Inovance Servo Is500 Series Servo Drive User Manual 3 en PDF

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IS500 Series Servo Drive User Manual Preface
Preface
Thank you for purchasing the IS500 series servo drive developed by Shenzhen Inovance
Technology Co., Ltd.
The IS500 series is a high-performance AC servo drive for small and medium power
applications. The IS500 series ranges from 100 W to 7.5 kW. It supports Modbus
communication protocol via RS232/RS485 communication port, and thus multiple IS500
servo drives can work on the same network by using together with a host PC.
The IS500 is easy to use due to the functions of rigid table setting, inertia auto-tuning and
oscillation suppression. It works quietly together with Inovance ISMH series small/medium-
inertia high-response servo motor.
This servo drive is able to implement rapid and accurate position, speed and torque
control, and is applicable for such automation equipment as semiconductor manufacturing
equipment, chip mounter, PCB punching machine, transport machinery, food processing
machinery, machine tool and conveying machinery.
This manual describes the correct use of the IS500 series servo drive, including safety
information, mechanical and electrical installation, commissioning and maintenance. Read
and understand this manual (obtained at delivery or download at WWW.inovance.cn) before
use. Contact our customer service center if you have any question during the use.
The instructions are subMect to change, without notice, due to product upgrade, speci¿cation
modi¿cation as well as efforts to increase the accuracy and convenience of the manual.
If you are an equipment manufacturer, forward this manual to the end user.
-1- efesotomasyon.com
Preface IS500 Series Servo Drive User Manual
Ƶ Product Checking
Upon unpacking, check the items described in the following table.
Check Item Description

The box contains the IS500 servo drive and user
Whether the delivered products are
manual. Check the models of the servo drive and servo
consistent with your order
motor on the nameplate.
Check the overall appearance of the product. If there
Whether the servo drive is damaged
is any omission or damage, contact Inovance or your
during transportation
supplier immediately.
If the shaft of the servo motor can be rotated manually,
Whether the rotating shaft of the
it is normal. The servo motor con¿gured with a power-
servo drive rotates smoothly
off brake, however, cannot be rotated manually.
Notes
This drive is a general industrial automation product, and is not designed for use in
machinery or system intended for human life.
Wiring, operation, maintenance and inspection of the product can be conducted only by
quali¿ed personnel.
When selecting the screw tightening torque, consider the screw strength and material of the
installation part. Select a proper value while screws are ¿xed securely and the installation
part will not be damaged.
Install an appropriate safety device when trips of the product may cause series accidents or
loss to the equipment on which the product is installed.
Contact Inovance when this product is to be used on special applications such as atomic
energy control, aerospace equipment, transport equipment, medical apparatus, safety
devices and other equipment that requires high cleanliness.
Although this product has passed required QC testing, it may react unexpectedly due to trips
arising from ambient noise, static interference, input power supply, wiring, optional parts,
and etc. Fully consider mechanical safety measures to possible actions of the equipment in
the application site scenarios.
When the motor shaft runs without being grounded, the motor bearing may suffer from
electric corrosion or large noise, dependent on actual mechanical and installation conditions.
Trips of this product may cause rising smoke of almost a cigarette. Pay special attention
to such condition when the product is to be used in puri¿cation workshop and environment
alike.
Note that the chip resistor disconnection or poor contact condition may occur due to
sulfuration reaction if the product is to be used in an environment with high-density sulphur
or sulfuretted gas.
The input voltage far higher than the rated voltage may cause damage to the internal
components, thus resulting in smoke or even a ¿re.
End user decides whether the servo drive matches the structure, size, service life, features,
speci¿cation change of the equipment (to which the servo drive is to be installed) and its
parts, and whether the installation complies with local laws and regulations.
Note that use of this product beyond its speci¿cations can be not guaranteed.
This product is subject to change of certain components due to our dedication to continuous
improvement of the product.
Contents
Preface.................................................................................................................. 1
Chapter 1 Servo System Selection .................................................................... 6
1.1 Designation Rules of the Servo Motor and Servo Drive .................................................. 7
1.2 Servo Motor and Servo Drive Con¿guration .................................................................... 8
1.3 Adapted Cables ............................................................................................................... 9
1.4 Motor SN Table .............................................................................................................. 12
1.5 Braking Resistor Speci¿cations ..................................................................................... 13
Chapter 2 Installation and Mounting Dimensions of Servo Drive and Servo

Motor................................................................................................................... 16
2.1 Installation of the Servo Motor ....................................................................................... 16
2.2 Installation of the Servo Drive........................................................................................ 18
2.3 Overall Dimensions of the Servo Motor ......................................................................... 20
2.4 Overall Dimensions of the Servo Drive.......................................................................... 26
Chapter 3 Wiring of Servo Drive and Servo Motor ......................................... 30

3.1 Servo Drive Main Circuit Wiring..................................................................................... 31
3.2 Wiring of Input and Output Terminals ............................................................................ 41
3.3 Wiring Holding Brakes ................................................................................................... 54
3.4 Analog Monitoring Signal Wiring.................................................................................... 56
3.5 Communication Signal Wiring ....................................................................................... 56
3.6 Other Wiring Precautions .............................................................................................. 57
Chapter 4 Running and Commissioning ......................................................... 60

4.1 Use of the Position Control Mode .................................................................................. 60
4.2 Use of the Speed Control Mode .................................................................................... 65
4.3 Use of the Torque Control Mode.................................................................................... 70
4.4 Check Before Running .................................................................................................. 75
4.5 Load Inertia Auto-tuning and Gain Adjustment .............................................................. 75
Chapter 5 Background Software ...................................................................... 84

