
Four. Five
Can pass function code

DI3
25 DO3+
4
Flexible configurationFROMFunction 26 DO3-Active by default when
DI4 44
conduction, can pass the function code
31 DO4+ Modify its positive and negative logic
DI5 32 DO4-
40
DI6 41
37 DO6
The default state is on when the DI7 42 38 DO7
Valid, can pass the function code
39
DI8 43 DO8
Modify its positive and negative logic
DI9 23 WITH
DI10 24
WITH 50
Note: Since the servo driver provides WITH Connector housing
up24Voptocoupler drive power, so

Servo drives eliminate the need for external ONShielding and connection
connected to the housing

24VIndustrial power supply
- 48 -
6.3.3Interface with command input circuit
1, Analog input circuit
The following is the user interface connectorAI1analog input,AI2analog input,AI3Analog input terminals are described. The analog signal is a
speed command or torque command signal. The input criteria are as follows:
● Maximum allowable voltage: ±12V；
● Input impedance approx.:14kΩ。
server Driver
AI1（AI2）
12V about14kΩ
GND
2, Position command input circuit
The command pulse input, command symbol input, and deviation count clear signal terminals of the user interface connector are described below. The output circuit of the
command pulse and deviation count clear signal on the upper device side can be output from a differential driver or an open collector output2 species to choose from. The
6
classification is as follows:
a), When it is a differential driver output:
server Driver
PULSE+（SIGN+、CLR+）
150Ω
PULSE-（SIGN-、CLR-）
1) please ensure "2.8V≤（Hlevel)-(Llevel)≤3.7V”。
2) If the above formula cannot be satisfied, the input pulse of the servo driver is unstable. would result in the following:
3) When the command pulse is input, the pulse loss phenomenon occurs;
4) When the command direction is input, the command reversal phenomenon occurs.
b), When it is an open collector output
Use the internal servo drive24VOn power:
server Driver
24V
GTC1（VOP2、VOP3）
2.4kΩ
PULSE-（SIGN-、CLR-） 150Ω
WITH
- 49 -
When using an external power supply prepared by the user:
server Driver
24V
INCC
GTC1（VOP2、VOP3）
2.4kΩ
PULSE-（SIGN-、CLR-） 150Ω
WITH
INF=1.5~1.8V
3, Digital input circuit
The following is the user interface connectorFROMInput terminals are explained.
a) When the upper device is a relay output:
server Driver
24V
6 ON
3.3kΩ
DI1wait
WITH
b) When the parent device isNPNFor open collector output:
server Driver
24V
ON
3.3kΩ
DI1wait
WITH
c) When the parent device isPNPFor open collector output:
server Driver
24V
ON
externalGND
3.3kΩ
DI1wait
External power supply
WITH
- fifty -
6.3.4Interface with output circuit
1, Encoder frequency division output circuit
User Interface ConnectorAPhase-divided output signal,BPhase-divided output signal,WITHThe phase frequency division output signal terminal will be described. The encoder
frequency division output circuit outputs a differential signal through a differential driver. Usually, when configuring a position control system for a host device, a feedback signal is
provided. On the host device side, use a differential receiving circuit to receive.
server Driver
PAO+（PBO+、PZO+）
PAO-（PBO-、PZO-）
Below is the user interface connector collectorWITHThe phase frequency division output signal terminal will be described.
Additionally, the encoderWITHThe phase frequency division output circuit can pass the collector open circuit signal. Usually, when configuring a position
control system for a host device, a feedback signal is provided. On the host device side, use a photocoupler circuit, relay circuit, or bus receiver circuit for
reception.
server Driver DC5V~24V

6
PZ-OUT optocoupler
WITH
WITH
The maximum allowable voltage and current capacity of the optocoupler output circuit inside the servo driver are as follows:
Voltage:DC30V(maximum)
Current:DC50mA(maximum)
2, Digital output circuit
User Interface ConnectorDOThe output terminals are explained.
a) When the upper device is a relay input:
server Driver
DC5V~24V
relay
DO1wait
C OMUP
WITH
- 51 -
b) When the upper device is optocoupler input:
server Driver DC5V~24V
DO1wait optocoupler
COMOP
WITH
The maximum allowable voltage and current capacity of the optocoupler output circuit inside the servo driver are as follows:
Voltage:DC30V(maximum)
Current:DC50mA(maximum)
6.4Holding Brake Wiring
Keep the connection of the brake input signal without polarity, requires user preparation24Vpower supply.
6
brake signal/BKAn example of standard wiring to the brake power supply is shown below:
AC power
R
S
brake control server Driver

relay
- （/BK＋）
（/BK－）
Brake Power servo motor

-
6.5Analog monitoring signal wiring
6.5.1Analog monitor signal connector (J2) of the terminal arrangement
serial number definition serial number definition
1 GND 3 GND
1 2 3 4
2 AO1 4 AO2
- 52 -
6.5.2What can be monitored
Signal monitoring content
AO1 00:Motor speed,01: speed command,02: Torque command,03: position deviation,04:

position amplifier deviation,05: Position command speed,06: Positioning complete
AO2 command,07: Velocity feedforward. (H04-50、H04-53）
Note: control powerOFFAfter that, the analog monitoring output terminal may be at the longest50msDuring the output is approx.5Vvoltage. Please use it with
due consideration.
6.6Communication signal wiring
Communication signal terminalJ4Definition (note: the wire cannot be connected to the "reserved" terminal)
serial number definition describe
1 GND land
2 RS232-RXD RS232The receiving end is connected with the sending end of the host computer.
3 RS232-TXD RS232The sending end is connected with the receiving end of the host computer.
3
4 RS485+ RS485Communication Interface 6
1
J4
4
6
5 RS485- 7
RS485Communication Interface
2
8
6 reserve 5
7 reserve
8 + 5V + 5Vpower supply
shell ON chassis
6.7Wiring and anti-noise countermeasures
6.7.1Wiring Recommendations
For safe and stable use of the product, please pay attention to the following items when wiring.
1, command input and encoder wiring related cables, connect the cables with the shortest distance.
2, Grounding wiring as thick as possible (2.0mm2that's all).
- recommendedDMore than one grounding (grounding resistance value100Ωthe following).
- Must be grounded at one point.
- When the servo motor and the machine are insulated from each other, please ground the servo motor directly.
3, Do not make the cable bend or bear tension.
-The core diameter of the signal cable is only0.2mmor0.3mm, very thin, please be careful when using.
4, To prevent radio frequency interference, please use a noise filter.
- When using near residential buildings, or if you are concerned about radio frequency interference, please install a noise filter on the input side of the power line. Since the Servo Drive is an industrial
device, no radio frequency interference countermeasures are taken.
5, To prevent malfunction caused by noise, the following processing methods can be adopted:
- Install the host device and noise filter as close as possible to the servo driver.
- Install surge suppressors on coils of relays, solenoids, and electromagnetic contactors.
- 53 -
- When wiring, please separate the strong current line from the weak point line, and keep30cmabove interval. Do not put in the same pipe or bundle together.
- Do not share the power supply with electric welding machines, electrical discharge processing equipment, etc. Even if the power supply is not shared, install a noise filter on the input side of the
power line when there is a high-frequency generator nearby.
6, Protect the power line with a circuit breaker or fuse for wiring.
- The servo driver is directly connected to the industrial power line. A transformer is not used for insulation. In order to prevent cross-shock accidents in
the servo system, be sure to use a circuit breaker or fuse for wiring.
7, The servo drive does not have a built-in grounding protection circuit.
- In order to form a more secure system, please configure an earth leakage circuit breaker for both overload and short circuit protection or a special earth leakage circuit
breaker with a circuit breaker.
6.7.2Anti-interference wiring
1, Example of anti-interference wiring
The main circuit of this servo driver uses "high-speed switching elements". Depending on the peripheral wiring and grounding of the servo drive, it may be
affected by switching and noise due to switching elements. Therefore, correct grounding method and wiring processing are essential.
The servo drive has a built-in microprocessor (CPU). Therefore, it is necessary to configure a "noise filter" in an appropriate place to prevent external
interference as much as possible.
6
The diagram below shows an example of wiring in consideration of anti-noise measures.
server Driver
noise filterWave device (Note3）
R IN
S IN M
AC380V T IN
box,3.5mm2
outside PG
byon (Note1）
Operating Relay Sequence
customer signalborn circuit
2
(Note3）
(Note2） 2.0mm2 3.5mm
AVR that's all that's all

1LF
(ground)
Outer case,2.0mm 2
2
Outer case,3.5mm Outer box,3.5mm 2
End (note1） End (note1）
earth ground ground plane

For dedicated grounding
（Dkind of grounding)
Notice
1, Please use the outer box connection wire for grounding as much as possible3.5mm2Thick wire above (braided copper wire is more suitable).
2、 Be sure to use twisted-pair shielded wires.
3, When using the noise filter, please observe the precautions described in the following "How to use the noise filter".
2, correct grounding
1) Grounding of the servo motor housing
Be sure to connect the ground terminal of the servo motor to " "Ground terminal with the servo driver" " connected together. Separate ground terminal
- 54 -
“ "Must be grounded.
Otherwise, when the servo motor is mechanically grounded, switching interference currents will flow from the drive's power cable through the servo motor's stray capacitance.
2) When interference occurs on the command input line
When interference occurs on the command input line, please set the0VWire(SG) is grounded, the main circuit wiring of the motor passes through the metal conduit, and the
conduit and the junction box are grounded.
Please perform the above grounding treatment, all of which should be grounded at one point.
3, Precautions for use of noise filter
To prevent interference from the power line, use a blocking type noise filter. Also, install a noise filter on the power line of the peripheral device
as necessary. When installing and wiring the noise filter, please observe the following precautions. If there is a mistake in the use method, the
effect of the noise filter will be greatly reduced.
1) Please separate the input wiring and output wiring. Also don't put the two in the same pipe or bundle them together.
6
noise filter noise filter
oscilloscope oscilloscope
cabinet cabinet
noise filter
noise filter
oscilloscope
oscilloscope
cabinet
cabinet
Divide the circuit
leave
2) Separate the ground wire of the noise filter from the output wiring.
cabinet cabinet
- 55 -
3) The ground wire of the noise filter is connected to the ground plate separately. Do not connect other ground wires.
server Driver server Driver
}
thick
short
Shield grounding Shield grounding
cabinet cabinet
4) Noise filter ground wire treatment inside the device
When installing a noise filter inside a certain device, please connect the ground wire of this filter and other mechanical wires to the bound ground plate, and
then perform unified grounding.
6
electric cabinet
servodrive device
noise filter
oscilloscope
servodrive Actuator
grounding
cabinet
- 56 -
7
Interface display and key operation
No.7Chapter Interface Display and Key Operation IS550Series Servo Driver User Manual
No.7Chapter Interface Display and Key Operation
7.1interface introduction
The operation interface of the servo drive consists of5Only7partlednixie tube and5Composed of only buttons, it can be used for status display and parameter setting of the servo
drive. The interface layout is as follows:
7.1.1Key function description
button button name Function
MODE MODE Press this key to switch between function code groups in sequence and return to the previous menu.
7 UP Press this key to increase the setting value of the current flashing digit, long press to increase quickly.
DOWN Press this key to decrease the setting value of the current flashing digit, long press to decrease quickly.
Press this key to move the selected flashing digit to the left by one.
SHIFT
Long press function: to display more than5When the content of the digital tube is displayed, it can be used to turn pages.
SET SET Press this key to save the modification and enter the next menu.
Note: When an alarm occurs, please eliminate the cause of the alarm first, and then reset the alarm.
7.1.2Servo drive status display
The running state of the servo drive is determined by5Only seven paragraphsledThe display characters of the digital tube are shown in the following table:
symbol leddisplay graphics State description and character meaning description
The character is displayed on the digital tube in the power-on initialization state, indicating that it is the software
"rESEt"
startup state or reset state.
"nrd" After startup or reset is completed, the servo is not ready, such as the main circuit is not powered on.
"rdy" The self-test of the servo system is normal, waiting for the servo enable signal from the host control device.
The servo is in normal running state, at this time you can passH0bGroup function code to view the
"run"
servo running status and variables.
The servo failed, "xxx"The three-digit number represents the fault code, please refer to the
"Er. xxx"
fault code9chapter.
- 58 -
IS550Series Servo Driver User Manual No.7Chapter Interface Display and Key Operation
7.1.3The operation method of browsing and modifying the parameters of the servo drive
To view the variable status of the servo, you need to pressMODEkey to switch to function codeH**Group selects the corresponding function code:
MODE
MODE
Operating status display mode Parameter browsing or setting mode
(0level menu)
When switching to the parameter display mode, the first display is the parameter group number, starting with "Hxx."Three-digit display, also known as "0
"level menu". One of the display digits is blinking, pressUPkey orDOWNkey, the number of the flashing digit will increase1or minus1; If press SHIFTkey, the
flashing digit will move for easy setting to the desired group number:
UP SHIFT
H00. H01. H01.

DOWN SHIFT
After setting the desired group number, press theSETkey to enter the setting state of the parameter serial number in this group, and then "Hxx.xx”, also known
as "Ilevel menu", after setting the required function code serial number, pressSETkey to enter the parameter setting state of the function code, also called "II
"level menu", if the parameter can be modified, its lowest digit will flash and display, at this time pressSHIFT/UP/DOWNPress the key to modify, as shown in the
figure below:
0level menu
Function code group number selection

H07. SETEnter When there is a flashing bit, press
UP/DOWN/SHIFTModify the blinking bit
7
H07.03
Ilevel menu
SETEnter
MODE
Function code serial number selection
return
SETsave
IIlevel menu
Function code parameter value setting

MODE
return
30.5 SET
done
MODEreturn
Press theSETAfter the key has been saved successfully, "done"If the modified value has not changed, it will not display "done"typeface.
according toMODEPress the key to exit the status monitoring mode and enter the parameter mode to view and modify parameters.
7.2Parameter setting and display
7.2.1Modification properties and display characteristics of parameters
Some parameters can only be browsed and cannot be modified, such as running parameters, after enteringIIAfter entering the level menu, these parameters are displayed
without flashing display digits, at this time pressSHIFT,UP/DOWN,SETKey presses do not respond either.
Some parameters can only be set in the stop state. Before modifying the parameters, the servo needs to be stopped.
7.2.2Setting of parameters below five digits
When setting parameters in [-9999~99999】In the range, it is the display of the parameters within five digits.5The digital display can be displayed or edited at
one time.
7.2.3Setting of more than six parameters
When the setting parameter range exceeds [-9999~99999] When the range exceeds the display range of the five-digit nixie tube, six digits and more are required
- 59 -
The digital tube characters are displayed. Take the most points in this system4Bit ×3The page display method is used for displaying. At this time, there is a flashing pen segment in
the leftmost character of each screen, which is used to indicate the screen number of the current character.
For example, the parameter value to be displayed is -10501080.10, it is divided into [-10】【5010】【80.10】Three pages are displayed, long
press SHIFTAble to turn pages. As shown below:
The flashing "—" on the left indicates the displayed bit field, when using
"SHIFT"Automatically switch when shifting
First page first two digits The second page middle four digits The third page last four digits
symbol indication,At this time, it is expressed as negative

decimal point
Number, not displayed when it is positive
when usingSHIFTWhen the key is shifted, it will automatically switch to the corresponding display segment. For example: Assuming that the current blinking digit is thousands digit, use SHIFTWhen
shifting, it will automatically switch to the display of the middle four digits, and the tens of thousands digit (that is, the rightmost digit of this segment) will flash. At this point press UP/DOWN, the
increment or decrement is10000.
For parameters that can be modified, passSHIFTThe shift can be modified accordingly. If it is a read-only parameter, only by long pressing
SHIFTkey to turn the page display.
7 7.3List of monitorable parameters
Monitor display is a function to display the command value set in the servo drive, the state of input and output signals, and the internal state of the servo drive.
The monitor display function code table is as follows.
function code Minimum order factory take effect relevant

parameter name display range category describe
Group No serial number
bit set up time model
H0b 00 Actual motor speed - 1 rpm - - show PST rpm

H0b 01 speed command - 1 rpm - - show S rpm
Internal torque command (phase
H0b 02 - 0.1% - - show PST %
for rated torque)
H0b 03 Input signal monitoringDI - - - - show PST refer to9.2.2
H0b 05 output signal monitoringdo - - - - show PST ditto
Displacement relative to the origin.
H0b-07,H0b-
13,H0b-17three
Absolute Position Counter 1instruction The maximum value of the function code exceeds
H0b 07 - - - show P
(32digit decimal display) unit 1073741824-1and
- 1073741824timepiece
counter from0start over
count.
Angle relative to origin

Mechanical angle (from origin
H0b 09 - 1p - - show P amount, the number of encoder lines has
start pulse number)
close.
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IS550Series Servo Driver User Manual No.7Chapter Interface Display and Key Operation

Rotation angle2(electrical angle

H0b 10 - 0.1Spend - - show PST
Spend)
Enter the position command pair

H0b 11 - 1 rpm - - show P the pulse frequency
response speed information
Deviation counter (position

1instruction
H0b 12 deviation) (position control only - - - show P command unit
unit
effective at time of production)
Input command pulse meter