Chapter 6 Troubleshooting ............................................................................... 86
6.1 Analysis and Handling of Faults .................................................................................... 86
6.2 Analysis and Handling of Warnings ............................................................................... 95
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Chapter 7 Function Code Table...................................................................... 102
Group H00: Servo Motor Parameters ................................................................................ 102
Group H01: Servo Drive Parameters................................................................................. 104
Group H02: Basic Control Parameters .............................................................................. 104
Group H03: Input Terminal Parameters ............................................................................. 107
Group H04: Output terminal Parameters ............................................................................110
Group H05: Position Control Parameters ...........................................................................113
Group H06: Speed Control Parameters .............................................................................119
Group H07: Torque Control Parameters ............................................................................ 120
Group H08: Gain Parameters ............................................................................................ 122
Group H09: Auto-adjusting Parameters............................................................................. 123
Group H0A: Fault and Protection ...................................................................................... 125
Group H0B: Display Parameters ....................................................................................... 126
Group H0C: Communication Parameters .......................................................................... 127
Group H0D: Auxiliary Function Parameters....................................................................... 129
Group H11: Multi-Position Function Parameters ............................................................... 130
Group H12: Multi-Speed Function Parameters ................................................................. 135
Group H17: VDI/VDO Parameters..................................................................................... 141
Group H30: Servo State Variables Read by Communication ............................................ 146
Group H31: Variables Set via Communication .................................................................. 147
DI/DO Basic Functions ...................................................................................................... 148
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1
Servo System Selection
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Servo System Selection IS500 Series Servo Drive User Manual
Chapter 1 Servo System Selection
Figure 1-1 Servo drive composition
Name Function
CN5 analog monitoring Connect to the measuring instrument (such as an oscilloscope )
signal terminal to facilitate viewing signal status when gains are adjusted .
LED display 5-bit 7-segment LED display is used to display the running status
and parameter setting of the servo drive.
MODE SET
Save and enter the next-level menu.

Operation buttons
Shift the blinking digit to the left .
Hold down: Turn page when there
are more than 5 digits.
Decrease value of the blinking digit .
Increase value of the blinking digit .
Switch function codes in turn.
Used to indicate that the bus voltage is in CHARGE status.
Indicator ON: Capacitors inside the servo drive still contain
CHARGE electricity even if the main circuit power is OFF .
bus voltage indicator
Thus, do not touch the power supply terminal when CHARGE
indicator is ON, to prevent electric shock.
L1 L2 L3 main circuit Input main circuit power supply as per the rated voltage on the
power input terminals nameplate.
L1C L2C control circuit Input main circuit power supply as per the rated voltage on the
power input terminals nameplate.
1 2 These two terminals are shorted by default. Remove the jumper
servo drive bus between them and connect an external DC reactor to suppress
terminals high-harmonics if required.
B1 / , B2, B3 B1/ and B2 are shorted by default. Remove the jumper
braking resistor between B1/ and B2, and connect an external braking resistor
connection terminals between B1/ and B3 if the braking capacity is insufficient .
U, V, W servo motor Connect U, V and W phases of the servo motor.
connection terminals
Used as the grounding terminal of the power supply and motor.

PE grounding terminal
CN2 encoder
connection terminal Connect to the motor encoder.
CN1 Used for reference input signals and other I/O signals .
control terminal
CN3, CN4 Connected in parallel inside the servo drive.
communication
terminals Connect to RS232 or RS485 communication devices .
IS500 Series Servo Drive User Manual Servo System Selection
1.1 Designation Rules of the Servo Motor and Servo Drive

Figure 1-2 Designation rules of the servo motor
ISM H1-75B 30C B-U1 3 1 X

Mark Series Mark Customized Feature
ISM ISM series servo motor X Natural cooling

Aviation plug
Y connection
Mark Feature
Z 2nd generation motor
1 Low inertia, small capacity
2 Low inertia, medium capacity Brake, Gear , Oil

H Mark
Seal
3 Medium inertia, medium capacity
0 None
4 Low inertia, small capacity
1 With oil seal
Rated
Mark 2 With brake
Power (W)
1 letter + 2 digits 4 With oil seal + brake
A x1
Rated Speed Mark Shaft Connection
Mark (RPM)
B x 10
1 Optical shaft
C x 100 1 letter + 2 digits
2 Solid with key
D x 1000 A x1
Mark Encoder Type Solid with key and
B x 10 3 threaded hole
E x 10000
1 letter + 1 digit
Example C x 100 Solid with
2500 -PPR 5
75 B: 750 W threaded hole
D x 1000 U 1
15 C: 1500 W incremental
incre-mental
E x 10000 20- bit bus type
2
Example
15B: 150 RPM
30C: 3000 RPM Mark Voltage Class
B 200 V
D 400 V
Note
Models ending with -U231* and -U234 * are standard models. Prior ordering is required for non-
standard models.
All ISHM4 models and part of ISMH2 models (ISMH2-20C/25C/30C/40C/50C) are not
con¿gured with a brake.
Figure 1-3 Designation rules of the servo drive
IS500 A S 5R5 I
Mark Series Mark Mounting Method

IS500 Servo drive I Substrate installation (standard)
Mark Product Type Mark 3R8 5R5 7R6 8R4 012

A General Rated Output
Current 3.8 A 5.5 A 7.6 A 8.4 A 11.6 A
P Pulse
Mark Voltage class
S 220 V
T 380 V
6HUYR0RWRUDQG6HUYR'ULYH&RQ¿JXUDWLRQ
Ƶ 220 V
Servo Drive Model

Rated Max. Rated Motor (IS500ƑƑƑƑI)
Servo Motor Model Drive Drive SN
Speed Speed Power Frame Single- Three- Size (H01-02)
(ISMHƑ-ƑƑƑƑƑƑƑ-*****)
(RPM) (RPM) (W) Size phase 220 phase
VAC 220 VAC
100 10B30CB 40 S1R6 A 00002
200 H1 20B30CB 60 S1R6 A 00002
(low inertia,
6000 400 small capacity) 40B30CB 60 S2R8 A 00003
3000 750 75B30CB 80 S5R5 B 00005
1000 H2 10C30CB 100 S7R6 C 00006
(low inertia,
5000 1500 medium 15C30CB 100 S012 C 00007
capacity)
850 H3 85B15CB 130 S7R6 C 00006
(medium
1500 3000 inertia,
1300 medium 13C15CB 130 S012 C 00007
capacity)
H4
(medium
3000 6000 400 40B30CB 60 S2R8 A 00003
inertia, small
capacity)
Ƶ 380 V
Servo Drive Model

Speed Speed Power Frame
(ISMHƑ-ƑƑƑƑƑƑƑ-*****) Size (H01-02)
(RPM) (RPM) (W) Size Three-phase 380
VAC
6000 1000 10C30CD 100 T5R4 C 10002
1500 15C30CD 100 T5R4 C 10002
2000 H2 20C30CD 100 T8R4 D 10003
(low inertia,
3000 2500 25C30CD 100 T8R4 D 10003
5000 medium
3000 capacity) 30C30CD 130 T012 D 10004
4000 40C30CD 130 T017 E 10005
5000 50C30CD 130 T017 E 10005
Servo Drive Model

Speed Speed Power Frame
(ISMHƑ-ƑƑƑƑƑƑƑ-*****) Three-phase 380 Size (H01-02)
(RPM) (RPM) (W) Size
VAC
850 85B15CD 130 T3R5 C 10001
1300 13C15CD 130 T5R4 C 10002
H3
1800 18C15CD 130 T8R4 D 10003
(medium
1500 3000 2900 inertia, 29C15CD 180 T012 D 10004
medium
4400 44C15CD 180 T017 E 10005
capacity)
5500 55C15CD 180 T021 E 10006
7500 75C15CD 180 T026 E 10007
Rated Max. Rated Motor Servo Drive

Speed Speed Power Frame Model
(ISMHƑ-ƑƑƑƑƑƑƑ-*****) Size (H01-02)
(RPM) (RPM) (W) Size (IS500ƑƑƑƑI)
2900 H3 29C15CD 180 T012 D 10004
4400 (medium 44C15CD 180 T017 E 10005
1500 3000 inertia,
5500 medium 55C15CD 180 T021 E 10006
7500 capacity) 75C15CD 180 T026 E 10007
1.3 Adapted Cables

Table 1-1 Adapted cables for servo motor
Servo Motor Main Circuit

Servo Motor Encoder Cable Connector Kit
Cable
Servo
Motor Motor
L = 3.0 L = 5.0 L = 10.0 L = 3.0 L = 5.0 L = 10.0
Standard Motor with
m m m m m m
Brake
CN1 terminal
CN2 terminal
ISMH1 S5-L- S5-L- S5-L- S5-L- S5-L- S5-L- 4-pin
S5C1 -
ISMH4 M03-3.0 M03-5.0 M03-10.0 P00-3.0 P00-5.0 P00-10.0 connector
9-pin
connector
Servo Motor Main Circuit

Servo Motor Encoder Cable Connector Kit
Cable
Servo
Motor Motor
L = 3.0 L = 5.0 L = 10.0 L = 3.0 L = 5.0 L = 10.0
Standard Motor with
m m m m m m
Brake
CN1 terminal
CN2 terminal
ISMH2
ISMH3 20-18
S5-L- S5-L- S5-L- S5-L- S5-L- S5-L- S5-C6 aviation plug
(1.8
M24-3.0 M24-5.0 M24-10.0 P21-3.0 P21-5.0 P21-10.0 (elbow) (elbow)
kW and
below) 20-29
aviation plug
(elbow) S5-
CN1 terminal C11
CN2 terminal
ISMH3-Y
(2.9 20-22
kW and
above)
20-29
aviation plug
(elbow)
CN1 terminal
CN2 terminal
ISMH3-Z
(2.9 20-22
kW and -
above)
20-29
aviation plug
(elbow)
Table 1-2 Communication cables
Cable Model Description

S5-L-T00-3.0 Servo drive to PC communication cable
S5-L-T01-0.2 Communication cable for multi-drive parallel connection
S5-L-T01-0.5 Communication cable for multi-drive parallel connection
S5-L-T02-2.0 Servo drive to PLC communication cable
Cable of the terminal matching resistor for servo drive
S5-L-T03-0.0
communication (RS485/CAN)
- 10 - efesotomasyon.com
Table 1-3 Physical appearance of cables for the servo motor
Cable
Cable Model Length Cable Appearance
(mm)
100±5 mm
S5-L-M03-3.0 3000
S5-L-M03-5.0 5000
25±5 mm 100±5 mm
S5-L-M03-10.0 10000 L±30 mm
S5-L-M24-3.0 3000
S5-L-M24-5.0 5000 50 mm
L±30 mm
S5-L-M24-10.0 10000
S5-L-M25-3.0 3000
S5-L-M25-5.0 5000 50 mm
L±30 mm
S5-L-M25-10.0 10000
S5-L-P00-3.0 3000
S5-L-P00-5.0 5000
10 mm
S5-L-P00-10.0 10000 L±30 mm
S5-L-P21-3.0 3000
S5-L-P21-5.0 5000 10 mm
L±30 mm
S5-L-P21-10.0 10000
Table 1-4 Physical appearance of communication cable
Cable Model Cable Appearance
S5-L-T00-3.0
(Servo drive to PC
communication cable)
3000±30 mm
S5-L-T01-0.2
(Communication cable
for multi-drive parallel
connection) 200±5 mm
S5-L-T01-0.5
(Communication cable
500±15 mm
connection)
Cable Model Cable Appearance
S5-L-T02-2.0
(Servo drive to PLC
communication cable) 50 mm
2000±30 mm
S5-L-T03-0.0
(Cable of the
terminal matching
resistor for servo
drive communication
(RS485/CAN))
1.4 Motor SN Table