1instruction
H0b 13 Counter (32bit decimal - - - show P
unit
show)
Feedback Pulse Counter (
of encoder pulses4
H0b 17 - 1p - - show P
Multiplier data:
32bit10base display)
total running time (32bit 0.0- Indicates the total after power-on
H0b 19 0.1s - - show -
10base display) 429496729.6s time.
H0b twenty one AI1Sampling voltage value - 0.001V - show
H0b twenty two AI2Sampling voltage value - 0.001V - show
H0b twenty three AI3Sampling voltage value - 0.001V - show
H0b twenty four RMS value of phase current - 0.01A - show 7
H0b 26 Bus voltage value - 0.1V - show
H0b 27 module temperature - °C - show -
Accumulation of internal and external deviations
H0b 28 - 1p - show p 32bit display
value
second encoderZlatch
H0b 30 - 1p - show p
value
Multiturn Absolute Encoder

H0b 31 - r - show -
Number of turns
0-current failure
1-superior1fault With retrospective display function

immediately run
H0b 33 Display of fault records 2-superior2fault 1 0 Yes, the fault number is displayed
take effect set up
... code + fault type
9-superior9fault
first
If displayedEr.000,surface
H0b 34 error code - - Fault -
Indicates that there is currently no fault
code
in the total running time axis of
H0b 35 Selected failure timestamp - 0.1s - show
distribution point.
Current at time of selected fault

H0b 37 - 1 rpm - - show
Rotating speed

H0b 38 - 0.01A - - show
electric currentu
- 61 -


H0b 39 0.01A - show
electric currentV
Selected fault bus

H0b 40 - 0.1V - - show
Voltage
Input terminal at fault

H0b 41 - - - - show
state
Output on selected fault

H0b 42 - - - - show
Terminal status
Note1:
1) in speed and torque, position mode,H0b-07 ,H0b-13andH0b-17can be counted. When switching modes, these values are unclear
zero.
2)H0b-07andH0b-17The count can be kept when power off.
3)H0b-13It can only count when the servo is enabled.
4) whenH05-36(Mechanical origin offset) is0, in any of the three modes, regardless of running or standby, by setting the
Return-to-origin function codeH05-30place6, can be clearedH0b-07andH0b-17.
5) by settingH05-36(offset of the mechanical origin), that is, theH0b-17Set to desired value.
7
Note2:DI/DODisplay method of terminal status:
One nixie tube shows twoDI/DO, the top short drawing light corresponds to high level, and the bottom light is low level. All indications correspond to
physicalDI/DO.
DIDOthe status of the16status bits to represent, where the standardDIfor10road,dofor7road, the figure below showsDIThe state of the input
terminal.
high8bit Low8bit
high state
low state
10 9 87654321 port order

DI10=0
DI9=0
DI8=0
DI7=0
DI4=0
DI3=0
DI6=1
DI5=0
DI2=1
DI1=0
The instructions in the figure above are, in order:DI1=0;DI2=1;DI3=0;DI4=0;DI5=0;DI6=1;DI7=0;DI8= 0

,DI9=0;DI10=0.
- 62 -
8
Common function code setting of servo drive
No.8Chapter Common Function Code Setting of Servo Drive IS550Series Servo Driver User Manual
No.8Chapter Common Function Code Setting of Servo Drive
8.1Operating mode and selection
According to the command mode and operation characteristics of the servo drive, it can be divided into three operation modes, namely, speed control operation mode, position
control operation mode, torque control operation mode, etc.
The differences between the three operating modes are as follows:
1. In the position control mode, the moving displacement is generally determined by the number of pulses, and the rotation speed is determined by the
frequency of externally input pulses. It can also be directly given through communication. Since the position mode can strictly control the speed and position, it
is generally used in positioning devices. Ninety percent of servo applications use position control mode (positioning requirements are fast, accurate, and
ruthless), such as manipulators, placement machines, engraving, milling, CNC machine tools, etc., which can be said to be countless.
2, Speed mode: the rotation speed can be controlled through analog input, digital value setting, and communication setting. Some constant-speed feeding
controls use speed control (some also use position control in the host computer, and the servo only Do speed control such as analog engraving and milling
machine).
3, The torque control method is to change the set torque size by changing the setting of the analog quantity in real time or changing the value of the corresponding address by
means of communication. It is mainly used in winding and unwinding devices that have strict requirements on the force of the material, such as some tension control occasions
such as wire rafting devices or optical fiber drawing equipment. The torque setting should be changed at any time according to the change of the winding radius to ensure The
force of the material will not change with the change of the winding radius.
The operating modes available in the servo drive are as follows, and can be set according to the function codeH02-00To set up, and at the same time, the source of commands in
various operating modes can be flexibly set.
the smallest factory take effect relevant

function code name Predetermined area category
unit set up time model
0-speed mode (default)

1-location mode
2-torque mode
8
immediately shutdown
H02 00 mode selection 3-speed mode↔torque mode 1 0 -
take effect set up
4-location mode↔speed mode
5-location mode↔torque mode
6-Location↔speed↔Torque Blend Mode
when function codeH02-00 = 0,1,2When , it means that the current servo control mode is a single control mode, which are speed mode, position mode and
torque mode, which can meet the needs of users under specific conditions.
But when the user needs to switch between various modes, it is necessary to set the function codeH02-00 = 3,4,5,6, the velocity mode↔torque
mode, position mode↔speed mode, position mode↔Torque mode speed; switching condition is passed byDIterminal for mode switching.
coding name function name describe state Remark
Depending on the selected control mode (3,4,5),

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

Fun IN.11 M2-SEL mode switch distribute Switching requires twoDI
Switch between degree, position and torque
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IS550Series Servo Driver User Manual No.8Chapter Common Function Code Setting of Servo Drive
when selected as3-6mode, you need to configure the correspondingDIfunction, please refer to the corresponding relationship in the table below.
mode selection M1-SEL M2-SEL operating mode
1 - S
3-speed mode↔torque mode
0 - T
1 - P
4-location mode↔speed mode
0 - S
1 - P
0 - T
1 1 P
1 0 P
6-Location↔speed↔Torque Blend Mode
0 1 S
0 0 T
P: position control,S:speed control,T: torque control;1: Indicates that the function of this terminal is valid,0: The function of this terminal is
invalid, -: irrelevant;
8.2Speed Mode Related Settings
8.2.1Acquisition method of speed command
Related signals and function parameters

0-Number given (H06-03)

1-AI1
H06 00 main speed commandAsource 2-AI2 1 0
immediately
take effect
shutdown
set up
S 8
3-AI3
4-Jog speed command

1-AI1
2-AI2 immediately shutdown
H06 01 Auxiliary speed commandBsource 1 1 S
3-AI3 take effect set up
4-Jog speed command
5-Multi-stage speed command
immediately run
H06 03 Speed command keyboard setting value - 9000rpm~9000rpm 1 rpm 200rpm S
take effect set up
immediately run
H06 04 Jog speed setpoint 0rpm~9000rpm 1 rpm 300rpm S
take effect set up
Note: digital given by setting the function codeH06-03The speed value is enough, this function code is the running setting method.
The direction switching of the speed command can be usedDIcontrol, the function code isFun IN.26. It is used when the direction needs to be switched.
void - positive direction; The logic of the corresponding port needs to be set to0
Fun IN.26 SPDDirSel Speed command direction setting distribute
valid - reverse direction or1.
- 65 -
In the speed control mode, the speed command has two sources: sourceAand sourceB. The speed control mode has the following four speed command
acquisition methods:1, select sourceAas a speed command;2, select sourceBas a speed command;3, select sourceA+sourceBas a speed command;4, through
externalIOToggle the way to select the sourceAand sourceB;5, Communication settings. The way to obtain these five sources is through the function codeH06-02
set up.

0-main speed commandAsource
1-Auxiliary speed commandBsource

H06 02 Speed command selection 2-A+B 1 0 S
take effect set up
3-A/Bto switch
4-communication settings
When the speed command selects the function codeH06-02choose3, it is necessary to separate theDITerminals must be assigned a function definition to work properly.
Through this input terminal, it can be determined whether the currentAcommand input orBcommand input.
OFF-The current running command isA

Fun IN.4 /CMD-SEL Run instruction switch distribute
ON-The current running command isB
In addition, the sourceAand sourceBBoth have the following generation methods at the same time:
1, Digital setting, also called keyboard setting, refers to using a function codeH06-03To store a set speed value, and then use it as
a way to generate speed commands;
2. The source of the analog speed command refers to a speed command generation method that converts the externally input analog voltage signal into a
speed command signal for controlling the motor. Inovance servo driver has three analog speed signal inputs.
3, Jog speed command refers to the function codeH06-04A speed command is stored, and the user can configure two externalDIOr the host computer control
software selects the speed direction of the command. according to externalDIDepending on the input, the direction of the jog speed command will also
8 change.
4、Multi-segment speed instructions are stored in internal registers16Group speed commands and related control parameters, users can choose to use external DIselection or
internally specified way selection1segment or max16segment speed command.
8.2.2Ramp function control
The ramp function control function is to convert the speed command with large changes into a smoother constant acceleration and deceleration speed command, that is, to
achieve the purpose of controlling acceleration and deceleration by setting the acceleration and deceleration time. During speed control, if the given speed command changes too
much, the motor will jump or violently vibrate. However, if the acceleration and deceleration time of the soft start is increased, the motor can start smoothly when starting to avoid
the occurrence of the above situation cause damage to mechanical parts.

H06 05 Speed command acceleration ramp time 0ms-10000ms 1ms 0ms P.S.
take effect set up
H06 06 Speed command deceleration ramp time 0ms-10000ms 1ms 0ms P.S.
take effect set up
Note: Under normal speed control, please set the acceleration and deceleration time as0 [factory setting].
H06-05: The time required to reach the maximum speed of the motor from the motor stop state.
- 66 -
H06-06: The time required from the maximum speed of the motor to the stop of the motor.
The ramp function control function converts the step speed command into a relatively smooth constant acceleration and deceleration speed command, and realizes smooth speed
control during speed control (including internal setting speed control).
Motor maximum speed
step instruction
After ramp function control
H06.05 H06.06
The acceleration and deceleration ramp time of the servo motor is determined by the time when the motor accelerates from zero speed to maximum speed or decelerates from maximum speed to zero
speed. The actual calculation formula of acceleration and deceleration time is as follows:
Actual acceleration time = (speed command ÷ motor maximum speed) × speed command acceleration ramp time;
Actual deceleration time = (speed command ÷ motor maximum speed) × speed command deceleration ramp time;
motor to motor most
constant speed high speed
Actual plus
Actual minus
speed time
speed time
8
Acceleration ramp time Deceleration ramp time
H06.05 H06.06
8.2.3speed command limit
take effect relevant

function code name Predetermined area smallest unit factory setting category
time model
H06 07 Maximum speed limit 0rpm-9000rpm 1 rpm 9000rpm S
take effect set up
H06 08 forward speed limit 0rpm-9000rpm 1 rpm 9000rpm S
take effect set up
H06 09 speed reverse limit 0rpm-9000rpm 1 rpm 9000rpm S
take effect set up
In the speed control mode, the servo drive can limit the size of the speed command. The speed command limit includes three contents:
1,H06-07Set the amplitude limit of the speed command. The speed command in the positive and negative directions cannot exceed this value. If it exceeds this
set value, it will be limited to output at this value.
2,H06-08Set the positive speed limit, if the speed command in the positive direction exceeds the set value, it will be limited to output at this value.
3,H06-09Set the negative speed limit. If the speed command in the negative direction exceeds the set value, it will be limited to output at this value.
- 67 -
4. The maximum speed of the motor is the default limit point. When matching different motors, this parameter will change with the motor parameters.
Note: function codeH06-07,H06-08andH06-09When limiting the speed, the minimum limit point is used as the limit condition, as shown in
the figure below, the actual forward speed limit isH06-08, the reverse rotation speed is limited toH06-07(reason,H06-09set value greater
thanH06-07).
speed command
motor speed
Maximum speed limitH06.07
forward speed limitH06.08
actual speed
Restricted interval
Maximum speed limitH06.07
speed reverse limitH06.09
Motor maximum torque
Note: The maximum speed of the motor is the default limit maximum point.
The actual motor speed limit interval satisfies the following formula:
Amplitude of forward speed command: |speed command|≤min{Motor maximum speed,H06-07,H06-08}
8
Amplitude of negative speed command: |Negative speed command|≤min{Motor maximum speed,H06-07,H06-09}
8.2.4Servo pulse output and its setting
The source of servo pulse output is fromH05-38to set.
the smallest factory relevant

function code name Predetermined area effective time category
unit set up model
0-Encoder frequency division output connect again shutdown

H05 38 Servo pulse output source selection 1 0 PST
1-Pulse command synchronous output power on set up
(1) encoder frequency division output
By setting the function codeH05-17, the servo divides the pulse number fed back by the encoder according to the set value and outputs it through the frequency division output port. The value of this
function code corresponds toPAO/PBONumber of pulses per mechanical cycle (4before multiplication).
the smallest relevant

function code name Predetermined area factory setting effective time category
unit model
16P/Rev~ connect again shutdown

H05 17 Encoder frequency division pulse number 1P/Rev 2500P/Rev -
1073741824 P/Rev after power set up
The shape of the signal and output phase is as follows:
-68-
type signal name name Remark
PAO+ Encoder pulse output:AMutually
PAO- Encoder pulse output: /AMutually When selecting an absolute encoder, it is through the frequency division coefficient of the encoder
PBO+ Encoder pulse output:BMutually Determined motor rotation1circle output pulse, phase difference90°
output
PBO- Encoder pulse output: /BMutually
PZO+ Encoder pulse output:ZMutually

motor rotation1circle output1pulse
PZO- Encoder pulse output: /ZMutually
Note:ZThe phase pulse is the origin pulse, which indicates that the motor rotates every1circle output1A pulse indicator signal.
server Driver PC controller
PAO+
PAO-
J9
PBO+
ENC Frequency division output
PBO-
servo motor
PZO+
feedback encoder
PZO-
output phase shape
Forward rotation (Aphase aheadBMutually90°) When reversed (Bphase aheadAMutually90°)
8
When the encoder feedback pulse output signal is different from the command direction of the host computer, the function code can be selected by changing the rotation
direction of the servo motor H02-02and output pulse feedback direction selectionH02-03Make adjustments.
Notice
- The frequency division pulse number of the encoder should not exceed the resolution of the motor encoder (incremental type: cannot exceed the number of lines of the encoder; absolute type:
cannot exceed the resolution of each mechanical cycle1/4), otherwise it will reportEr.110(Frequency division pulse output setting failure).
- For example: the number of lines of the servo motor with incremental encoder is2500,andH05-17Set as2501,Then the servo driver will make a judgment error and report
Er.110Fault.
- The limit frequency supported by the encoder frequency division output hardware is about1.6M (A/Bfrequency), it is necessary to ensure that the maximum frequency within the working speed
range of the servo will not exceed the limit, otherwise it will reportEr.510(frequency division pulse output overspeed),
- Calculation method: The speed range at which the motor works is +/-2000rpm,Calculated from thisH05-17maximum setting
- value of . H05-17Maximum setting for =1.6 * 10^6 / (2000/60) = 48000.
- 4The resolution that can be achieved after frequency doubling is192000/Mechanical cycle, but only if the set value satisfies the precautions1listed requirements.
(2) position pulse command synchronous output
After connecting the pulse output terminal of one servo to the pulse command receiving terminal of the next one or more servos, this function can be used for synchronous control
of multiple servos. The output signal isPAOsandPBOThe differential output corresponds toPULSandSIGN. In this way, the pulse command of the host computer can be
synchronously output to other servos through one servo.
-69-
Notice
- In the application of synchronous control, it is necessary to keep all servo parameters consistent and the load conditions are similar, so that the effect of synchronous motion can be achieved.
- Please do not power off the host computer when the host computer is sending pulses, otherwise the position of the slave machine will be out of sync due to the attenuation of the pulse signal
at the moment of power failure. If this happens, please recalibrate the position of the slave.
8.3Position mode related settings
8.3.1How to obtain position command
The position command acquisition method is determined by the function codeH05-00set up. This function code can only be set as0,1,2,3four ways, of which0Indicates that the servo
drive selects the external pulse command as the source of the position command;1Indicates that the servo drive selects the step given as the source of the position command;2
Indicates that the servo drive selects multiple position commands as the source of position commands;3Indicates that the servo drive selects the communication setting as the
source of the position command.
(1) Select the external pulse command input as the setting and description of the position command source.