Motor Rated Servo Motor Model
Motor SN (H00-00)
Category Voltage ISMHƑ-ƑƑƑƑƑƑƑ-*****
ISMH1-10B30CB-U1* 00001
H1 (low inertia, ISMH1-20B30CB-U1* 00003

small capacity)) ISMH1-40B30CB-U1* 00004
ISMH1-75B30CB-U1* 00006
H2 (low inertia, ISMH2-10C30CB-U1* 00150

220 V
medium capacity) ISMH2-15C30CB-U1* 00151
H3 (medium inertia, ISMH3-85B15CB-U1* 00261

medium capacity) ISMH3-13C15CB-U1* 00262
H4 (medium inertia,
ISMH4-40B30CB-U1* 00600
small capacity)
ISMH2-10C30CD-U1* 00100
ISMH2-15C30CD-U1* 00101
ISMH
ISMH2-20C30CD-U1* 00102
H2 (low inertia,
ISMH2-25C30CD-U1* 00103
medium capacity)
ISMH2-30C30CD-U1* 00104
ISMH2-40C30CD-U1* 00105
ISMH2-50C30CD-U1* 00106
380 V
ISMH3-85B15CD-U1* 00211
ISMH3-13C15CD-U1* 00212
ISMH3-18C15CD-U1* 00213
H3-Y (medium
inertia, medium ISMH3-29C15CD-U1* 00214
capacity)
ISMH3-44C15CD-U1* 00215
ISMH3-55C15CD-U1* 00216
ISMH3-75C15CD-U1* 00217
Motor Rated Servo Motor Model

Motor SN (H00-00)
Category Voltage ISMHƑ-ƑƑƑƑƑƑƑ-*****
ISMH3-29C15CD-U1* 00714
H3-Z (medium ISMH3-44C15CD-U1* 00715
ISMH 380 V inertia, medium
capacity) ISMH3-55C15CD-U1* 00716
ISMH3-75C15CD-U1* 00717
Note
Before installation and commissioning, ensure that the value of H00-00 is the actual motor SN.
%UDNLQJ5HVLVWRU6SHFL¿FDWLRQV
Speci¿cations of
Regenerative Resistor Min. Allowed
Power
Servo Drive Model Resistance
Resistance Capacity Supply
(ȍ)
(ȍ) (W)
IS500ƑS0R7I
Single-phase IS500ƑS0R9I
- - 45
220 V IS500ƑS1R6I
IS500ƑS2R8I
Single/ IS500ƑS3R8I 50
Three-phase
220 V IS500ƑS5R5I 40
50 40
Three-phase IS500ƑS7R6I 35 Prepare
220 V the 24
IS500ƑS012I 30
VDC power
Three-phase IS500ƑT1R9I 100 40 supply
380 V 60 yourself.
IS500ƑT3R5I 100 40
IS500ƑT5R4I 50 40 45
IS500ƑT8R4I
100 100 60
IS500ƑT012I
IS500ƑT017I 35
IS500ƑT021I 40 100
25
IS500ƑT026I
2
Installation and Mounting Dimensions
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Installation and Mounting Dimensions IS500 Series Servo Drive User Manual
Chapter 2 Installation and Mounting Dimensions
of Servo Drive and Servo Motor
2.1 Installation of the Servo Motor
2.1.1 Installation Location

1) Do not install the servo motor in an environment with corrosive or inÀammable gases or
combustible materials, such as hydrogen sul¿de, chlorine, anmonia, sulphur gas, chloridize
gas, acid, soda and salt.
2) Select and use the servo motor with oil seal when the motor is to be used in a place with
grinding Àuid, oil spray, iron powder or cuttings.
3) Install the servo motor away from heat sources such as heating stove.
4) Do not use the servo motor in an enclosed environment. Working in the enclosed
environment will lead to high temperature of the servo motor, which will shorten its service
life.
2.1.2 Installation Environment

Table 2-1 Installation environment
Item Description
Ambient temperature 0–40°C (non-freezing)
Environment humidity 20%–90% RH (no condensation)
Storage temperature -20 to 60°C (Peak temperature ensurance: 72 hours at 80°C)
Storage humidity 20%–90% RH (no condensation)
Vibration < 49 m/s2
Shock < 490 m/s2
ISMH1/H4: IP65 (except for the shaft-through portion and
motor connectors)
IP level
Other series: IP67 (except for the shaft-through portion and
motor connectors)
Altitude < 1000 m (de-rated if the altitude is above 1000 m)
2.1.3 Installation Precautions

Table 2-2 Installation precautions
Item Description
Rust-proof Wipe up the antirust agent at the motor shaft end before installing the servo
treatment motor, and then take rust-proof treatment.
IS500 Series Servo Drive User Manual Installation and Mounting Dimensions
Item Description
Do not strike the shaft end during installation. Failure to comply will lead to
damage to the internal encoder.
Use the screw hole at the shaft end when mounting a pulley to the servo motor
shaft with a keyway. To ¿t the pulley, insert a double-end screw into the screw
hole of the shaft, put a washer against the coupling end, and then use a nut to
push the pulley in.
For the servo motor shaft without a keyway, use friction coupling or the like.
When removing the pulley, use a pulley remover to protect the shaft from
Encoder
suffering severe impact from load.
To ensure safety, install a protective cover or similar device on the rotary area
such as the pulley mounted on the shaft.
Screw
Washer
Flange coupling ,
pulley
Align the shaft of the servo motor with the shaft of the equipment and then
couple the shafts. When installing the servo motor, make sure the alignment
accuracy satisfy the requirement as described in the following ¿gure. If the
shafts are not properly aligned, vibration will be generated and may damage the
bearings and encoder.
Measure the distance at four different

positions on the circumference. The
Alignment difference between the maximum and
minimum measurements must be 0.03 mm
or less.
Installation
The servo motor can be installed horizontally or vertically.
direction
Item Description
Con¿rm the IP level of the servo drive when using it in a place with water drops
(except for the shaft-through portion). In the environment where the shaft-
through portion is exposed to oil drops, select and use a servo motor with oil
seal.
Observe the following conditions when using the servo motor with oil seal:
Make sure the oil level is lower than the oil seal lip during usage.
Use the servo motor with oil seal under the circumstance that the oil seal is
maintaining good condition under splashing of oil sprays.
Protect the oil seal lip from accumulating oil sprays when the servo motor is
installed vertically upward.
Flange face
Handling oil
and water Shaft-through portion
(indicates the clearance of
the shaft extension portion
from the motor end face)
Transmission shaft
Stress of Do not bend or apply tension to the cables, especially the signal cables whose
cables core wire is 0.2 or 0.3 mm thick. Do not pull the cables tightly during wiring.
When connecting the connectors, make sure there is no waste or sheet metal
inside the connectors.
Connect the connectors to the main circuit cable side of the servo motor ¿rst,
and make sure that the grounding wire of the main circuit cable is reliably
connected. If the connectors are ¿rst connected to the encoder cable side, the
encoder may become faulty due to the potential differences between PE.
Make sure the pins are correctly arranged during wiring.
Connectors
The connectors are made up of resins. Do not strike the connectors to prevent
damage.
Hold the servo motor body during transportation when the cables are well
connected, instead of catching the cables. Otherwise, the connectors may be
damaged or the cables may be broken.
If bending cables are used, do not attach stress on the cables during wiring.
Failure to comply may cause damage to the connectors.
2.2 Installation of the Servo Drive
2.2.1 Installation Location

1) The servo drive of plastic housing is a whole unit built-in product operated through
remote control and needs to be installed in the ¿nal system. The ¿nal system must have the
required fireproof cover, electrical protective cover and mechanical protective cover, and
satisfy the regional laws & regulations and related IEC requirements.
2) Install the servo drive inside a cabinet free of sun light and rain.
3) Do not install the servo drive in an environment with corrosive or inÀammable gases or
combustible goods, such as hydrogen sulfide, chlorine, anmonia, sulphur gas, chloridize
gas, acid, soda and salt.
4) Do not install the servo drive in the environment with high temperature, moisture, dust
and metal powder.
5) Install the servo drive in a place with no vibration.
2.2.2 Installation Environment

Table 2-3 Installation environment
Item Description
0 to +40°C (The average load rate must not exceed 80%
Ambient temperature
at the temperature of 40°C to 55°C) (no freezing)
Environment humidity < 90% RH (no condensation)
Storage temperature -20 to 85°C ( no freezing)
Storage humidity < 90% RH (no condensation)
Vibration < 4.9 m/s2
Shock < 19.6 m/s2
IP level IP10
Altitude < 1000 m
2.2.3 Installation Precautions

1) Installation Method
Make sure the installation direction of the servo drive is vertical to the wall. Cool the servo
drive with natural air or via a cooling fan. Fix the servo drive securely on the mounting
surface via two to four mounting holes (number of such mounting holes depends on the
capacity of the servo drive).
Figure 2-1 Installation diagram of the servo drive
Air outlet Air outlet Air outlet Air outlet
> 10 mm > 50 mm
> 20 mm
> 20 mm
> 50 mm
Install the servo

drive vertically
upward.
Air inlet Air inlet Air inlet Air inlet
Install the servo drive vertical to the wall, making its front panel faces outward.
2) Cooling
As shown in the above ¿gure, keep suf¿cient clearances around the servo drive to ensure
cooling by cooling fans or natural convection. Install cooling fans above the servo drive to
avoid excessive temperature rise and maintain even temperature inside the control cabinet.
3) Installation side by side
When installing multiple servo drives side by side, keep at least 10 mm between two servo
drives (if installation space is limited, such clearance between servo drives can be ignored)
and at least 50 mm above and below each servo drive.
4) Grounding
The grounding terminal must be properly grounded. Failure to comply may cause electric
shock or malfunction due to interference.
2.3 Overall Dimensions of the Servo Motor
2.3.1 Overall Dimensions of the ISMH1 Series Servo Motor

1) 100 W (Vn = 3000 RPM, Vmax = 5000 RPM)
16
ĭ0.04A
500
500
0.04 A 40
24
22
ĭ8 -0.009
A
12
10
0.02
-0.021
TP
0
ĭ30
15.5
2.5 ĭ46
LG
2 x ĭ4.5
LL 25
Connector Power Side Brake Side Encoder Side

Plastic housing EL-4Y (CWB) AMP 172165-1 AMP 172169-1
Terminal 422.6006.0 (CWB) AMP 770834-1 AMP 770834-1
Servo Motor Model LL (mm) LG (mm) Weight (kg)