0-Pulse command (default)

1-step given immediately shutdown
H05 00 master position commandAsource 1 0 P
2-multi-segment position command take effect set up
(2) direction switching of the position command can be usedDIcontrol, the function code isFun IN.27. It is used when the direction needs to be switched.
void - positive direction; The logic of the corresponding port needs to be

Fun IN.27 POSDirSel Position command direction setting distribute
set to0or1.
8
valid - reverse direction
(3) to select the step input as the source of the position command.
Please put the function codeH05-00set as1, select the step given as the instruction source, and then set the function codeH05-03, set the number of position commands (command
unit) executed by the step amount. The corresponding motor speed when the step command is executed is determined by the electronic gear and the default parameters of the
program. Please refer to the following formula:
Motor steady state speed =24(rpm)× electronic gear ratio;
Note:
1, The magnitude of the speed command is determined by the above formula, and the direction of the speed command is determined by the direction of the set position.
2、When using the step amount as the source of the position command, the open signal of the step amount must be enabled (FunIN.20/POSSTEP). This signal is
valid, and the servo drive starts to executeH05-03The set position command, the currentH05-03After the execution of the position command is completed, the
servo driver accepts the enabling signal of the stepping amount (/POS STEP), proceed to the nextH05-03The set position command. If the signal is always invalid,
the position command output is zero.
31. The servo driver does not accept the open signal of the step amount during operation.
factory take effect relevant

function code name Predetermined area smallest unit category
set up time model
H05 03 step amount - 9999Command unit~9999command unit 1command unit 50 P
take effect set up
- 70 -
8.3.2Pulse command input acquisition method
1, Pulse command input signal setting
type signal name name

PULS+ Pulse command input+
PULS- Pulse command input-

enter
SIGN+ Pulse direction input+
SIGN- Pulse direction input-
2, Connection of pulse command input signal
a) connection of the differential drive output
Superior device server Driver

linear drive
150Ω
PULS * PULS+
[CW AMutually] PULS-
SIGN+ 150Ω
SIGN
[CCWBMutually] SIGN-
150Ω
CLR+
CLR
CLR-
PE PE
* Indicates twisted pair
b) connection of the open collector output

8
Superior device
VCC server Driver

R1
150Ω
* PULS
/PULS
SIGN 150Ω
/SIGN
150Ω
CLR
/CLR
PE PE
* Indicates twisted pair
Please choose a current limiting resistorR1value, be sure to keep the input current at6~10mAwithin range.
For example:Vcc=+24Vhour,R1=2.4kΩ
Vcc=+12Vhour,R1=1.5kΩ
- 71 -
Vcc=+5Vhour,R1=200Ω
passVOP1,VOP2,VOP3Open collector wiring for pull-up
In this way, the pull-up resistor provided inside the servo driver can be used
server Driver
24V
VOP1(VOP2,VOP3)
2.4kΩ
PULS+(SIGN+,CLR+)
PULS-(SIGN-,CLR-) 150Ω
COM
When using an external power supply prepared by the user:
server Driver
24V
VCC
VOP1(VOP2,VOP3)
2.4kΩ
PULS+(SIGN+,CLR+)
PULS-(SIGN-,CLR-) 150Ω
COM
Vf=1.5~1.8V
2, Pulse command input form setting
There are three pulse command input forms, which are determined by the function codeH05-15to set.
8 function code name Predetermined area

the smallest factory
effective time category
relevant
unit set up model
0-Direction + pulse, positive logic. (Defaults)

1-direction+pulse, negative logic connect again shutdown
H05 15 command pulse form 1 0 P
2-APhase +Bphase quadrature pulse,4 after power set up
multiplier 3-CW+CCW
3, The principle of pulse command form
positive logic negative logic

Pulse command form
Forward reverse Forward reverse
PULS PULS PULS PULS

direction+pulse
SIGN SIGN
SIGN SIGN
quadrature pulse PULS PULS

—
(APhase +BMutually) SIGN SIGN
- 72 -
positive logic negative logic

Pulse command form
Forward reverse Forward reverse
PULS PULS
SIGN SIGN
CW+CCW
PULS PULS
SIGN SIGN
8.3.3Pulse Deviation Clear
Setting of pulse deviation clear signal
type signal name name

CLR Pulse difference clear input+
enter
/CLR Pulse difference clear input-
Note: If no external input clearing action is required, no wiring is required, and the function code is setH05-16for1. (Clear the position deviation pulse when a
fault occurs)
The working mode of the clear signal is set by the function codeH05-16set up.
function code set value describe
0 servoOFFand clear on failure (default)
1 Clear the position deviation pulse when a fault occurs
2 only throughCLRSignal On Clear

H05-16
3 only throughCLRsignal off clear
4 only throughCLRsignal rising edge clear 8

5 only throughCLRSignal falling edge clear
Note:CLRSignal conduction: is to makeCLR+signal inflow6~10mAcurrent. refer to5.3.1Input signal connections.
8.3.4Electronic gear function setting
1, Electronic gear ratio setting and switching
Electronic gear ratio, by function codeH05-07~H05-13Setting, there are two sets of electronic gear ratios, byFun IN.24(electronic gear selection) setting, theDIWhen the function is
invalid, the first group of electronic gear ratio is defaulted, theDIThe second electronic gear ratio is enabled when the function is valid. Note: If and only if the duration of no
position command input exceeds10msAfter that, the two sets of electronic gear ratios can be switched.

H05 07 Electronic gear ratio1(molecular) 1~1073741824 1 4 P
take effect set up
H05 09 Electronic gear ratio1(denominator) 1~1073741824 1 1 P
take effect set up
H05 11 Electronic gear ratio2(molecular) 1~1073741824 1 4 P
take effect set up
- 73 -
H05 13 Electronic gear ratio2(denominator) 1~1073741824 1 1 P
take effect set up
Note:0.001≤gear ratio≤4000
If the reduction ratio between the motor shaft and the mechanical side of the load isn/m(motor shaft rotationmcircle, load shaft rotationnocircle), the calculation formula of the electronic gear ratio is as
follows:
B H05.07 Encoder resolution m

Electronic gear ratio = = x
A H05.09 Displacement of the load shaft for one rotation (command unit) no
Definition of encoder resolution: the total number of encoder output pulse increments during one revolution of the motor shaft. Encoder
resolution = encoder lines ×4
Note: In the position full closed loop mode and the internal and external closed loop mode (function codeH0545set as3or4), electronic gear selector switch (GEAR_SEL) is multiplexed
as a semi-closed-loop/full-closed-loop switch.GEAR_SELWhen the signal is invalid, it works in a fully closed loop and the electronic gear ratio is fixed as the first group of electronic
gears;GEAR_SELWhen the signal is valid, it works in a fully closed loop and the electronic gear ratio is fixed as the second set of electronic gears.
2, Working principle of electronic gear
position command position command
command unit) B (number of pulses)
speed ring PMSM

A
position ring current loop
PG
Position feedback (number of pulses)
8.3.5Position command smoothing function
8 The position command smoothing function refers to the function of filtering the input position command to make the rotation of the servo motor smoother. This function is more
effective in the following situations:
1) When the upper device that outputs the command does not perform acceleration and deceleration;
2) When the command pulse frequency is low;
3) The electronic gear ratio is10when more than double;
Note: This function has no effect on displacement (total number of position commands).
Related parameters
The parameters related to the position command filter are set as follows.

H05 06 Position command average filter time 0.0ms~128.0ms 0.1ms 0.0ms P
take effect set up
Note: This function code is set to0, the averaging filter is disabled.
- 74 -
Comparison of the filtering effect of the average filter on two different position commands
Rectangular Position Command Trapezoidal position command
Before filtering
H05.06
P[command unit] Before filtering
After filtering
P[command unit]
After filtering
t
t H05.06
H05.06 H05.06
8.3.6Positioning completion signal output
In position control mode, the deviation between the position executed by the servo motor and the total amount of given position commands is less than or equal to the set
position deviation (see function codeH05-21), the servo driver outputs a positioning completion signal.
Output signal name
In position control, the position deviation pulse arrives and the positioning is completed
Fun OUT.5 /COIN+- location reached distribute
amplitudeH05-21Effective within
Function codes related to positioning complete signal

0-The absolute value of the position deviation is less than or equal to the positioning completion
output in amplitude
H05 20
positioning complete signal
(COIN)lose
Amplitude and position command filtered command is 1 0

P
8
take effect set up
condition 0time output
amplitude and the position command is0time output
1fingers 7fingers immediately shutdown

H05 twenty one Positioning Completion Range 1Command unit~32767command unit P
order unit order unit take effect set up
Note: Positioning completion rangeH05-21The setting unit of is the command unit, and the size of the command unit depends on the set electronic gear ratio.
Positioning Completion RangeH05-21The set value only reflects the threshold value of the positioning completion signal output and has nothing to do with the positioning accuracy.
likeH05-21If the set value is too large, the position deviation will become smaller during low-speed operation, and the positioning completion signal may be output all the time, which seems a little slow. At
this time, please reduce the setting value until the positioning completion signal is sensitively output.
When used in a state where the positioning completion range is small and the position deviation is always small, you can setH05-20to changeCOINThe output
condition of the signal.
Situations where the positional deviation is always small are:
1) When the servo drive is always running at low speed;
2) When the speed feedforward gain of the servo drive is set to a large value.
8.3.7Positioning proximity signal output
- 75 -
In position control mode, the deviation between the position executed by the servo motor and the total amount of given position commands is less than or equal to the set position
deviation (see function codeH05-22), the servo driver outputs a positioning approach signal. Usually, before confirming the positioning completion signal, the upper device receives
the positioning approach signal to prepare for the sequence of actions after the positioning is completed.
Switch output terminal
During position control, the position deviation pulse reaches the positioning
Fun OUT.6 /NEAR+- positioning approach signal distribute
Approximate signal amplitudeH05-22Valid when setting value
function code
the smallest take effect relevant

function code name Predetermined area factory setting category
unit time model
1instruction 32767 immediately shutdown

H05 twenty two Locate proximity signal amplitude 1Command unit~32767command unit P
unit command unit take effect set up
Note: Positioning is close to the signal amplitudeH05-22The setting unit of is the command unit, and the size of the command unit depends on the set electronic gear ratio.
The absolute value of the position deviation is less than the completion approach signal amplitudeH05-22When the set value, /nearsignal output.
complete close to the signal amplitudeH05-22The setting value of is usually greater than the positioning completion rangeH05-21set value.
8.3.8Position command prohibition function
In position control mode, the signal (/INHIBIT) to control the input of position command, this function is called position command prohibition function. When
this function is valid, the position command input is zero, and the servo drive enters the servo lock state.
input signal name
8 coding name function name describe state Remark
It was originally a pulse prohibition function. is rising
Valid - position command prohibited level is prohibited for position commands, including internal
Fun IN.13 /INHIBIT Position command prohibited distribute
Invalid - location command allowed and external position commands. corresponding
The logic level of the port is set to0or1.
Function Description
/INHIBITThe input terminal corresponding to the signal is determined by theH03Group function codes are assigned. when no right/INHIBITWhen the signal distribution input terminal, /INHIBITThe signal is
always in an invalid state, that is, the position command input is allowed; when paired with /INHIBITWhen the signal is allocated to the input terminal, whether the position command prohibition function is
valid is controlled by /INHIBITThe effective mode and the level of the corresponding terminal are determined.
8.3.9Handwheel function
The handwheel function is a source of position commands in the position mode, which is special and can only be used in the position mode, and it is also valid when the mode is
switched. The following settings are required to use the handwheel function in position mode:
serial number Operation content
examineDI9,DI10terminals, make sure that bothDIThe terminal assignment status is0;Right nowDI9 and
1
DI10By default, it is the input signal of the handwheel quadrature pulse;
Simultaneous assignment of basic input terminal functionsHX_EN(Fun IN.23) That is, the handwheel enable
2
signal arrivesDIon the terminal;
3 if required byDITerminal selection can set the ratio function terminalHX1,HX2.
- 76 -
After selecting the handwheel function, you canHX_ENThe function selection terminal is used to switch between position command and handwheel command. that isHX_ENWhen it
is valid, the servo position command is the handwheel pulse, and when it is invalid, see the table for the definition of the override terminal.
Fun IN.21 HX1 Handwheel override signal1

HX1=1,HX2=0for10X distribute Using software to query and judge
HX1=0,HX2=1for100X
HX1=1,HX2=1for10X
Fun IN.22 HX2 Handwheel override signal2 distribute Using software to query and judge
HX1=0,HX2=0for10X
OFF-according toH05-00Function code
selection for position control;

Fun IN.23 HX_EN Handwheel enable signal distribute
ON-Receive handwheel in position mode
Pulse signal for position control;
Note: The handwheel function and the interrupt fixed-length function cannot be used at the same time.DI9,DI10Cannot be assigned as normalDIFunction.
8.3.10Multi-segment position function setting
1) Functional description
Multi-segment position function in position control mode (H05-00Set as2select this function) means that the internal storage of the drive unit16The control parameters related to
the group position, the most set in the parameters16Position fixed-length segments with different speeds, different running distances and different waiting times between
segments. It can conveniently realize the function of automatic multi-segment fixed-length operation or select the segment number through the input signal of the external
terminal, and run according to the setting of the selected segment. Because it is controlled by the internal parameters of the servo drive, there is no need to install a pulse
generator externally. The flexible use of this feature enablesnoPoint trajectory planning.
Except in multi-segment operation modeDIExcept switching modes, when other modes (FunIN.28) PosInSenAs an enable signal, it does not
run when the signal is invalid, runs when it is valid, and immediately decelerates to0. when running thenoThe enable becomes inactive
during the segment, and then becomes active again, according to theH11-02(Margin processing method) selection from then+1part(
H1102=0) continue to run the unfinished section or restart from the1part(H11-02=1)start operation.
DIswitching mode, is achieved through an externalDIway to trigger and change the segments that need to run.DItrigger signalPosInSen (Fun
IN.28) changes once from invalid to valid, and runs for a period of time. The specific running segment number is passedCMD1(Fun IN.6) CMD2(
8
Fun IN.7),CMD3(Fun IN.8),CMD4(Fun IN.9) to select,CMD1-4correspond4bit binarybit0-3, see this section for specific operationsDIMode requires
external terminal signal.
Single sequential operation, this mode means that when the multi-segment enable signal is enabled, only the set number of segments will be run once. If you
need to run multiple sides, you can enable the multi-segment enable signal again after one runPosInSen (FunIN.28). This pattern can achieveNPoint trajectory
planning, and at the same time, all information of the segment can be changed in real time through communication. passH11-02The choice of margin
processing method can be conveniently handled in case of emergency.1section starts, or continues to run the following sections.
Cycle mode operation, this mode is basically similar to a single operation, but it will continue to run from the first1segment starts running. Margins are
handled in the same way as in one-shot mode.
The continuous sequential operation mode is similar to the single operation mode, except that there is no waiting time between segments, and the operation efficiency is higher than that of the single
operation mode. In this mode, the next segment will be connected to the next segment at the maximum speed of the current segment, and the total displacement of the entire continuous sequential
operation will be consistent with the setting.
Note:DImode, the selection signal of the segment number should not follow the trigger signal.PosInSenWhen used as an enable signal, it should be valid when
the logic of high and low levels is valid.PosInSenasDIThe trigger signal of the mode should change from invalid to valid edge to be valid.
2) Description of main parameters
- 77 -
parameter note
0: Single sequence mode, from the first1segment starts runningH1101The number of segments set, the switching between segments
uses the waiting time set for each segment.
1: cycle mode, from the first1Segment starts to run repeatedlyH1101The number of segments set, the switching between segments
uses the waiting time set for each segment.
2:DIswitch mode, via an externalDITo trigger the selected segment, the constant speed, acceleration and deceleration time, and displacement of each
operating mode segment are determined by the parameters of the selected segment. See the next section for signal assignments (DIMode required external terminal
signal)
3: Continuous sequential operation mode, there is no waiting between segments, and the initial speed of the subsequent segment is determined by the
running speed of the previous segment.H11.05=0,The continuous mode only runs once, for other values, the first1from the first1start of paragraph,
paragraph2from the firstH11.05Start the cycle. ifH11.05greater than the number of actual running segmentsH11.02, it will only run once and then stop, and
will not repeat the cycle.
Selection of running segments Set the number of effective segments, the segment after this number will not be executed, in the mode2This value is invalid when
0: Continue to run the remaining segments of the setup

Margin processing method
1: from the1Segment starts running again
0: The unit of waiting time isms

Waiting time unit selection
1: The waiting time unit isthe s
Uniform running speed The rate of constant speed operation in the case of trapezoidal instruction
Running displacement
single segment parameter
The running length is fixed, and the plus or minus sign indicates the running direction. unit of instruction
number settings
Corresponding to the rise or fall time of the trapezoidal instruction, it affects the acceleration. unitms
Acceleration and deceleration time
(16part)
After the end of a single segment (the instruction is sent, but the position is not necessarily reached), how long to wait before running the next segment
waiting time
can be set0---10000sThe waiting time range, trigger modeDIThis parameter is invalid when
3)DIMode required external terminal signal
coding name describe state Remark
8
function name
Multi-stage operation instruction OFF-does not trigger

Fun IN.28 PosInSen distribute
trigger signal ON-trigger
Multi-stage operation instruction

Fun IN.6 CMD1 16Segment command selection distribute
to switchCMD1
FunIN.Cmd1~FunIN.Cmd4correspond 4bit
binary codebit3bit2bit1bit0(in0000Indicates
to switchCMD2 the first1part,0001Indicates the first 2

segment, and so on),Cmd1correspond bit0,
Cmd2correspondbit1 Cmd3correspond bit2
to switchCMD3
Cmd4correspondbit3
to switchCMD4
4) Example diagram of running in different modes
- 78 -
Pattern diagram Remark
V Vmax
single run mode
in:
T Vmax——Indicates the maximum speed of the motor
T——No.1waiting time
S0
T1——No.1Segment acceleration and deceleration time
S1 S0, S1——No.1paragraph2Segment displacement

T1 t
V
Vmax
T
cycle mode
S0 Note as above
S1
T1 t
V
Vmax
DIswitch mode
in:
PosInSen
Vmax——Indicates the maximum speed of the motor
PosInSen——The trigger terminal is valid
S,S`——Cmd1-4selected displacement T1——Select segment

S S`
T1 t acceleration and deceleration time
V
Vmax
8
continuous mode
in:
Vmax——Indicates the maximum speed of the motor
T1——No.1Segment acceleration and deceleration time
S0, S1, S2——No.1,2,3Segment displacement

S2
S1 t
S0 T1
5) related function code
the smallest factory setting take effect relevant

unit Certainly time model
0-single
1-cycle immediately shutdown
H11 00 Multi-segment position operation mode 1 1 P
2-DIto switch take effect set up
3-sequential
H11 01 Effective segment selection 1~16 1 1 P
take effect set up
- 79 -

DIInvalid switching mode

immediately run
H11 02 Margin processing method 0: Continue to run the unfinished segment 1 0 P
take effect set up
1: from the1segment restart
0-millisecond(ms) immediately shutdown

H11 03 Waiting time unit selection 1 0 P
1-Second(s) take effect set up
0-Relative displacement instruction immediately shutdown

H11 04 Selection of displacement instruction type 1 0 P
1-Absolute displacement command take effect set up
0-no loop
Start of the second round of continuous mode
1-from the1segment start loop immediately shutdown
H11 05 Section number (only inH11.00=3continuous 1 0 P
2-from the2segment start loop take effect set up
mode works)
N-from theNsegment start loop
- 1073741824~ 1instruction immediately run

H11 12 No.1Segment displacement 10000 P
1073741824 unit take effect set up
immediately run
H11 14 No.1Segment running speed 0~9000 1 rpm 200 P
take effect set up
immediately run
H11 15 No.1Segment acceleration and deceleration time 0~1000 1ms 100 P
take effect set up
immediately run
H11 16 No.1waiting time 0~10000 1ms(s) 50 P
take effect set up
other15Segment Function Code File Appendix1
8.3.11Interrupt fixed length setting
8
Interrupt fixed length refers to when the motor is running or stopped in the position mode, when the enable (H05-23)case, triggerDI9When valid, the motor
will continue to run for the set length in the previous speed direction. In the process of interrupting the fixed-length execution, it is in the locked state, that is, it
does not respond to all other position commands (including the interrupt trigger again), when the interrupt fixed-length is completed, the setdo The terminal
outputs interrupt fixed-length completion signal (FunOUT.15)valid, at this time, the host computer needs to set theDIInterrupt status release signal (Fun IN.29)
After it is set to valid (edge valid), the interrupt lock state is released, and then it begins to respond to other position commands.
If you do not need to interrupt the lock state during fixed-length execution, you can useH05-29place0, the fixed-length lock release signal enable is invalid. Then the position command can be responded
after the interrupt fixed length is completed.
speed
interrupt trigger
Fixed lengthS
time
The trigger condition is, function codeH05.23It needs to be valid, enable the interrupt fixed-length function, and interrupt the fixed-length trigger signal (DI9) is valid, the interrupt
fixed length can be started. The speed of interrupt fixed length can be determined byH05.-26set up. . Note that ifH05.26=0, indicating that the interrupted fixed-length speed is the
speed before the interrupted operation instead of the speed0. The set displacement and speed are before the electronic gear, in the electronic gear
-80-
Changes should be adjusted accordingly to avoid misuse.