ISMH1-10B30CB-***** 102.8 (135.6) 5 0.59 (0.77)
2) 200 W, 400 W (Vn = 3000 RPM, Vmax = 6000 RPM)
ĭ0 .03 A
500 500
ĭ1 4-0.01 1
LG
0
0.06 A
16 .5
ĭ50-0.02 5
0
0.02 A A
3
LL 30
27
0 .01 0 A
5-0.018
41.5
ĭ70
0
60
4 x ĭ5.5
5-0.03
EQS 0 0
11-0.10 5-0.018
0
4 x R5
TP
EQS Shaft end Flat key

Servo Motor Model LL (mm) LG (mm) TP (mm) Weight (kg)

ISMH1-20B30CB-***** 114 (153) 1.1 (1.4)
5.8 M5 x 8
ISMH1-40B30CB-***** 139 (178) 1.6 (1.9)
3) 750 W (Vn = 3000 RPM, Vmax = 6000 RPM)

ĭ0.03 A
ĭ19-0 .0 13
0
500 500
LG
0.06 A
25
ĭ70-0.03
0
A
0.02 A
3
LL 40
27
0 .01 2 A
6-0.018
0
51.5
ĭ90
80
0
6-0.018
6-0.03
45 e
4 x ĭ7 0
15.5-0.10
0
EQS
4 x R8
TP EQS Shaft end Flat key

Servo Motor Model LL (mm) LG (mm) TP (mm) Weight (kg)

ISMH1-75B30CB-***** 135.5 (182.5) 7.8 M6 x 10 2.7 (3.1)
2.3.2 Overall Dimensions of the ISMH2 Series Servo Motor (Vn = 3000 RPM,
Vmax = 6000/5000 RPM)
1) 1.0 kW, 1.5 kW, 2.0 kW, 2.5 kW
ĭ0 .03 A
ĭ24-0 .0 13
KB2
0
KB1
LG
0. 06 A
KA1
KA 2
37.5
36
ĭ95-0 .0 35
ĭ35
0
A
0. 02 A
5
LL 45
0 .01 2 A
ĭ115
100
8-0.022
4 5e
0
8-0.036
0
20-0.2 0
TP 4 x R10 7-0.09
0
4 x ĭ7 EQS

MIL-DTL-5015 series, MIL-DTL-5015 series, MIL-DTL-5015
Aviation plug
3102E20-18P 3102E10SL-4P series, 3102E20-29P
LL LG TP KA1 KA2 KB1 KB2 Weight

Servo Motor Model
(mm) (mm) (mm) (mm) (mm) (mm) (mm) (kg)
164 94.5 143.5
ISMH2-10C30CB(D)-****Y
(216) (101) (192.5) 2.7
189 119.5 168.5 (3.1)
ISMH2-15C30CB(D)-****Y 10 M8 x 16 96 74
(241) (128) (219.5)
ISMH2-20C30CD-****Y 214 144.5 193.5
2.7
ISMH2-25C30CD-****Y 239 169.5 218.5
2) 3.0 kW, 4.0 kW, 5.0 kW

KB 2
ĭ0 .06 A
ĭ28-0 .0 13
KB1
0
LG 0.10 A
KA1
56 .5
KA 2
54
ĭ1 10-0.03 5
I35
0
A
0.02 A
6
LL 63
0 .01 2 A
ĭ145
1 30
8-0.022
45 e
0
8-0.036
24-0.2 7-0.09
0
4 x R15
0
4 x ĭ9
TP EQS Shaft end
EQS Flat key

MIL-DTL-5015 series, MIL-DTL-5015 series, MIL-DTL-5015 series,
Aviation plug
3102E20-18P 3102E10SL-4P 3102E20-29P

Servo Motor Model
ISMH2-30C30CD-****Y 209.5 136 188.5 10.73
ISMH2-40C30CD-****Y 252 14 M8 x 20 111 74 178.5 231 15.43
ISMH2-50C30CD-****Y 294.5 221 273.5 16.2
Vmax = 3000 RPM)
1) 850 W, 1.3 kW, 1.8 kW
KB 2
ĭ0.0 6 A
ĭ22-0 .0 13
KB1
0
LG 0.10 A
KA 1
51 .5
KA2
36
ĭ1 10-0.0 35
ĭ3 5
0
A
0.02 A
6
LL 55
0 .01 2 A
ĭ145
1 30
8-0.022
45 e
0
8-0.036
18-0.2 0
7-0.09
0
4 x R15
4 x ĭ9
TP EQS

MIL-DTL-5015 MIL-DTL-5015 series, MIL-DTL-5015
Aviation plug
series, 3102E20-22P 3102E10SL-4P series, 3102E20-29P

Servo Motor Model
168.5 95 147.5 8.23
ISMH3-85B15CB(D)-****Y
(227.5) (80) (191.5) (10.73)
194.5 121 173.5 10.57
ISMH3-13C15CB(D)-****Y 14 M6 x 20 111 74
(253.5) (106) (217.5) (13.0)
220.5 147 199.5 12.7
ISMH3-18C15CD-****Y
(279.5) (132) (243.5) (15.2)
2) 2.9 kW, 4.4 kW, 5.5 kW, 7.5 kW
ĭ0.06 A
KB2
KB1
18 0.10 A
ĭS-0.01 6
0
K A1
LW
K A2
ĭ114.3-0.0 25
0
A
0.03 A
3.2
LL LR
0 .01 5 A
ĭ200
180
4 5e
W
4 x ĭ13.5
EQS
WK
0
RH-0.20 0
8-0.09
4 x R30
EQS
TP Shaft end Flat key
Servo Motor LL LR LW S RH WK W TP KA1 KA2 KB1 KB2 Weight

Model (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (kg)
ISMH3-
249 188 229 20.9
29C15CD-
(325.5) (186) (305) (32)
****Y 0 0 M12
79 65 35 30 10-0.036 10-0.022 138 74
ISMH3- x 25
304 243 284 29.4
44C15CD-
(380.5) (241) (360) (40)
****Y
ISMH3-
332 271 317 34.5
55C15CD-
(408.5) (269) (388) (42.5)
****Y 0 0 M16
113 96 42 37 12-0.043 12-0.027 138 74
ISMH3- x 32
387 326 417 43.2
75C15CD-
(464) (324) (443) (62.5)
****Y
ISMH3-
197 136 177 20.9
29C15CD-
(273) (186) (305) (32)
****Z 0 0 M12
79 65 35 30 10-0.036 10-0.022 138 74
ISMH3- x 25
230 169 210 29.4
44C15CD-
(307) (241) (360) (40)
****Z
ISMH3-
274 34.5
55C15CD- 213 254
(350) (42.5)
****Z 0 0 M16
113 96 42 37 12-0.043 12-0.027 138 74
ISMH3- x 32
330 43.2
75C15CD- 269 310
(407) (62.5)
****Z
Vmax = 6000 RPM)
1) 400 W
ĭ0 .03 A
500 500
ĭ1 4-0.01 1
LG
0
0.06 A
16 .5
ĭ50-0.02 5
0
0.02 A A
3
LL 30
27
41.5
0 .01 0 A
ĭ70
60
5-0.018
0
4 x ĭ5.5
EQS
5-0.03
0
11-0.10
0
0
4 x R5 5-0.018
TP

Servo Motor Model LL (mm) LG (mm) T (mm) TP (mm) Weight (kg)

ISMH4-40B30CB-***** 147.5 5.8 5 M5 x 8 1.7
2.4 Overall Dimensions of the Servo Drive
2.4.1 SIZE-A Dimensions

Single-phase 220 V: IS500ƑS1R6I, IS500ƑS2R8I
2-M4 screw
hole
In o v a n c e
5
150±0.5
160
75 173 50 40±0.5
2.4.2 SIZE-B Dimensions

Single-phase 220 V: IS500ƑS3R8I, IS500ƑS5R5I
Three-phase 220 V: IS500ƑS3R8I, IS500ƑS5R5I
3-M4 screw
5 hole
In o v a n c e
150±0.5
160
75 173 70 58±0.5
2.4.3 SIZE-C Dimensions

Three-phase 220 V: IS500ƑS7R6I, IS500ƑS012I
Three-phase 380 V: IS500ƑT3R5I, IS500ƑT5R4I
4- M4 screw
5 hole
In o v a n c e
150±0.5
160
75 183 90 80±0.5
2.4.4 SIZE-D Dimensions

Three-phase 380 V: IS500ƑT8R4I, IS500ƑT012I
4-M4 screw
5 hole
170
180
75 198 100 90
2.4.5 SIZE-E Dimensions

Three-phase 380 V: IS500ƑT017I, IS500ƑT021I, IS500ƑT026I
4 -M4 screw
5 hole
In o v a n c e
240±0.5
250
75 230 100 90±0.5
3
Wiring of Servo Drive and Servo Motor
efesotomasyon.com
Wiring of Servo Drive and Servo Motor IS500 Series Servo Drive User Manual
Chapter 3 Wiring of Servo Drive and Servo Motor
Figure 3-1 System wiring for single-phase 220 V and three-phase 380 V
Power supply: Note 1: Before connecting the external regenerative

Molded-case Three-phase 220 VAC
resistor to the servo drive , remove the jumper between
circuit breaker terminals B1/ and B2 first.
(MCCB) Note 2: CN3 and CN4 have the same definition, and
Cut off the circuit if you can use any one.
over-current
occurs to protect
power lines. CN5 Servo drive analog monitoring cable
EMI filter (S5-L-A01-1.0)
Prevent external
noise from power
lines. Communication cable
IS500ƶƶƶƶƶƶ connection
Electromagnetic (S5-L-T01-0.2)
contactor servo drive
Turn ON/OFF
power of the servo Servo drive to PC
drive. Install a communication cable
surge suppressor (S5-L-T00-3.0)
when using this Note 2
contactor. CN3
L1C
L2C CN4
L1 Servo drive to PLC
L2 communication cable
L3 (S5-L-T02-2.0)
24 VDC 1
Note 1 2
Brake power supply Regenerative CN1
B1
24 VDC power supply, resistor B2
used when the servo Connected B3
motor is configured across B1/ Servo drive I/O cable
and B3 when U (S5-L-S00-**)
with brake. the V
regenerative W CN2
Electromagnetic capacitance is
contactor insufficient. Servo motor encoder
cable
Turn ON/OFF the brake (S5-L-P**-**)
power supply. Install a
surge suppressor when
using this contactor.
Servo motor main circuit cable

(S5-L-M**-**)
ISMƶƶ-ƶƶƶƶƶƶƶ-ƶƶƶƶƶ servo motor
The power supply of the braking unit is 24 VDC, and the power is dependent on the motor
model and must meet the requirements.
For single-phase 220 V power supply, terminal L3 of the servo drive is not used, and do not
wire this terminal.
IS500 Series Servo Drive User Manual Wiring of Servo Drive and Servo Motor
3.1 Servo Drive Main Circuit Wiring
3.1.1 Introduction to the Main Circuit