0-prohibit Power-on shutdown

H05 twenty three interrupt fixed length enable 1 0 P
1-Enable take effect set up
1order sheet immediately shutdown

H05 twenty four Interrupt fixed length displacement 0~1073741824 10000 P
bit take effect set up
H05 26 Fixed length running speed 10~9000 1 rpm 200rpm P
take effect set up
H05 27 Fixed length acceleration and deceleration time 0~1000 1ms 10ms P
take effect set up
0: disable immediately run

H05 29 Fixed-length lock release signal enable 1 1 P
1:Enable take effect set up
Notice:H05.26=0, it means that the fixed-length running speed is consistent with the speed before the interruption.
3)DIDOTerminal settings
Interrupt fixed-length trigger useDI9trigger,H03.-18must be set to0,H03-.19It is set to be valid on rising edge or falling edge.
Will a certainDIdefined asFun IN.29,ShouldDIthat isXintFree, interrupt status release signal. ShouldDIPlease set the logic level as rising or
falling edge valid.
Will a certaindodefined asFun OUT.15,Shoulddothat isXintcoin, interrupt the fixed-length completion signal. ShoulddoLogic level settings are
active low or high.
Notice
The interrupt fixed-length function and the handwheel function cannot be used at the same time. When using the interrupt functionDI9Cannot be assigned as normalDIFunction!
8
8.3.12Return-to-origin function setting
The homing function in the position mode is the origin positioning function of the drive equipment actively completed by the servo driver; the homing process is as shown in the figure below, and the
homing is divided into two stages:
a) to enable the servo driver to return to the origin, and the motor searches at the specified high speedH05.32According to the method of returning to zeroH05.31Find the deceleration point in the direction
of the deceleration point target, and after encountering the rising edge of the deceleration point, the set deceleration time willH05.34Slow down to zero.
b) The motor searches for speed at the specified low speedH05.33, search for the position of the origin switch in the opposite direction to the high-speed zero return, stop
immediately when encountering the falling edge of the origin switch, and set the current absolute positionH0B.07forH05.36, return to zero successfullyIOoutput as1, return to zero
and end, if the time to search for the origin is limitedH05.35If the origin position is not found within, a zero timeout error will be returned (ER.601).
Schematic diagram of returning to zero:
high speed
speed
Under the origin

falling edge
slow down
Point
Lift along
time
low speed
- 81 -
Remarks: Electrical zero return refers to returning from the current coordinate position toH05.36Set the coordinate position, walk a fixed distance (H05.36origin coordinates minus
the distance of the current coordinates);
Schematic diagram of electrical return to zero:
high speed
speed time
The difference between electrical zero return and origin return:
a) Electrical zero return does not require an origin switch orZsignal to determine the physical location of the origin.
b) The moving distance of electrical return to zero is determined asH05.36The distance from the origin coordinates minus the current coordinates, and the distance from the origin back to zero isZ Distance
from the rising edge of the signal or deceleration point.
c) The coordinate position after the electrical return to zero isH05.36, and the coordinate position after the origin returns to zero is to resetH05.36The value of is assigned to the current coordinates.
d) Electrical zero return is generally used after the coordinate position is determined after the origin return is used.
2)IOinput terminal
The logic level of this function can only be selected
Fun IN.31 OFF-Did not touch the origin switch Low level or high level, not selectable
OrgNear Origin switch signal unassigned
P-CON ON-touch the origin switch
8
Rising edge, falling edge, upper and lower edge touch
Send, otherwise it may be inaccurate to return to zero
Fun IN.32 OrgChuFa OFF-Disable return-to-origin function This function needs to be in position control mode
Return to zero trigger signal unassigned
P-OT OrgEn ON-Start the return-to-origin function It only works when the server is enabled
3)IOoutput terminal
coding name function name describe state
OFF-Indicates that the homing function has not been enabled after power-on,
Fun OUT.16 OrgDOORGOK Origin return to zero output Or after the homing function is enabled, the zero return is unsuccessful; unassigned
ON-Indicates that after enabling the return-to-origin function, return to zeroOK;
OFF-Indicates that the electrical homing function has not been enabled after power-on
can, or after the electrical homing function is enabled, the electrical homing
E_
Fun OUT.17 Electrical zero return output zero unsuccessful; unassigned
Org DOELECTOK
ON-Indicates that after the electrical homing function is enabled, the electrical
back to zeroOK;
- 82 -

0-Turn off the return-to-origin function;
1-passDIenterOrgChuFasignal to enable the

homing function;
2-passDIenterOrgChuFasignal to enable the electrical
return to origin immediately run
H05 30 homing function; 1 0 P
enable control take effect set up
3-Start homing immediately after power on
4-Return to origin immediately;

5-Start electrical homing command
6-Start with the current position as the origin
0-The origin of the deceleration point of positive return to zero is the origin switch
1-The origin of the deceleration point of reverse zero return is the origin switch
2-The origin of the forward zero return deceleration point is the motorZSignal 3-The origin of
return to origin the reverse zero return deceleration point is the motorZSignal 4-The deceleration point of immediately shutdown
H05 31 1 0 P
model forward zero return is the origin switch, and the origin is the electric take effect set up
machineZSignal
5-The deceleration point of reverse zero return is the origin switch, and the origin is the electric
machineZSignal
Minimum order factory setting take effect relevant

bit Certainly time model
High-speed search origin point immediately shutdown

H05 32 0-3000 1 rpm 100rpm P
Speed of switching signals take effect set up
Low speed search origin ON immediately shutdown

H05 33 0-1000 1 rpm 10rpm P
off speed take effect set up
8
When restricting the search origin immediately shutdown
H05 34 0-1000 ms 1000 P
Acceleration and deceleration time take effect set up
limited to find the origin immediately shutdown

H05 35 0-65535 ms 10000 P
time take effect set up
1instruction immediately shutdown

H05 36 Mechanical origin offset - 1073741824~1073741824 0 P
unit take effect set up
0-H05.36is the coordinates after homing

When encountering the travel limit, do not find the origin in reverse
1-H05.36is the relative value after return-to-origin
The moving distance will not reverse when encountering the travel limit
Find the origin immediately run

H05 40 Return to origin option 1 0 P
2-H05.36is the coordinates after homing take effect set up
value, find the origin reversely when encountering the travel limit
3-H05.36is the relative value after return-to-origin
Moving distance, reverse when encountering travel limit
Find the origin
Remark:
1, In the process of high-speed change, the actual speed of the motor =H05.32*The numerator of the current electronic gear/the denominator of the current electronic gear, the process of low-speed zero
change, the actual speed of the motor =H05.33*Current electronic gear numerator/current electronic gear denominator.
2,H05.40The function code is only inV102.80This function is only available after the version. It is used to choose whether to go a certain distance after returning to the origin. Select
- 83 -
H05.36The coordinates of are absolute or relative.
8.3.13External position fully closed loop function
1) Overview
The position closed loop formed by the position feedback of the motor encoder and the position command received by the drive is called a semi-closed loop. Since the motor
encoder is not directly connected to the processed material, if the material slips during processing or there is a gap between the machine connected to the motor shaft, the
processed material will have a large size deviation. Using the position feedback of the external encoder and the position command received by the drive to form a fully closed-loop
control of the position closed loop can effectively suppress the problem of inaccurate dimensions in the semi-closed loop. In the position full closed loop control structure, the
current loop and the speed loop constitute the internal control closed loop of the servo drive. The external position encoder, the input position command, and the internal speed
loop constitute an external position closed-loop system whose position feedback is input from the external encoder, referred to as the external position full-closed-loop system.
speed feedforward
×1
×2 x Kp x x
Pulse command deviation
electronic gear1 K1 *K2 speed ring motor mechanical
counter
×4
Note: electronic gear position list
bit and motor encoder pair

Motor code
answer,1mmcorrespondnopulse
speed calculation
Encoder
absolute, sine and cosine,

Incremental pulse output Encoder conversion serial external encoder pitch
frequency division
circuit /ruler
Different from the internal position closed loop, when using the full closed loop function, the working mode of the external position closed loop is required (function codeH0545), specifically the following5
kind:
(0) Internal position closed loop, corresponding function codeH0545set as0, works by default. The most common control method using motor
encoder position closed-loop is this kind.
8 (1) Positive logic of external position closed-loop position feedback, corresponding to function codeH0545set as1. The external encoder position closed-loop control method is
adopted, and the direction of the external position feedback is the same as that of the motor encoder speed feedback.
(2) Negative logic of external position closed-loop position feedback, corresponding to function codeH0545set as2. The external encoder position closed-loop control method is
adopted, and the direction of the external position feedback is opposite to that of the motor encoder speed feedback.
(3) Positive logic of external position closed-loop position feedback, corresponding to function codeH0545set as3, When the electronic gear is switched, the internal and external positions are closed-loop
switched. whenDIWhen the input selection external position closed-loop is invalid, the motor encoder position closed-loop control method is adopted. whenDIWhen the input selection external position
closed-loop is valid, the external position encoder position closed-loop control mode is adopted, and the direction of the external position feedback is the same as that of the motor encoder speed feedback.
(4) Negative logic of external position closed-loop position feedback, corresponding to function codeH0545set as4, When the electronic gear is switched, the internal and external positions are closed-loop
switched. whenDIWhen the input selection external position closed-loop is valid, the motor encoder position closed-loop control mode is adopted, and the direction of the external position feedback is
opposite to the direction of the motor encoder speed feedback.
Notice:H0545for3or4, the second electronic gear ratio needs to be set at this time, that is, in this case, useDI(DIFunction twenty four,
GEAR_SEL) selected to use the second electronic gear ratio, and also selected external position feedback.
function codeH0547Used to set the line number of external position encoder, function codeH0544,H0546They are used to set the numerator and denominator of the closed-loop
gain coefficient respectively.
H0528(External position deviation accumulation value clearing method), the default value is0, that is, reset to zero every lap.
H0541(external position deviation report fault value), default value9, no overrun protection.
H0543(external position deviation accumulation threshold percentage), default value20%.
- 84 -
2) closed loop gain adjustment
3) Firstly adjust the speed loop ratio under the open loop conditionH08.00,speed integralH08.01,Position ratioH08.02,closed loop
Adjust the numerator of the closed-loop gain coefficient in the stateH05.44and closed-loop gain coefficient denominatorH05.46, the position gain in the closed-loop state is calculated as
h05.44 h00.31•4
Full closed loop position gain =h08.02• •
h05.46 h05.48
4) Full-closed-loop electronic gear calculation
measuring wheelD.diameter100mm
D-measuring wheel
Pressure wheel
Pressure wheel
No.2coding
Device lines
2:1 2048
C-Driven wheel diameter
150mm
A-driving wheel
motor
B-driven wheel
mechanical transmission ratiokfor1:8

8
k=Driving wheel: driven wheel =1:8
Driven wheel diameter =150mm
Measuring wheel diameter =100mm
Measuring wheel: encoder axis =2:1
No.2Encoder lines =2048, converted to the measuring axle as4096The number of lines, that is, the measuring wheel rotates once, and the number of pulses per revolution of the
measuring wheel =4*4096=16384.
Motor encoder lines =2500
Number of pulses per revolution of the motor =4*2500=10000
H05.48Calculation of the number of external encoder pulses corresponding to one revolution of the motor
Driven wheel diameter

h0548=kx xMeasure the number of pulses per revolution
Measuring wheel diameter
h0548= 1 x150×16384=3072
8100
Assuming that the inner loop and full-closed loop run, each position command50pulse corresponding to1mm,No.1The electronic gear ratio is for the inner ring operation, the2The electronic gear ratio is
fully closed-loop operation. but:
- 85 -
Displacement of the load side of the motor per revolution =k*PI*Driven wheel diameter =0.125*3.14*150=58.875mm
Number of position command pulses per motor revolution = load side displacement per motor revolution*50=58.875*50= 2943.75
No.1Electronic gear calculation
h05.07
xThe number of position command pulses per motor revolution = the number of pulses per motor revolution
h05.09
h05.07 Motor pulses per revolution 10000 1600

= = =
h05.09Number of position command pulses per motor revolution 2943.75 471
full closed loop2Electronic gear calculation
h05.11
xNumber of position command pulses per revolution of the motor =H05.48The number of external encoder pulses corresponding to one revolution of the motor
h05.13
h05.11 3072 12288

= The number of external encoder pulses corresponding to one revolution of the motor
= =
h05.13 Number of position command pulses per motor revolution 2943.75 11775
5) Full closed-loop run-away protection
When the external encoder feedback fails to feed back the position information to the servo in time due to the encoder line falling off or failure, etc., the servo will suddenly run at high speed, which is very
dangerous in practical applications. Therefore, it is necessary to protect against excessive internal and external deviations.
The principle is as follows: when the internal encoder rotates1Query whether the external encoder has also completed the pulse number corresponding to the external encoder H05.48, this deviation is
called the external single-turn deviation value, if it is greater thanH05.48*Deviation Detection Threshold Percentage (H05.43), then the deviation value will be accumulated to the accumulative internal and
external deviation counter. Repeat the above process, if the value of the counter is greater than the accumulative alarm value of internal and external deviation H05.41, then reporter.b02The accumulative
value of internal and external deviation is too large.
The method of clearing the accumulative counter of internal and external deviation is determined by the function codeH05.28choose.H05.28for0, if and only if,
the outer single-turn deviation value is less thanH05.48*H05.43, the counter is cleared to zero. whenH05.28for1, if and only if,FUNOUT.5The counter is cleared
when the completion signal is output.
8 Recommended usage: useH0B.15to observe the outer lap deviation value. useH0B.28to observe the external deviation accumulation counter. Choose a threshold percentage (H05.43) is the most
important, if it is small, it will cause false alarms, if it is too large, it will not have a protective effect, it needs to be determined according to the actual situation.
6) Fully closed-loop debugging steps
step1: Set the control parameters of the full-closed-loop external encoder. Set the line number of external encoderH05.47(
4096line, set to 4096;2500line is set to2500);
step2: Determine the position closed-loop modeH0545, the setting method is as follows:
In the absence ofServo-ONin the case of,H05.45=0In the state of the inner ring, turn the motor in the actual feeding direction, ifH0B.17is increased, then
withoutServo-ONIn the case ofH05.45=1In closed loop state, manually turn the measuring wheel in the actual feed direction, ifH0B.17The direction of change is
also increasing, indicating thatH05.45set correctly, otherwiseH0B.17The opposite direction of change is decreasing, thenH05.45The setting is changed to2. If
the equipment needs closed-loop switching between internal and external positions during operation, according to the above situation, respectively set the
H05.45=1orH05.45=2Correspondingly modified to3or4.
Note: If the position closed-loop modeH0545An error will cause positive position feedback when the equipment is running with material, and then the motor will rotate rapidly,
resulting in mechanical damage or casualties.
step3: Commissioning of the overall equipment with materials. After the equipment is loaded with material, it runs at the lowest speed to ensure the closed-loop positionH05.45set correctly, then adjustH08
The group speed and position gain ensure that the parameter setting can meet the equipment responsiveness requirements (the gain should not be too large, subject to the poor operation of the
equipment). Set the signal width to complete by adjusting theH05.21The positioning error of the servo can also be adjusted.
7) Related function parameters
-86-

unit set up model
Excessive internal and external position deviation alarm run

H05 41 0-2^30 1p 0 Effective immediately P
warning threshold set up
Detection percentage of internal and external position deviation run

H05 43 0-100 1% 20 Effective immediately P
Compare% set up
run
H05 44 closed loop gain coefficient numerator 1-65535 1 1 Effective immediately P
set up
0, indicating the internal position closed loop;
1, External position closed loop position reverse
feed positive logic;
2, External position closed loop position reverse

connect again shutdown
H05 45 Position closed-loop mode selection feed negative logic; 1 0 P
after power set up
3, when the electronic gear is switched
Closed-loop switching of internal and external positions;
4, when the electronic gear is switched
Closed-loop switching between internal and external positions.
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 P
after power set up
The motor rotates one circle corresponding to the external shutdown

H05 48 1-2^30 1 2730 Effective immediately P
Number of encoder pulses set up
Note:
- External encoders currently only support resolutions lower than65535line photoelectric encoder. Internal and external closed-loop switching can be done byFun
- IN.24(Electronic gear selection) implementation, see7.3.4Electronic gear function setting.

8
8.4Torque mode related settings
8.4.1Torque command acquisition method
In torque control mode, there are two sources of torque speed command: sourceAand sourceB. Torque
control mode has the following four ways to obtain torque command:
1, select sourceAas a torque command; 2, select
sourceBas a torque command; 3, select sourceA+
sourceBas a torque command;
4, through externalIOToggle the way to select the sourceAand sourceB. 5,
communication settings
The way to obtain these five sources is through the function codeH07-02set up.

0-main torque commandAsource
1-Assist torque commandBsource

H07 02 Torque command selection 2-A+Bsource 1 0 T
take effect set up
3-A/Bto switch
- 87 -
When the torque command selects the function codeH07-02choose3, it is necessary to separate theDIThe terminal must be assigned a function definition to work normally, and the
function code isFun IN.4(Run command switching), through this input terminal can determine the currentAcommand input orBcommand input.
invalid - the current running command isA

Fun IN.4 /CMD-SEL Run instruction switch distribute
valid - the current running command isB
In addition, the sourceAand sourceBBoth have the following generation methods at the same time:
1, Digital setting, also called keyboard setting, refers to using a function codeH07-03To store a set torque value, which is a percentage of the
rated torque, that is, it can only be given within the rated torque range when given by numbers;
2. The source of the analog command refers to a torque command generation method that converts the externally input analog voltage signal into a torque command signal for
controlling the motor. This method can arbitrarily specify the corresponding relationship between the analog quantity and the torque command.
Related function parameters:
Minimum order factory setting take effect relevant

bit Certainly time model

H07 00 main torque commandAsource 1 0 T
3-AI3
H07 01 Assist torque commandBsource 1 1 T
3-AI3
immediately run
H07 03 0.1% 0.0% T
8
Torque command keyboard setting value - 100.0%~100.0%
take effect set up
The direction switching of the torque command can be usedDIcontrol, the function code isFun IN.25. It is used when the direction needs to be switched.
invalid - positive direction

Fun IN.25 TOQDirSel Torque command direction setting distribute The logic of the corresponding port needs to be set to0or1
valid - reverse direction
It needs to be set when the analog quantity is set as the torque command, in order toAI1As an example to illustrate:
step Operation content indicate
Set command source as auxiliary torque commandB
1 source: Set the command source under torque control.
H07-02 = 1;
set upAI1Corresponding relationship:
H03-50 = 10V
2 H03-51 = 80% Corresponding to +-10Vinput correspondence.
H03-52 = -10V
H03-53 = -80%
set up100%Corresponding torque value:
3 specify100%Corresponding torque nominal
H03-81 = 3.00times rated torque
-88-
As shown below, throughH03-50~H03-53A straight line is set, the slope is determinedk. for any givenu, the instruction
T_ref = kxu.
torque
+ 100%Corresponding value (H03.81)
H03.51 80%
T_ref
H03.52(-10V)
u H03.50(10V) Voltage
H03.53 -80%
accessibleH0b-02Check the given torque command (relative to the percentage of the motor's maximum torque).
8.4.2Speed limitation during torque control
1, function description
In the torque control mode, the speed of the servo motor needs to be limited in order to protect the machine. During torque control, the servo motor is controlled by the output
torque according to the command, but the speed is not controlled. Therefore, if an excessively large torque command is set, which is higher than the load torque on the
mechanical side, the motor will always accelerate, and overspeed may occur . In this case, the rotational speed needs to be limited.
Control the maximum speed limit value of the motor according to the setting, and do not exceed the speed limit value during torque control.
Note: Outside the limited speed range, the speed returns to the limited speed range by negatively clearing the torque proportional to the
speed difference of the limited speed. Therefore, the actual motor speed limit value will fluctuate due to different load conditions. The speed
8
limit value can be given by internal reference or analog sampling reference. (similar to the speed command in speed control).
no speed limit with speed limit
2, The output signal in the motor speed limit
After the motor speed is limited, the output signal is as follows
Acknowledgment signal for speed limitation during torque control
Fun OUT.8 /V-LT+- speed limit signal Active - motor speed limited distribute
Inactive - motor speed is not limited
V-LTSignals need to be assigned.
- 89 -
3, the choice of speed limit method
The speed limit mode is set by the following function codes.

0-Internal speed limit (twist

speed limit in torque control) immediately shutdown
H07 17 Speed limit source selection 1 0 T
1-WillV-LMTused as external take effect set up
speed limit input
1-AI1
H07 18 V-LMTchoose 2-AI2 1 3 T
take effect set up
3-AI3
H07 19 Internal speed limit value during torque control 0rpm-9000rpm 1 rpm 3000rpm T
take effect set up
The limit source is divided into internal speed limit source and external speed limit source. When the internal speed limit source is selected, it can be set directlyH07-19That is, when
selecting an external speed limit source, first passH07-18Specify the analog channel, and then set the analog corresponding relationship as required. But when the external speed
limit source is selected, the external limit value must be smaller than the internal speed limit value source, in order to prevent the danger caused by improper setting of the external
speed limit source
8.4.3Torque limit selection function
For the purpose of protecting mechanical devices, etc., the output torque can be limited, by setting the function codeH07-07, the torque limit selection has the
following four methods:

8 0-Positive and negative internal torque limit (default)
1-Positive and negative external torque limit (usingP-CL,N-CL
choose) immediately shutdown

H07 07 Torque Limiting Source 1 0 T
2-WillT-LMTUsed as external torque limit input 3-With positive and take effect set up
negative external torque and externalT-LMTThe minimum value is
the torque limit (usingP-CL,N-CLchoose)
2) related signal
digital inputDI: Input forward/reverse external torque limit selection signalP-CL/N-CL
ON-External torque limit is valid

Fun IN.16 /P-CL Forward rotation external torque limitON distribute
OFF-Invalid external torque limit
ON-External torque limit is valid

Fun IN.17 /N-CL Reverse External Torque LimitON distribute
OFF-Invalid external torque limit
digital outputdo: Output torque limit confirmation signalC-LT
-90-
Acknowledgment signal for torque limitation:
Fun OUT.7 /C-LT+- Torque limit signal active - motor torque limited distribute
Inactive - motor torque is not limited
Notice
DI,doFunction needs to be setDI/DORelated function codes are used to set the function and logic distribution. analog inputAI:T_LMTvariable via function codeH07-08to specify,
and then follow the instructions to set the corresponding relationship between the speed and the analog voltage.
3) Related function parameters

0-Positive and negative internal torque limit (default)
1-Positive and negative external torque limit (usingP-
CL, N-CLchoose)
torque limit to immediately shutdown
H07 07 2-WillT-LMTUsed as external torque limit input 3-With 1 0 T
source take effect set up
positive and negative external torque and externalT-LMT
The minimum value is the torque limit (usingP-CL,
N-CLchoose)
1-AI1
H07 08 T-LMTchoose 2-AI2 1 2 PST
take effect set up
3-AI3
Forward internal 0.0%~800.0% immediately shutdown
H07 09 0.1% 300.0% PST
torque limit (100%Corresponding to one time of rated torque) take effect set up
reverse inside 0.0%~800.0% immediately shutdown

H07 10 0.1% 300.0% PST
H07 11
Forward side outside
torque limit
0.0%~800.0%
(100%Corresponding to one time of rated torque)
0.1% 300.0%
immediately
take effect
shutdown
set up
PST 8
reverse side external 0.0%~800.0% immediately shutdown
H07 12 0.1% 300.0% PST
4) Instructions
whenH07-07 = 1When, the positive and negative external torque limit is to use the externalDIgiven(P-CL,N-CL)trigger, according toH07-11/12The set value
performs torque limitation. When external constraints andT_LMTWhen the combined limit exceeds the internal limit, the internal limit is taken, that is, all the
limit conditions are controlled according to the minimum limit value. Ultimately, torque is limited within the motor's maximum torque range.T_LMT It is
symmetrical, and rotates forward according to |T_LMT|Value limit, according to -| when invertingT_LMT|value limit.
8.5Common basic function settings
This chapter explains the settings related to the basic functions of servo operation.
8.5.1servoONset up
1, signal setting
When valid, enter the servo running enable state Set the signal corresponding to
Fun IN.1 /S-ON Servo enable signal distribute
When invalid, enter the servo running stop state ofDIAssign function code
-91-
Note:Fun IN.XexpressDIThe function code of the input signal isx.
2, servoONalways active setting
if/S-ONSignals are not assigned to pass externalDIinput, then you can set the function codeH03-00Corresponding data bits, the / S-ONSignals
are assigned an internal always active or inactive state.

unit set up model
0~65535
Bit0-correspondFun IN.1;
Fun INLSignal unassigned state connect again run
H03 00 Bit1-correspondFun IN.2; 1 0 -
(specifyDIfunction is always active setting) after power set up
...
Bit15-correspondFun IN.16
0~65535
Fun INHSignal unassigned state connect again run
H03 01 Bit1-correspondFun IN.18; 1 0 -
(specifyDIfunction is always active setting) after power set up
...
Notice
- If the servo/S-ONThe signal is set to be always valid, and when the main circuit voltage of the servo driver is powered on, the servo can enter the running enable state.
When the position command/speed command/torque command is input, the servo motor or mechanical system will start to run immediately, and accidents may occur, so
please be careful and take safety measures.
- If will /S-ONThe signal is set to be always valid, and once the servo fails, the fault cannot be reset. Please set the function code H03-00Will/S-ONThe
signal is set to be invalid, and it will be processed after power on again.
8.5.2Switching of the direction of rotation of the motor
8 This basic function is set to match with the upper computer, mainly through the function codeH02-02andH02-03Set direction.
1, Motor rotation direction setting:

unit set up model
0-byCCWDirection is forward direction
Servo motor rotates (AadvancedB) connect again shutdown

H02 02 1 0 PST
direction selection 1-byCWDirection is forward direction after power set up
(reverse mode,AlagB)
2The corresponding relationship between the rotation direction of the Inovance servo motor and the command is as follows:
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command direction
Function code setting Motor rotation direction Encoder feedback output direction
(bipolar)
Input is a positive command
Facing the shaft end, the shaft rotates counterclockwise (CCW) Aphase aheadBMutually90Spend
H02-02 = 0
Enter a negative command
Facing the shaft end, the shaft rotates clockwise (CW) Bphase aheadAMutually90Spend
Input is a positive command
Facing the shaft end, the shaft rotates clockwise (CW) Bphase aheadAMutually90Spend
H02-02 = 1
Enter a negative command
Facing the shaft end, the shaft rotates counterclockwise (CCW) Aphase aheadBMutually90Spend
3, Encoder feedback pulse output setting:

8
unit set up model
0-byCCWDirection is forward direction
output pulse feedback (AadvancedB) connect again shutdown

H02 03 1 0 PST
direction selection 1-byCWDirection is forward direction after power set up
(BadvancedA)
This function code is an auxiliary motor rotation direction selection function code, which is used to set the direction of the encoder feedback pulse output for selection. The specific
setting method is as follows:
-93-
Function code setting Encoder feedback pulse output direction Motor rotation direction
H02-03 = 0
Aphase aheadBMutually90Spend
Facing the shaft end, the shaft rotates counterclockwise (CCW)

H02-03= 1
Bphase aheadAMutually90Spend
H02-03 = 0
Bphase aheadBMutually90Spend
Facing the shaft end, the shaft rotates clockwise (CW)

H02-03= 1
Aphase aheadAMutually90Spend
8.5.3Overtravel setting
The overtravel prevention function of the servo driver refers to the safety function that when the moving part of the machine exceeds the designed safe movement range, the
8 limit switch is activated to force the servo motor to stop.
signal setting
When the mechanical movement exceeds the movable range,
Enter the overtravel prevention function.

Fun IN.14 P-OT Forward drive prohibited distribute
Set the signal corresponding to
Valid - Prohibit forward drive
DIAssign function codes.
Inactive - Allows forward drive
When two signals overtravel at the same time

Overtravel limits also work
Fun IN.15 N-OT Backdrive prohibited

distribute
use.
Valid - Prohibit back drive
Inactive - backdrive allowed
Even in the overtravel state, it is still allowed to drive in the opposite direction by input command.
Notice
When the overtravel signal is manually released, the servo motor can still run in the original direction. When the overtravel signal is released, it is necessary to confirm whether it is safe.
8.5.4Setting and protection of braking resistor
By setting the function code correctly, the driver can protect the regenerative discharge resistor. The function code that the user needs to know or set is as follows:
-94-
Down:
the smallest take effect relevant

function code name Predetermined area factory setting category
unit time model
The regenerative drain allowed by the drive

H02 twenty one - 1Ω - - show PST
Minimum discharge resistance
0-reserve
1-Use external regenerative discharge
resistance and natural cooling

H02 25 Regenerative bleeder resistor setting 2-Use external regenerative discharge 1 0 PST
take effect set up
resistance and forced air cooling
3-Without regenerative bleeder resistor,
All by capacitive absorption
External regenerative discharge resistor power There are different models immediately shutdown
H02 26 1W~60000W 1W PST
rate capacity different default take effect set up
External regenerative bleeder resistor There are different models immediately shutdown
H02 27 1Ω~1000Ω 1Ω PST
value different default take effect set up
illustrate:
1.read-only function codeH02-21It is the minimum value of the regenerative bleeder resistance that is allowed to be used by the user determined according to the rated current of the regenerative bleeder tube of the driver and the
overvoltage point.
2.The user must truthfully set the function code according to the specific connection of the regenerative bleeder resistorH02-25, if the bleed function is not used, it needs to be set to
3. Improper setting may cause abnormal regenerative energy braking.
3.The user must set the function code truthfully according to the nominal power of the external regenerative bleeder resistor usedH02-26.
For example: the power indicated on the external regenerative discharge resistor casing used by the user is800W, then the function codeH02-26should be set to800.
If the setting of this function code is inconsistent with the facts, the bleeder tube or regenerative bleeder resistor may be burned. 8
The driver has the ability to protect the regenerative bleed resistor according to the power set by the user. If the bleed power exceeds the bleed capacity during operation, the
drive will bleed with the original constant power as usual, but it is easy to cause an overvoltage fault at this time.
The power capacity that meets the working conditions should be calculated according to specific conditions, such as moment of inertia, deceleration time, etc., see the appendix for details. If the power capacity is too small, the discharge
capacity will be insufficient, which will easily cause overvoltage faults.
4.The user must set the function code truthfully according to the resistance value of the external regenerative bleeder resistor usedH02-27, the resistance value of the user's
external resistor cannot be less than the function codeH02-21Users can also check this value through the specification table given in the user manual.
For example: the resistance of the external regenerative discharge resistor used by the user is33Ω, then the function codeH02-27should be set to33.
If the setting of this function code is inconsistent with the facts, the bleeder tube or regenerative bleeder resistor may be burned.
The driver has the function of judging whether the resistance value input by the user is less than the minimum value, if it is less than, it will giveEr.922Warning that the external regenerative bleeder resistor
is too small. After the warning, the user can change the external resistance that meets the requirements, and the warning will be cleared by re-entering. If ignored, the driver will not turn on the discharge
function to avoid burning the hardware, and it is also prone to overvoltage faults at this time.
The resistance value that meets the working conditions should also be calculated according to the specific situation, see the appendix for details. If the external regenerative discharge resistance is less than the minimum value or short-
circuited, the discharge tube may be burned.
8.6GPIO signal setting

The following introduces theDIDOThe configuration of the control mode and other input and output signals that are not directly related to various control modes are described.
IS550Series Servo Drive DigitalDIInput terminal has6channels:DI1,DI2,...,DI6, the input electrical characteristic is the collector
-95-
pole input; digitaldoThe output terminal has5of whichDO1,DO2,...,DO5It is a bipolar open collector output.
8.6.1Configuration mode of digital signal
1,DISignal distribution method
The user can carry out through the panel (or host computer communication)DIFree configuration.
For example: needDI1configured asFun IN.6(CMD1) signal, theH03-02The value is set to6That's it.
Regarding logical choices:0-Active low;1-active high;2-Rising edge is valid;3-Falling edge is valid;4-Both rising and falling edges are
valid, and theDI1set to active low, theH03-03set to0,otherDITerminal function code setting is similar.
It is worth noting that differentDIassigned to the same function, and if this happens, producesDIParameter setting failure Er.130. If the
interrupt fixed-length function is used, thenDI1The default is external position interrupt signal. In addition, this terminal can be used as a
commonDIFunction.
andDI1The relevant function codes are as follows:

unit set up model
Enter function code:0,1-32 0:

DI1Terminal function no definition connect again run
H03 02 1 6 -
choose 1~32:Fun IN.1~32(refer toDIDO Basic after power set up
function code table)
Input polarity:0-4
0-Indicates active low
DI1Terminal logic 1-Indicates active high connect again run
H03 03 1 0 -
choose 2-Indicates that the rising edge is valid after power set up
3-Indicates that the falling edge is valid
4-Indicates that both rising and falling edges are valid
8 Note: Logic explanation of input and output ports
Low level—switch closed; rising edge—switch closed to open; high level—switch open; falling edge—switch open to closed
When selecting terminal logic, the logic selection should be determined according to the selected function.
for unassignedDIvariable, according to the function codeH03-00 (FunINLSignal unassigned state) and function codeH03-01 (FunINHSignal
unassigned status) for configuration, function codeH03-00andH03-01for hexadecimal,H03-00Convert hexadecimal to binary numbers from low
to high respectivelyFun In. 1~Fun In. 16,0-always invalid,1-always works,H03-01Convert hexadecimal to binary numbers from low to high
respectivelyFun In. 17~Fun In. 32,0-always invalid,1-Always works. These two function codes are running settings, which are valid after power on
again.
The definition of the input terminal signal name is shown in the table:
coding input signal name definition coding input signal name definition
Fun IN.1 /S-ON Servo enable Fun IN.17 /N-CL Reverse External Torque LimitON
Fun IN.2 /ALM-RST Alarm reset signal Fun IN.18 /JOGCMD+ forward jog
Fun IN.3 /P-CON Proportional Action Toggle Fun IN.19 /JOGCMD- negative jog
Fun IN.4 /CMD-SEL Run instruction switch Fun IN.20 /POSSTEP Position step inputDIvariable
Fun IN.5 /DIR-SEL Internal instruction direction selection Fun IN.21 HX1 Handwheel override signal1
Fun IN.6 CMD1 Internal instruction switchingCMD1 Fun IN.22 HX2 Handwheel override signal2
Fun IN.7 CMD2 Internal instruction switchingCMD2 Fun IN.23 HX_EN Handwheel enable signal
-96-
Fun IN.8 CMD3 Internal instruction switchingCMD3 Fun IN.24 GEAR_SEL Electronic gear selection
Fun IN.9 CMD4 Internal instruction switchingCMD4 Fun IN.25 TOQDirSel Torque command direction setting
Fun IN.10 M1-SEL mode switchM1-SEL Fun IN.26 SPDDirSel Speed command direction setting
Fun IN.11 M2-SEL mode switchM-SEL Fun IN.27 POSDirSel Position command direction setting
Fun IN.12 /ZCLAMP Zero position fix function enable signal Fun IN.28 PosInSen Internal multi-segment position enable signal
Fun IN.13 /INHIBIT Pulse inhibit Fun IN.29 XintFree Interrupt fixed-length state release signal
Fun IN.14 P-OT Forward drive prohibited Fun IN.30 G-SEL Gain switch
Fun IN.15 N-OT Backdrive prohibited Fun IN.31 OrgNear Origin switch
Fun IN.16 /P-CL Forward rotation external torque limitON Fun IN.32 Org Chufa Origin return enabled
Note:DISee the function code appendix for details of variables;
2,doSignal distribution method
doOutput valid variables areFun Out. 1~Fun Out. 17,common17one, onlydoThe function is assigned as1~17valid.
The user can carry out through the panel (or host computer communication)doFree configuration: For example, toDO1configured as
Fun OUT.1(/ S-RDY) signal, theH04-00The value is set to1That's it.
Regarding logical choices:0-Active low (optocoupler conduction);1-active high (optocoupler off), to put the /S-RDYsignal
is set to active high, theH04-01set to1. Terminal logic level selection:0-Active low;1-Active high.
But it is worth noting that differentD0assigned to the same function, and if this happens, producesdoParameter setting failure
alarm.
The definition of the output terminal signal name is shown in the table below:
8
Fun OUT.1 /S-RDY+- servo ready Fun OUT.10 /WARN+- Warning output signal
Fun OUT.2 /TGON+- Motor rotation detection signal Fun OUT.11 /ALM+- Fault output signal
Fun OUT.3 /ZERO+- Zero speed signal Fun OUT.12 ALMO1 output3bit alarm code
Fun OUT.4 /V-CMP+- Speed up Fun OUT.13 ALMO2 output3bit alarm code
Fun OUT.5 /COIN+- location reached Fun OUT.14 ALMO3 output3bit alarm code
Fun OUT.6 /NEAR+- positioning approach signal Fun OUT.15 Xintcoin interrupt fixed-length completion signal
Fun OUT.7 /C-LT+- Torque limit signal Fun OUT.16 Org Ok Origin return to zero output
Fun OUT.8 /V-LT+- speed limit signal Fun OUT.17 Org Ok Electric Electrical zero return output
Fun OUT.9 /BK+- brake output signal
Note:doSee the function code appendix for details of variables;
8.6.2How to configure the analog input
1, Analog input setting
There are three analog inputs,AI1,AI2andAI3, the corresponding relationship between it and the control variable can be set according to the
selection of the function code. For example: specifyAI1The channel is the main running command in the speed mode, and the analog quantity ±
10VCorresponding ±5000rpm, then set the following function codes respectively:H06-00=1;H03-52=10.00V;H03-53=100.0%;H03-50=-10.00V;
H03-51=- 100.0%;H03-80=5000rpm.
-97-
Speed Variable Correspondence
H0380 Refer to the following function codes
Torque Variable Correspondence How to use fixed analog quantity
H0381
H0519-Speed Feedforward Control Selection
AI1speed variable
H0600-main speed commandAsource
Maximum Correspondence
AI1 H0352,H0353
AI1torque variable H0601-Auxiliary speed commandBsource
Produced according to the corresponding relationship
AI1per unit value H0700-main torque commandAsource

produces the only output
H0701-Auxiliary torque commandBsource
Minimum Correspondence
H0708-T-LMTchoose
H0350,H0351 Zero trim filter time
H0718-V-LMTchoose
H0354 H0356
reserve1
reserve2
Correspondence rule between analog voltage and control variable:
The input range of the analog channel is ±12V, the normal detection range is ±10V, see Technical Specifications.
+ 100%
H03. 51(90%)
H03.52 (-8V)
- 12V-1 0V -8V -4V
4V 8V 10V12V
H03.50 (8V)
H03.53(-90%)
- 100%
The shaded part in the figure indicates that any voltage value can be used to achieve the corresponding full-scale ±100%, other parts can not correspond to the input voltage range
8 and full-scale variable or can not make full use of the voltage accuracy of the analog quantity. The manufacturer recommends that the maximum and minimum voltage ranges
should not be set too small, otherwise the range of analog sampling cannot be effectively used. Currently, the minimum voltage difference (maximum input voltage - minimum
input voltage) allowed to be set is0.5V, less than0.5Vsettings by0.5Vto deal with.
This correspondence is based onAI1For example, it can be set by the following function code:

H03 50 AI1minimum input - 10.00V~10.00V 0.01V - 10.00V
take effect set up
H03 51 AI1The minimum value corresponds to the set value - 100.0%~100.0% 0.1% - 100.0%
take effect set up
H03 52 AI1input - 10.00V~10.00V 0.01V 10.00V
take effect set up
H03 53 AI1The maximum value corresponds to the set value - 100.0%~100.0% 0.1% 100.0%
take effect set up
Precautions:
When setting this group of function codes,AI1Minimum input (H03-50)andAI1Maximum input (H03-52) are associative, that is,AI1Minimum input (H03-50) less thanAI1Maximum
input (H03-52);AI1The minimum value corresponds to the set value (H03-51)andAI1The maximum value corresponds to the set value (H03-53) can be arbitrarily specified according
to the actual situation without limitation. In order to make full use of the operation range, it is recommended to take the maximum point on the absolute value.
-98-
For example the following table:
Function code setting Set result description
H03-50 = 10V
- 12V-10V -8V -4V
H03-51 = 100%
H03-52 = -10V 4V 8V 10V 12V
H03-53 = -100%
- 100%
Bipolar signal input represents a bipolar variable
+ 100%
H03-50 = -10V - 12V-10V -8V -4V

H03-51 = -100%
H03-52 = 10V 4V 8V 10V 12V
H03-53 = 100%
- 100% 8
Bipolar signal input represents inverted bipolar variable
+ 100%
0%
H03-50 = 10V
- 12V-10V -8V -4V
H03-51 = 100%
- 100%
H03-52 = 0V 4V 8V 10V 12V
H03-53 = -100%
Unipolar signal input indicates bipolar signal
then passH03-80,H03-81Sure100%The control variable range corresponding to full scale.
-99-

time model
Analog100%correspond immediately shutdown

H03 80 0rpm-9000rpm 1 rpm 3000rpm -
speed value take effect set up
Analog100%correspond 1.00Double the amount 1.00Double the amount immediately shutdown

H03 81 1.00times ~8.00times rated torque -
Torque value constant torque constant torque take effect set up
2, Zero fine-tuning function
The analog channel also has a zero-point fine-tuning function. When the analog voltage given by the user is zero voltage, there will generally be a common-ground voltage
difference. At this time, the zero-point fine-tuning function can be used to eliminate this voltage difference. When the zero trimming amount is too large, the corresponding range
of the analog value may be shortened.
+ 100%
biasquantity scope
(-500mV~500mV)
need to be adjusted
biasquantity
12V
8 The adjustment method can be either automatic fine-tuning or manual fine-tuning.
Automatic fine-tuning function codeH0d-10,by setting1~3to adjust the corresponding analog channel, and the corresponding fine-tuning value is stored in
H03-54, H03-61,H03-68middle.

time model
Analog100%correspond immediately shutdown

H0d 10 0rpm-9000rpm 1 rpm 3000rpm -
speed value take effect set up
immediately run
H03 54 AI1Zero offset - 500.0mV~500.0mV 0.1mV 0mV -
take effect set up
immediately run
take effect set up
immediately run
take effect set up
Manual fine-tuning operation steps are as follows:
step operation method related description
Specify an analog channel (AI1) is the command source in speed

1 set upH06Group speed command setting function code.
mode;
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step operation method related description
Set function codeH03-52,H03-53andH03-50,

2 Set the range of analog corresponding to the rotational speed;
H03-51
3 Enable servo operation, and set the analog command of the host computer to zero;
4 Observe whether the motor is currently rotating;
5 If there is no rotation, no zero point fine-tuning is necessary;
if increasingH03-54In the process of the motor speed command

If it is found that the motor rotates, adjust the
6 increases (the speed increases), it will decrease towardsH03-54The
integer function codeH03-54, until the motor stops rotating.
direction operation of the value. vice versa.
3, Analog filtering time setting:
This filter is a first-order filter, mainly to filter out the high-frequency noise of the analog sampling signal, and the filter time can be set as large as possible under the premise of
satisfying the command bandwidth. According to the user's requirements on the command response characteristics, the filter time constant can be appropriately reduced.
serial number AIxset variable Filter time recommendation
1 speed command 2ms

2 Torque command 1ms
The filter time setting function code of the analog channel is shown in the table below:

time model
H03 56 AI1input filter time 0.00ms~655.35ms 0.01ms 2.00ms -
take effect set up
H03 63 AI2input filter time 0.00ms~655.35ms 0.01ms 2.00ms

immediately
take effect
shutdown
set up
- 8
H03 70 AI3input filter time 0.00ms~655.35ms 0.01ms 2.00ms -
take effect set up
8.6.3Other output signals
There are two levels of servo drive alarm levels:
Level 1 is failure: 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 sends out 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.
1) Servo Fault Output (ALM), the alarm code output (ALM01,ALM02,ALM03)
The following describes the output signal and its reset method when the servo drive fails.
a)Servo fault output signal (/ALM): It is output to thedosignal of the terminal.
When designing the control system, use the fault output of this fault signal to realize the sequence control circuit that cuts off the main circuit power of the
servo driver.
Fun OUT.11 ALM+- Fault output signal Status at the time of fault detectionON distribute
- 101 -
b)Fault code output signal (ALMO1,ALMO2,ALMO3)
through the set of signalsON/OFFCombinations can show the type of fault detected by the servo drive. This signal is used in applications where the upper
computer device wants to display fault content but has no fieldbus support.
Fun OUT.12 ALMO1 error code1 error code distribute
These three signals are recommended to be assigned to

DO6,7,8terminals.
c)Fault reset method
Notice
Before resetting the servo fault, be sure to eliminate the cause of the fault.
When "Servo failure (ALM)”When it occurs, remove the cause and set the following input signal "/ALM-RST"placed in "ON”After that, the fault
condition is cleared. The fault clear signal clears the servo fault state.
By alarm type, some alarms reset

Fun IN.2 ALM-RST Alarm reset signal commonly used
The servo can continue to work
This output function is fordoFor terminal assignment see7.6.1Festival
constitute the external circuit so that when a failure occurs, the main circuit powerOFF. As long as the control power is set toOFF, the alarm can be cleared
automatically.
Alternatively, alarm clearing can also be done through the control panel.
8 2) Servo warning output signal (/WARN)
Servo warning output signal (/WARN) is the output signal when the servo drive detects a warning, and passes through when an overload warning,
regeneration warning and other warning signals occur.doterminal output.
Fun OUT.12 WARN+- Warning output signal Status when a warning is detectedON distribute
Warning code output: when there is only a warning, the warning signal (WARN+-)At the same time,ALM0,ALM1,ALM2Output
warning code; when warning and fault exist at the same time, output warning signal (WARN+-)and the fault signal (ALM+-)At the
same time, ALM0,ALM1,ALM2Output a fault code.
3) servo ready output signal (/S-RDY)
Servo state ready output signal: This signal indicates whether the power-on initialization of the servo drive is completed, and the output of this signal will be
invalid when a fault occurs.
The servo status is ready to receiveS-ONSignal

Fun OUT.1 /S-RDY+- servo ready valid - servo ready distribute
invalid - servo not ready
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9
run
No.9chapter run IS550Series Servo Driver User Manual
No.9chapter run
9.1Inspection before trial operation
In order to ensure safe and correct trial operation, please check and confirm the following items before trial operation. If any bad condition is found, please
contact the service department of our company.
(1) The state of the servo motor
- Check the fixed parts of the servo motor to ensure that the connection is tight;
- Check the servo motor shaft to ensure smooth rotation (it is normal for the servo motor shaft with oil seal to be tight);
- Check the servo motor encoder connector and power connector to make sure the wiring is correct and the connection is tight.
(2) The state of the servo drive
- Check the terminals of the servo drive to ensure that the wiring is correct and the connection is tight;
- Check the external power supply provided to the servo drive to ensure that the voltage is normal.
- Connect the servo drive and servo motor encoder cables and power cables.
(3) to confirm the connection and status of the input signal
Connect the servo drive input and output (CN1)Connector.
step project operate
Connect the input signal circuit required for trial operation to the control terminal (CN1)superior. The following conditions
need to be met when connecting:
servoONinput signal(/S-ON) is available for input;

1 CN1Terminal Confirmation
Prohibit forward drive (P-OT), Prohibition of reverse drive (N-OT)input signalOFFstate (forward and
reverse driving), after the trial run, please restore the standard setting;
When entering the command, please confirm0Vinstruction or0Pulse command.
Turn on the power supply of the servo drive, and the panel will display "rdy"It is in the correct state, otherwise check whether the connection is
2 Power on confirmation correct. If there is an alarm phenomenon, please handle it properly according to the servo alarm diagnosis and its countermeasures. If the
cause of the alarm is not eliminated, it will not be able to run.
9 holding brake
To keep the action of the brake, the brake interlock output signal (/BK)control. In order to prevent
malfunction caused by gravity (or external force), please confirm the operation of the holding brake
3 with the servo motor and the machine separated. After the action is normal, connect the servo
signal confirmation
motor to the machine and continue the trial run.
For the wiring diagram of the servo motor with brake, please refer to the relevant chapters.
Notice
Please make sure that the servo motor model parameter group (H00)The parameters set in are matched or compatible with the actual connected servo motor.
9.2Jog test run example
9.2.1By function code andDIInput terminal realize jog test run
1 set running speed By function code (H06-04) to set the running speed of the motor, it is recommended to set it to a lower speed first.
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IS550Series Servo Driver User Manual No.9chapter run
By function code (H06-02) to set the source of the speed command.

set speed command
2 H06-02=0:Ainstruction group
source
H06-02=1:Binstruction group
AInstruction group: through function codeH06-00=4Select jog command B

3 Select jog command
Instruction group: through function codeH06-01=4Select the jog command.
Through the function code group (H03) to set the jog input terminal (DI).
Set jog input example:

4
terminal (DI) H03-18=18:DI5=Jog forward (/JOGCMD+)
H03-18=19:DI6=reverse jog (/JOGCMD-)
Position/S-ONSwitch to enable the servo drive. (Factory settingsDI5for/S-ON)
5 jog run
passDI9andDI10Realize jog operation
9.2.2Jog test run directly through the panel
CN1ofIOThe terminals do not need to be connected, only after the motor is connected, the panel will display "rdy"status, keyboardH0d-11
Enter jog mode, byUP, DOWNAdjust the running speed of jog, the default100rpm. according tosetEnter the jog state, the panel displays "
Jog",according toUP,DOWNRealize jog forward and reverse.
9.2.3Jog trial operation is realized through the background control software
1 connect Connecting the computer connection cable
2 Open the jog interface Open: background control software - auxiliary function menu - jog trial run function
3 jog run Set the jog speed, and control the forward and reverse jog operation of the motor through the button
9.3Speed control test run example
9.3.1continue to operate
■ Test purposes:
The motor runs smoothly at any speed within a safe range.
■ Steps: 9
1) to select the control modeH0200=0, speed mode;
2) to select the speed commandH0602=0,Asource;
3) to select the speed commandAsourceH0600=0, the digital quantity is given;
4) to specify the magnitude of the velocityH0603=2000,2000rpm;
5) to specify the acceleration timeH0605=1000,1000ms;
6) to specify the deceleration timeH0606=1000,1000ms;
7) to specify the maximum speed limit valueH0607=3000,3000rpm;
8) specifies the forward maximum speed limit valueH0608=1000,1000rpm;
9) Specify the reverse maximum speed limit valueH0609=800,800rpm;
10)Open/S-ON, the motor rotates, but byH0b00It was found that the speed was limited to1000rpm;
11)ChangeH0608=3000,Depend onH0b00Discovery speed changes to set speed2000rpm;
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9.3.2multi-speed
■ Test purposes:
The motors are50,100,300rpmContinuous operation at three speeds, each speed5seconds, the cycle repeats. It is required to change speed smoothly and
reduce shock.
■ Steps:
2) to select the speed commandH0602=1,Bsource;
3) to select the speed commandBsourceH0601=5, multi-stage speed;
4) Select the multi-speed operation modeH1200=1, run in a loop;
5) specify the number of segmentsH1201=3,3part;
6) to select the runtime unitH1202=0,Second;
7) to set the acceleration time1model,H1203=3000,3000ms,deceleration time1model,H1204=3000,3000ms;
8) to set the1Segment speed parameters: speed sizeH1220=50,50rpm;
9) The period of running timeH1221=5.0,5.0Second;
10) Speed up and down time modeH1222=1, acceleration and deceleration time1model;
11) to set the first2Segment speed parameters, modeled after (8)set upH1223,H1224,H1225;
12) to set the first3Segment speed parameters, modeled after (8)set upH1226,H1227,H1228;
13) to turn on the servo, byH0b00It is found that the motor runs in sequence at three speeds;
14) to change the number of segmentsH1201=2,2segment, byH0b00The motor was found to cycle at two speeds;
15) and then change the operating modeH1200=0, a single run, byH0b00It is found that the motor stops after experiencing two speeds;
16) can also modify the speed parameters of each segment, byH0b00Watch for changes.
9.3.3Analog control
9 ■ Test purposes:
byAin the instructionAI1is the source of the speed command, when the voltage is0~10VWhen changing, the speed can be in0~+1000rpmcontinuous change within.
■ Steps:
1) First prepare a DC power supply, connect it correctly, and connectIOterminalAI1The port is connected to the positive pole of the power supply, and theGNDwith power supply negative
connected.
4) to select the speed commandAsourceH0600=1,AI1Analog control;
5) to set the analogAI1The relevant parameters:
a) minimum input voltageH0350=0,0V;
b) minimum input voltage corresponding toH0351=0,0%;
c) Maximum input voltageH0352=10, +10V;
- 106 -
d) maximum input voltage corresponding toH0353=100.0, +100%;
6) of the specified analog100%The represented speed valueH0380=1000,1000rpm;
7) to adjust the supply voltage to0, if it is found that the motor is rotating, it should be setAI1Zero offsetH0354=300,300mV, the value size
Depending on the speed of the motor at this time, adjustH0354until the motor stops;
8) Turn on the servo, turn the power knob, byH0b00It is found that the speed of the motor changes with the magnitude of the voltage, when the voltage exceeds the set input voltage
When the pressure is pressed, the speed does not change any more. Note: Do not exceed the voltage12V;
9) If you want to achieve the speed at0~-1000rpmContinuous change within, can changeH0353=–100.0, –100%, turn on the servo again,
It is found that the motor rotates in reverse, and the speed changes with the voltage. When the voltage exceeds the set input voltage, the speed will no longer change.
Note: Do not exceed the voltage12V.
9.4Example of position control test run
9.4.1Step setting method
■ Test purposes:
Turn on the switch, the motor speed48rpmStop after one revolution.
■ Steps:
1) to select the control modeH0200=1, position pattern;
2) to select the position commandAsourceH0500=1, the method of setting the step amount;
3) to set the step sizeH0503=5000,5000command unit;
4) to specify the electronic gear ratioH0507/H0509=2,2;
5) WillFun IN.20:/POS STEPsignal is assigned such that pressingDI4The switch motor can rotate,H0308=20;
6) Restart the power, turn on the servo, pressDI4,Depend onH0b00Find the motor at speed48rpmStop after one rotation;
7) If you want to change the speed, you can change the gear ratio, there is a relationship: speed =twenty four*gear ratio (rpm)
8) If you want to change the motor stroke, you can change the step amount and gear ratio, there is a relationship: the number of turns = step amount × gear ratio /10000(r)
9
9.4.2Pulse command method
■ Test purposes:
byPLCThe pulse output is used as the command source, the motor rotates when the pulse is input, and the motor stops when the pulse stops, and it can also control forward and reverse rotation. Rotating
speed6rpm, each rotation1week stop.
■ Steps:
1) First prepare aPLC, requires internally programmed, achievable100KHzPulse intermittent output, each output10seconds;
2) WillPLCofY00andIOon the terminalPULS-connected,PLCofCOM1andIOon the terminalCOMconnected,IOon the terminal

SIGN-andCOMconnected;
3) to select the control modeH0200=1, position pattern;
4) to select the position commandAsourceH0500=0, pulse command mode;
5) to specify the electronic gear ratioH0507/H0509=1/100,1/100;
6) first turn on the servo, then turn on thePLCOutput, note: the order cannot be reversed, otherwise an error will be reported. Depend onH0b00can be found,
to speed6rpm, each rotation1week stop;
7) ChangeSIGN-Connect the wires to make it suspended in the air, and find that the motor reverses immediately, and the speed remains unchanged.1week stop;
- 107 -
8) The speed and stroke can be changed by changing the electronic gear ratio. The relationship exists as follows:
RPM=0.006*f*gear ratio (rpm), where:f—Pulse frequency (Hz);
Number of laps = rotational speed * time (r)
9.5Example of torque control test run
9.5.1Digital quantity given way
■ Test purposes:
The torque set by the given digital quantity is the rated torque10%, and for safety, limit the motor speed to1200rpmwithin, while
the torque is limited to20%within.
■ Steps:
1) to select the control modeH0200=2, torque mode;
2) to select the torque commandH0702=0,Asource;
3) to select the torque commandAsourceH0700=0, the digital quantity is given;
4) to specify the size of the torqueH0703=10.0,10.0%;
5) specifies the source of the speed limitH0717=0, the inner limit;
6) specifies the speed limit sizeH0719=1200,1200rpm;
7) to select the torque limit sourceH0707=0, the inner limit;
8) Set the forward torque limit sizeH0709=20.0,20.0%;
9) Set the size of the reverse torque limitH07010=20.0,20.0%;
10) After setting, turn on the servo and find that the motor accelerates to rotate, but it is finally limited to1200rpmLeft and right fluctuations (different inertia
motors, which have different speeds and therefore may not be speed-limited);
11) by replacing the magnitude of the speed limit and torque limit, byH0b00andH0b02Different situations can be found.
9.5.2Analog control
9 ■ Test purposes:
byAin the instructionAI1is the source of the speed command, when the voltage is0~10VWhen changing, the torque can be within the rated torque0~+10%
changes continuously within , and for safety reasons, the motor speed is limited to1200rpmwithin, while the torque is limited to20%within.
■ Steps:
1) First prepare a DC power supply, connect it correctly, and connectIOterminalAI1The port is connected to the positive pole of the power supply, and theGNDwith power supply negative
connected;
2) to select the control modeH0200=2, torque mode;
4) to select the torque commandAsourceH0700=1, analogAI1enter;
5) to set the analogAI1The relevant parameters:
a) minimum input voltageH0350=0,0V;
b) minimum input voltage corresponding toH0351=0,0%;
c) Maximum input voltageH0352=10, +10V;
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d) maximum input voltage corresponding toH0353=10.0, +10%;
6) of the specified analog100%Represented torque valueH0381=100,1times the rated torque;
7) specifies the source of the speed limitH0717=0, the inner limit;
8) specifies the speed limit sizeH0719=1200,1200rpm;
9) to select the torque limit sourceH0707=0, the inner limit;
10) to set the size of forward torque limitH0709=20.0,20.0%;
11) to set the size of the reverse torque limitH07010=20.0,20.0%;
12) to adjust the supply voltage to0, if it is found that the motor is rotating, it should be setAI1Zero offsetH0354=300,300mV, the value size
It should depend on the speed of the motor at this time, adjustH0354until the motor stops;
13) Turn on the servo, turn the power knob, byH0b02It is found that the motor torque varies with the magnitude of the voltage, when the voltage exceeds the set input voltage
When pressed, the torque no longer changes and is finally limited to10%. Note: Do not exceed the voltage12V;
14) can also be found to spin up the motor, but is ultimately limited to1200rpmLeft and right fluctuations (motors with different inertias have different speeds
the same, and therefore may not be speed-restricted);
15) by replacing the magnitude of the speed limit and torque limit, byH0b00andH0b02Different situations can be found;
16) If you want to achieve torque at0~-10%Continuous change within, can changeH0353=–10.0, –10%,, turn on the servo again, send
Now the motor rotates in reverse, and the torque varies with the voltage. When the voltage exceeds the set input voltage, theH0b02It is found that the
torque no longer changes. Note: Do not exceed the voltage12V.
9.6Trial run after the servo motor is connected to the mechanical structure
Before the test run after the servo motor is connected to the mechanical structure, please follow the above instructions to first carry out the corresponding servo motor no-load
test run.
Danger
In the state where the mechanical load is connected to the servo motor, if an operation error occurs, it will not only cause mechanical damage, but may
also cause personal injury accidents.
Notice
9
During the no-load test run of the servo motor, the overtravel protection signal (P-OT,N-OT) is not a designated terminal, at this time please connect the
overtravel protection signal (P-OT,N-OT)Assigned toDIterminal to enable the protection function.
step operate refer to
Turn on the control power supply and the main circuit power supply, and make settings related to protection functions such as overtravel, braking resistor, and
brake.
Consider the selection of braking resistor according to the load condition;

1
Enable the overtravel protection function, and correctly set the overtravel stop setting parameters; When using a servo motor with a brake, before confirming
the brake action, please implement measures to prevent the machine from falling naturally or vibrating due to external forces, and confirm that the servo The
action of the motor and the action of the brake work normally.
2 Set the operating mode and its command source in this mode;
3 in powerOFFIn the state, connect the servo motor and the mechanical load through a coupling or other device.
- 109 -
step operate refer to
After confirming that the servo drive is the servo enable signalOFFAfter the status, turn on the power of the upper computer device. and confirm the steps here
4 1Check whether the protection function setting in is normal.
In order to prevent abnormalities in the next operation, please make the equipment in the state of emergency stop.
Perform a trial run according to "No-load test run of the servo motor according to the command of the host computer device", confirm that the running result is
5
the same as the no-load run of the servo motor, and confirm that the command unit and direction are consistent with the mechanical motion state.
Confirm again whether the parameter setting is consistent with each control mode, and then confirm whether the operation of the servo motor meets the
6
mechanical action specifications.
Adjust the servo gain parameters as needed to improve the control performance of the servo motor with load.
7 Notice:
During the test run, the servo motor and the machine may not be suitable for each other, so please fully implement the running-in operation.
At this point, the test run is over. For future maintenance work, please record the set parameters in the parameter setting
8 records.
Supplement: Parameters can also be managed as files through the background software provided by our company.
- 110 -
10
communication function
No.10Chapter Communication Function IS550Series Servo Driver User Manual
No.10Chapter Communication Function
10.1hardware connection
The servo drive hasRS-232,RS-485The communication function can be realized with the communication software of the upper computer, such as modification of working parameters, query of working
parameters and monitoring of the status of the servo drive system, etc. useRS-485The communication protocol can support the networking of multiple servo drives, and adopts a single-master and multi-
slave communication method.RS-232The communication protocol does not support networking of multiple servo drives.
1,RS-232Connection Diagram
J4
RS-232
3
6
1
7 4
2 PC
8 5
2,RS-485Connection Diagram
J4
3
6
1 RS-485
7 4
2 PC
8 5
3, Network connection of multiple servo drives
J4
3
6
1 RS-485
7 4
2 PC
8 5
J4
RS-485
3
6
1
7 4
2
8 5
10 J4
6 3
1
7 4
2
8
5
Notice
1) In an environment with low noise, the length of the communication line is15m, if the communication rate38400bpsAbove, it is recommended to use15The line length within one meter
ensures the transmission accuracy.
2)RS485Can be connected at the same time32A servo drive. If you want to connect more servo drives, you must install amplifiers,
multi-scalable247A servo drive.
3) If adoptedRS-485Communication, if the host computer only supportsRS-232,accessibleRS-232/RS-485The converter is connected.
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IS550Series Servo Driver User Manual No.10Chapter Communication Function
10.2Communication parameter setting

immediately run
H0C 00 Servo axis address 1~247,0broadcast address 1 1 -
take effect set up
accessibleH0C-00The function code specifies the axis address of the drive. When multiple servo drives are networked, each drive can only have a unique address, otherwise it will
cause communication abnormalities and communication failure. Broadcast address, the host computer can write to all drives through the broadcast address, and the drive will
perform corresponding operations after receiving the frame of the broadcast address, but will not respond.

0-2400
1-4800
2-9600 immediately run
H0C 02 Serial port baud rate setting 1 5
3-19200 take effect set up
4-38400
5-57600
Notice
The communication rate of the servo drive must be consistent with the communication rate of the upper computer, otherwise it cannot communicate.

0-no parity
immediately run
H0C 03 Data Format 1-even parity 1 0 -
take effect set up
2-Odd parity
When the even parity or odd parity is selected, the actual number of bits transmitted in each byte is11bits, of which1bit start bit,8bit data bit,1
check digit,1bit end bit. When no parity is selected, the actual number of bits transmitted in each byte is11bits, of which1bit start bit,8bit data
bit,2bit end bit.
Notice
The data format of the servo drive must be consistent with that of the host computer, otherwise the communication cannot be carried out. 10
10.3 MODBUSletter of agreement
Servo Drive SupportMODBUS RTUprotocol, capable of reading function codes (0x03),Write16bit function code (0x06)and write32bit function
code (0x10)operate.
10.3.1read function code (0x03)
Request frame format:
START greater than or equal to3.5character idle time, indicating the start of a frame
ADDR Servo axis address1~247. Note: here1~247is a decimal number, fill inADDRconverted to hexadecimal.
cmd command code,0x03
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Starting function code group number, such as function codeH06-11,06It is the group number. Note: here06is a hexadecimal
DATA[0]
number, fill in DATA[0]no base conversion
Start function code offset, such as function codeH06-11,11That is bias. Note: here11is a decimal number, fill in
DATA[1]
DATA[1]convert to hexadecimal0x0B
DATA[2] Number of read function codes (high8bits), hexadecimal
DATA[3] Number of read function codes (low8bits), hexadecimal
CRCL CRCCheck low significant byte
CRCH CRCCheck high significant byte
END greater than or equal to3.5character idle time, end of one frame
Response frame format:
ADDR Servo axis address, hexadecimal
DATALENGTH The number of function code bytes is equal to the number of read function codesN*2
DATA[0] Initial function code value, high8bit
DATA[1] Initial function code value, low8bit
DATA[…]
DATA[N*2-1] Last function code value, low8bit
Note: read32Bit function code, in the response frame, the value of the function code follows the high16first, lower16The principle behind.
10.3.2Write16bit function code (0x06)
10 cmd command code,0x06
The group number of the written function code, such as writing the function codeH06-11,06It is the group number. Note: here06is a hexadecimal
DATA[0]
number, fill inDATA[0]no base conversion
Biased by writing function codes, such as writing function codesH06-11,11That is bias. Note: here11is a decimal number, fill in
DATA[1]
DATA[1]should be converted to hex when0x0B
DATA[2] Write data high byte, hexadecimal
DATA[3] Write data low byte, hexadecimal
- 114 -
ADDR Servo axis address, hexadecimal
DATA[0] The group number of the written function code, such as writing the function codeH06-11, then0x06
DATA[1] Biased by writing function codes, such as writing function codesH06-11, then0x0B
DATA[2] Write data high byte, hexadecimal
DATA[3] Write data low byte, hexadecimal
10.3.3Write32bit function code (0x10)
The group number of the initial function code to be written, such as writing the function codeH11-12,11It is the function code group. Note: here
DATA[0]
11is a hexadecimal number, fill inDATA[0]no base conversion
It is biased by writing the initial function code, such as writing the function codeH11-12,12That is bias. Note: here12is a decimal
DATA[1]
number, fill inDATA[1]convert to hexadecimal0x0C
High number of function codes8bitM(H), 32Bit function code press2calculations, such as single writeH0507,
DATA[2]
DATA[2]for00, DATA[3]for02,M=H0002.
DATA[3] The number of function codes is low8bitM(L)
DATA[4] The number of function codes corresponds to the number of bytesM*2, such as a single writeH0507,DATA[4]forH04.
DATA[5] Write the high of the initial function code8bits, hexadecimal
DATA[6] Write the low of the initial function code8bits, hexadecimal
DATA[7] Write start function code+1height of8bits, hexadecimal
DATA[8] Write start function code+1the low8bits, hexadecimal
DATA[9]
DATA[10]
Write start function code+2height of8bits, hexadecimal
Write start function code+2the low8bits, hexadecimal

10
… …
ADDR Servo axis address, hexadecimal.
- 115 -
DATA[0] The group number of the initial function code to be written, such as writing the function codeH11-12, then0x11
DATA[1] It is biased by writing the initial function code, such as writing the function codeH11-12, then0x0C
DATA[2] The number of written function codes is high8bitM(H)
DATA[3] The number of written function codes is low8bitM(L)
Note:V2.80Future versions containV2.80,can use0x10right16bit function code for write operation, however,V2.80Previous versions, please do
not use0x10right16Bit function code for write operation, otherwise unpredictable errors will occur.
10.3.4error response frame
Error response frame format:
ADDR Servo axis address, hexadecimal.
cmd command code,0x03/0x06/0x10.
DATA[0] 0x80
DATA[1] 0x01
DATA[2] error code high8bit
DATA[3] error code low8bit
Error code:
wrong code Coding instructions
0x0002 command code is not0x03/0x06/0x10
0x0004 The servo calculates the data frame received by theCRCThe check code is not equal to the check code in the data frame
0x0006
10
Write factory password error
0x0008 The accessed function code does not exist
0x0010 The value written in the function code exceeds the upper and lower limits of the function code
0x0020 The function code to be written is a read-only function code
0x0030 0x10Write16bit function code
0x0040 The access function code is locked by password
0x0060 The read data length is0
0x0080 The written function code can only be modified when the servo is stopped, and the servo is currently running
10.3.5communication example
1) The host sends a request frame:
01 03 02 02 00 02 CRCL CRCH
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The request frame indicates: the address of the slave axis is01Driver's function codeH02-02register for the initial read0x0002word-length data.
Slave response frame:
01 03 04 00 01 00 00 CRCL CRCH
The response frame means: the slave returns2word length (4bytes) of data, the data content is0x0001,0x0000.
If the slave response frame is:
01 03 80 01 00 02 CRCL CRCH
The response frame indicates: communication error occurs, the error code is0x0002;0x8001Indicates an error.
2) The host sends a request frame:
01 06 02 02 00 01 CRCL CRCH
The request frame indicates: the axis address is01Driver's function codeH02-02to write0x0001.
01 06 02 02 00 01 CRCL CRCH
The response frame means: the host writes the function code successfully.
If the slave response frame is:
01 06 80 01 00 02 CRCL CRCH
The response frame indicates: communication error occurs, the error code is0x0002;8001Indicates an error.
3)read32bit function codeH05-07:
Host request frame:
01 03 05 07 00 02 CRCL CRCH
01 03 04 00 00 00 01 CRCL CRCH 10
This response frame means:H05-07The value of the function code is0x00000001.
4) Write32bit function codeH05-07
Write32There are two kinds of request frames for bit function codes, namely0x06and0x10.
use0x06Writing requires two write instructions, respectively writeH05-07andH05-08:
01 06 05 07 00 02 CRCL CRCH
01 06 05 08 00 01 CRCL CRCH
Note: The request frame puts0x00010002Right now65538Write to function codeH05-07.
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use0x10Writing requires only one write instruction:
01 10 05 07 00 02 04 00 01 00 02 CRCL CRCH
Note: high0x0001front, low0002is behind.
10.3.6 CRCscheck
The communication between the upper computer and the servo drive must adopt the sameCRCAlgorithm is checked, otherwise yieldsCRCValidation error. The servo driver adopts16
bitCRC, the low byte comes first, the high byte follows,CRCThe function is as follows:
Uint16 COMM_CrcValueCalc(const Uint16 *data, Uint16 length)
{
Uint16 crcValue = 0xffff;
int16 i;
while (length--)
{
crcValue ^= *data++;
for (i = 0; i < 8; i++)
{
if (crcValue & 0x0001)
{
crcValue = (crcValue >> 1) ^ 0xA001;
}
else
{
crcValue = crcValue >> 1;
}
}
10 }
return (crcValue);}
10.3.7signed16Hexadecimal representation
in pair of signed16When the bit function code is written, the written data needs to be16Expressed in two's complement form. When the data is greater than or equal to0When the
value of the complement code is equal to the original code, no conversion is required; when the data is negative, the complement code is equal to0xFFFFsubtract the complement
of its absolute value1.
in pair of signed32When the bit function code is written, the written data also needs to be16Expressed in two's complement form. When the data is greater than or equal to0When
the value of the complement code is equal to the original code, no conversion is required; when the data is negative, the complement code is equal to0xFFFFFFFFsubtract the
complement of its absolute value1.
For example16number of digits100,That16The base complement is:0x0064;16number of digits -100,That16The two's complement calculation is:
0xFFFF – 0x0064 + 0x0001 = FF9C.
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For example32number of digits100,That16The base complement is:0x00000064;32number of digits -100,That16The two's

complement calculation is: 0xFFFFFFFF – 0x00000064 + 0x00000001 = FFFFFF9C.
10.3.8 32Bit function code addressing
If the setting range of the function code exceeds -65535~+65535, belongs to32Bit function codes, such asH05-07,H05-09,H11-12wait,32The bit
function code occupies two consecutive function code numbers, for exampleH11-12andH11-13jointly express "the1Segment Shift Offset", where
the lower numbered address stores the lower value of the function code16bit, the address with the higher number stores the high value of the
function code16bit, such as "No.1Segment Movement Displacement" is0x40000000 (Decimal is1073741824)command units,H11-12The value is
0x0000,H11-13The value is0x4000.
useMODBUSinstruction read32When the bit function code is used, the address with a lower number is used as the base address, and the length of one read is2. For example
read "No.1Segment Movement Displacement"H11-12ofMODBUSThe command is:
Servo axis address 03 11 0C 00 02 CRCL CRCH
useMODBUSinstruction(0x06)Write32Bit function code, according to the order of writing the high address first, then write the low address, a total of2instructions completed 32Bit
function code writing, such as writing "0x12345678"to "No.1Segment Movement Displacement"H11-12ofMODBUSThe command is:
Servo axis address 06 11 0D 12 34 CRCL CRCH

Servo axis address 06 11 0C 56 78 CRCL CRCH
useMODBUSinstruction(0x10)Write32bit function code,1command to complete32Writing of bit function codes, such as writing

"0x12345678"to "No.1Segment Movement Displacement"H11-12ofMODBUSThe command is:
Servo axis address 10 11 0C 00 02 04 12 34 56 78 CRCL CRCH
10.3.9Function code communication address definition
The function code communication address is composed of function code group number + offset, for exampleH11-12The corresponding mailing address is0x110C. When using communication to modify the
function code, you need to pay attention to the setting range, unit, effective time, setting category, positive and negative hexadecimal conversion of the function code, etc. For details, please refer to the
description of the function code.
Notice
Some manufacturersPLC/touch screenMODBUSThe register address during instruction programming is not equal to the actual register address, but equal to
the actual register address plus1, this is because the standardMODBUSThe starting address of the instruction register is1, and the actual register addresses
of many devices are from0At the beginning (such as this servo driver), consider compatibility,PLC/The touch screen manufacturer subtracts the address of
the programming register during actual physical transmission.1deal with. this kindPLC/touch screen and servo driveMODBUSWhen communicating,
programmers need to be clear about this point in order to read and write the function codes of the servo driver correctly. For example, when programming,
the read (write) register address is0x0201, the actual read (write) function code isH02-00instead ofH02-01.
10
if not surePLC/touch screenMODBUSWhether the register address during instruction programming is equal to the actual register address, you can select two adjacent function
codes with different values, and use0x03(Read) instruction reads a function code with a larger code, if the value of the read function code is equal to the value of a function code
with a smaller code, it means that the register address during programming is equal to the actual register address plus1.
10.3.10communication virtualVDI/VDO
VDIable to act likeDIterminal, configured asFun IN.X. when enabledVDI, which is equivalent to extending theDIthe number ofVDIThe number
is 16, respectively calledVDI1…VDI16, at this time, ifVDIandDIterminal configuration to the sameFun IN.X, an error will be reportedEr.130.
VDOable to act likedoterminal, configured asFun OUT.X. when enabledVDO, which is equivalent to extending thedothe number ofVDOThe
number is16, respectively calledVDO1…VDO16, at this time, ifVDOanddoterminal configuration to the sameFun OUT.X, an error will be reported
Er.131.
VDIxThe value ofH31.00Decide,H31.00It is a readable and writable function code;VDOThe value ofH17.32Decide,H17.32read-only
- 119 -
Can code.

Bit0-VDI1virtual level
H31 00 VDIvirtual level ... - - - - PST

Bit0:VDO1virtual level
H17 32 VDOvirtual level … - - - - -
Note that communication modificationsVDIxThe value of can not be bit manipulated, theH31.00A write action affects allVDI.
VDIRefer to the following steps for the configuration ofFun IN.1configured toVDI1on, and throughMODBUScommand to enable the servo.
1)H0C.09place1, enabling communication with virtualVDI.
2) SureFun IN.1not configured to anyDIterminal orVDIon (factory,Fun IN.1configured inDI5superior,H03.10for1).
3)H17.00place1,WillFun IN.1map toVDI1.
4) set upVDI1A logical choice for , which defaults to0,expressVDI1to write1valid.
5) WriteH31.00,Bit0to write1, to complete the servo enable; ifBit0to write0, cancel the servo enable.
Suppose the axis address is1, to enable the servo'sMODBUSThe command is as follows:
01 06 31 00 00 01 CRCL CRCH
Notice
VDIxThe terminal logic is selected as0when, equivalent toDITerminal logic selection is active low or active high;VDIxThe terminal logic is selected as1when,
equivalent toDIThe terminal logic selection is valid along the edge.
VDORefer to the following steps for the configuration ofFun OUT.5configured toVDO1superior.
10
1)H0C.11place1, enabling communication with virtualVDO.
2) SureFun OUT.5not configured to anydoterminal orVDOsuperior.
3)H17.33place5,WillFun OUT.5map toVDO1.
4) set upVDO1Terminal logic level selection, the default is0, which means output when valid1.
5) readH17.32, when the position is reached,H17.32 Bit0equal1, the position is not reachedH17.32 Bit0equal0.
Suppose the axis address is1,readH17.32ofMODBUSThe command is as follows,
01 03 17 20 00 01 CRCL CRCH
10.3.11Communication is not performed when writing function codesEEPROMsave
When using the communication operation function code, sometimes the value of the function code will be changed frequently, and many function codes will be updated at the
same time after the value of the function code is changed.EEPROMSave value in . if yesEEPROMFrequent erasing and writing will reduce theEEPROMservice life. If the
communication writes the new function code value, it is not necessary to update itsEEPROMvalue in , you can set theH0C-13=0to fulfill,
- 120 -
thereby reducing the need forEEPROMerasing times.
10.3.12Servo response added delay
function codeH0C-25, add a delay to the servo response, and the servo will delay after receiving the commandH0C-25Respond to the host after the set
time.

run
MODBUSinstruction immediately
H0C 25 0~5000ms 1 0 middle set -
response delay take effect
Certainly
10.3.13 32Bit function code high and low16order of transmission of bits

0-high16first, lower16After the bit (use the
background to modify the function code or read run

MODBUS32bit function code immediately
H0C 26 When the function code is set to0) 1 0 middle set -
order of transmission take effect
1-Low16first, high16in the back Certainly
For example:H0C-26=0when, toH0507to writeH00010002ofMODBUSThe transmission instruction is (the following instructions are all16Hexadecimal
representation):
Host write command:01 10 05 07 00 02 04 00 01 00 02 5D 18
Slave feedback:01 10 05 07 00 02 F0 C5
H0C-26=1when, toH0507to writeH00010002ofMODBUSThe transfer instructions are:
Host write command:01 10 05 07 00 02 04 00 02 00 01 ED 19
Slave feedback:01 10 05 07 00 02 F0 C5
H0C-26=0hour,H0507The current value isH00010002, the host reads the command:01 03 05 07 00 02 75 06
Slave feedback:01 03 04 00 01 00 02 2A 32
H0C-26=1hour,H0507The current value isH00010002, the host reads the command:01 03 05 07 00 02 75 06
Slave feedback:01 03 04 00 02 00 01 9A 33 10
- 121 -
10
- 122 -
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
- 124 -
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
- 125 -

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.
- 126 -
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
- 127 -
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
- 128 -
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
- 129 -
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.
- 131 -
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
- 132 -
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
- 133 -
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

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 -
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
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
Fun INLsignal not assigned connect again run
H03 00 Bit1-correspondFun IN.2 1 0 -
status(HEX) after power set up
;…
- 144 -

bit model
0~0xFFFF
Fun INHsignal not assigned connect again run
H03 01 Bit1-correspondFun IN.18 1 0 -
status(HEX) after power set up
;…
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
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
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)
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)
H31 00 VDIvirtual level ... - - - - PST
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
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,

to switchCMD1 is zero speed.

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

Fun IN.14 P-OT Forward drive prohibited distribute
Inactive - forward drive disabled
Valid - Allows forward drive

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.
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:

V1.0 - 1901007 IS550 20140815 (001 194) .ZH CN - en Fusionado

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V1.0 - 1901007 IS550 20140815 (001 194) .ZH CN - en Fusionado

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Translated from Chinese (Simplified) to English - www.onlinedoctranslator.

This manual isIS550Operation instruction manual of the series servo drive.

When unpacking, please confirm carefully:

Confirm item illustrate

Merchant contact to solve.

First time use:

No.2Chapter Servo System Selection 2

No.3Chapter Servo Motor Specifications and Outline Drawings 3

No.4Chapter Servo Drive Specifications and Outline Drawings 4

No.5Chapter Cable Specifications and Outline Drawings 5

No.7Chapter Interface Display and Key Operation 7

No.8Chapter Common Function Code Setting of Servo Drive 8

No.10Chapter Communication Function 10

No.11Chapter Maintenance and Inspection 11

Foreword................................................ ................................................... ...................................................1

No.1Chapter Safety Information and Precautions................................... ................................................... .........10

1.1Safety Precautions................................................ ................................................... ................................................10

1.2.1Motor insulation check................................... ................................................... ...................................11

No.2Chapter Servo System Selection ................................................ ................................................... ...................................14

2.1Servo motor model description................................... ................................................... ...................................14

2.5Peripheral Brake Accessories ................................................ ................................................... ...................................18

No.3Chapter Servo Motor Specifications and Outline Drawings................................... ................................................... …twenty two

3.1Electrical Specifications of Servo Motors................................... ................................................... ...................................twenty two

3.1.1 ISMGsMechanical characteristic parameter specifications of series motors................................... ...................................................twenty two

3.1.2 ISMGsMotor Rating Specifications..................................... ................................................... .........twenty two

3.2Outline dimension drawing of servo motor................................... ................................................... ...................................twenty three

3.2.1Solid shaft, naturally cooled motor (ISMG1) ................................................ ................................................twenty three

3.2.3Solid shaft, naturally cooled motor (ISMG2) ................................................ ................................................twenty four

3.2.4Solid shaft, forced air cooled motor (ISMG2) ................................................ ................................................25

3.3Servo motor installation..................................................... ................................................... ................................................26

3.3.1Precautions for Servo Motor Installation................................... ................................................... .........26

3.3.3Direction of Servo Motor Rotation .............................................. ................................................... ...................27

3.3.4Shock resistance of servo motor................................... ................................................... ...................................28

3.3.5Vibration Resistance of Servo Motors................................... ................................................... ...................................28

3.3.6Servo Motor Vibration Levels ................................................ ................................................... ...................28

No.4Chapter Servo Drive Specifications and Outline Drawings................................... ................................................... .....30

4.1Servo Drive Specifications................................... ................................................... ...................................30

4.1.2General Specifications of Servo Drivers................................... ................................................... .........30

4.2.2Heat Dissipation Issues During Mechanical Mounting .............................................. ................................................... .........33

4.2.3Removing and installing the lower cover ................................... ................................................... ...................34

4.3Dimension drawing of servo drive................................... ................................................... ...................35

4.3.2 IS550AT037I~IS550AT304ISchematic diagram of overall dimensions and installation dimensions................................... .........35

No.5Chapter Cable Specifications and Outline Drawings................................... ................................................... ..........40

5.1Servo motor encoder cable................................................ ................................................... ...................................40

5.2.2server DriverPCCommunication cable type................................... ...................................................41

5.3server DriverPLCCommunication Cable................................................ ................................................... .........41

5.3.2server DriverPLCCommunication cable type................................... ...................................................41

5.4Servo drive multi-machine parallel communication cable................................... ................................................... .........42

5.5Precautions for use of signal cables................................... ................................................... ...................42

No.6Chapter Wiring ................................................ ................................................... ...................................44

6.1Main circuit wiring................................... ................................................... ................................................44

6.1.2Precautions for main circuit wiring...................................... ................................................... ..........44

6.2.2Encoder connector (J1) of the terminal arrangement ................................................ ...................................................46

6.2.5Precautions for Encoder Signal Wiring................................... ................................................... .........47

6.3.2Connection Diagram of Input and Output Signals................................... ................................................... .........48

6.3.3Interface with Command Input Circuit ................................................ ................................................... .........49

6.3.4Interfacing with Output Circuitry ................................................ ................................................... ...................................51

6.4Holding Brake Wiring ................................................ ................................................... ................................................52

6.5Analog monitor signal wiring................................................... ................................................... ...................................52

6.5.2What can be monitored................................... ................................................... ...................................53

6.7.1Wiring Recommendations................................... ................................................... ...................................53

7.1Interface Introduction................................................ ................................................... ................................................58

7.1.1Key function description..................................................... ................................................... ...................................58