Figure 3-2 Servo drive main circuit wiring example
L1C
L2C
L1
L2
L3
-1
-2
B1/ +
B2
B3
U
V
W
Table 3-1 Names and functions of main circuit terminals
Terminal
Terminal Name Terminal Function
Symbol
Main circuit power input. Only terminals
IS500: S1R6, S2R8 L1 and L2 are used. Connect 220 VAC
power supply between L1 and L2.
Main circuit power
L1, L2, L3 IS500: S5R5, S7R6,
input terminals
S012, T3R5, T5R4, Main circuit power input, based on the
T8R4, T012, T017, rated voltage on the nameplate.
T021, T026
Control power Connect to control power input. For speci¿c value, refer to the
L1C, L2C
input terminals rated voltage on the nameplate.
Connect an external braking resistor
between B1/ and B3 if the braking
IS500: S1R6, S2R8 capacity is insuf¿cient.
You need to purchase the external
braking resistor.
B1/ , B2, External braking B1/ and B2 are shorted by default.
B3 resistor terminals Remove the jumper between B1/
IS500: S5R5, S7R6,
and B2, and connect an external
S012, T3R5, T5R4,
braking resistor between B1/ and B3
T8R4, T012, T017,
if the braking capacity is insuf¿cient.
T021, T026
You need to purchase the external
braking resistor.
Terminals for
- 1 and - 2 are shorted by default. Remove the jumper
connecting
between - 1 and - 2, and connect an external DC reactor to
- 1, - 2 high-harmonics
suppress high-harmonics if required.
suppression
(only terminal - is available for S1R6 and S2R8)
reactor
Terminal
Terminal Name Terminal Function
Symbol
Servo motor
U, V, W connection Connect to U, V and W phases of the servo motor.
terminals
Two grounding terminals are respectively connected to
Grounding the power supply grounding terminal and the servo motor
PE
terminal grounding terminal.
The entire system must be grounded.
The following ¿gures show the correct and wrong wiring of the external braking resistor.
B1/ +
Remove the jumper between B1/
and B2, and connect the braking
B3 resistor between B1/ and B3.
-1
B1/ +
Not connect
B2 to the correct
B3 terminal .
Observe the following precautions when wiring the external braking resistor:
1. Do not directly connect the external braking resistor to the positive and negative poles of
the bus (B1/ and - 1 ). Failure to comply will lead to damage of the servo drive.
2. Remove the jumper between B1/ and B2 before using the external braking resistor.
Failure to comply will cause overcurrent trip and thus damage the braking tube.
3. For selection of external braking resistors, refer to section 1.4. Do not select any resistor
lower than the minimum resistance value. Otherwise, the braking tube and the recti¿er unit
may be damaged.
5HFRPPHQGHG0RGHOVDQG6SHFL¿FDWLRQVRI0DLQ&LUFXLW&DEOHV
Ƶ 220 VAC
Servo Drive Model IS500*SƑƑƑ*

Terminal Mark
1R6 2R8 5R5 7R6 012
L1, L2, L3 1.25 mm2 2.0 mm2
L1C, L2C 1.25 mm2
U, V, W 1.25 mm2 2.0 mm2
B1/ , B3 1.25 mm2
PE Above 2.0 mm2
Ƶ 380 VAC
Terminal Servo Drive Model IS500*TƑƑƑ*

Mark 3R5 5R4 8R4 012 017 021 026
L1, L2, L3 1.25 mm2 2.0 mm2 3.5 mm2
L1C, L2C 1.25 mm2
U, V, W 1.25 mm2 2.0 mm2 3.5 mm2
2
B1/ , B3 1.25 mm 2.0 mm2
PE Above 2.0 mm2 3.5 mm2
3.1.3 Power Supply Wiring Example

Figure 3-3 Main circuit wiring of single-phase 220 V servo drive
MCCB 1 Servo motor

2
U
B1/
V
Noise filter B2
M
W
1KM B3
L1
L2
CN2
PG
L1C
L2C
Power Power
OFF ON OFF at fault
(1RY) +24V
1KM
31 1RY (Relay)
DO4+ (ALM+)
1KM Surge
suppressor
32 1D (Diode)
ON at fault Fault display
(1RY) DO4- (ALM-)
COM
1. In the wiring for the single-phase 220 V servo drive, terminal L3 is not used, and do not
wire this terminal
2. After power-on, when the control circuit is established and the main circuit is established,
the keypad displays "nrd". This is not a fault.
Figure 3-4 Main circuit wiring of three-phase 220/380 V servo drive
MCCB 1
Servo motor
2
U
B1/
B2 V
Noise filter
M
B3 W
1KM
L1
L2
L3 CN2
PG
L1C
L2C
Power Power
OFF ON OFF at
fault (1RY) 1KM +24V
31 1RY (relay )
DO4+(ALM+)
1KM Surge
suppressor 1D (diode)
32
ON at fault Fault display
(1RY) DO4- (ALM-)
COM
Note
1KM: electromagnetic contactor; 1RY: relay; 1D: bypass diode

After power-on, when the control circuit is established and the main circuit is established, the
keypad displays "nrd". This is not a fault.
Observe the following precautions when wiring the main circuit:

1. When cables are bundled in a duct, take current reduction into consideration since the
cooling condition becomes poor.
2. Common cables become quickly aged in high temperature environment and easily
sclerotic and broken in low temperature environment. Thus, use high-temperature
cables in high temperature environment and take thermal measures in low temperature
environment.
3. The bending radius of a cable shall exceed 10 times that of its outer diameter to prevent
the internal wire core from breaking due to long time bending.
4. Select and use cables with withstand voltage of 600 VAC (and above) and temperature
of 75°C (and above). Under the ambient temperature of 30°C and with normal cooling
conditions, the allowable current density of the cables shall not exceed 8 A/mm2 when
the total current is below 50 A, or 5 A/mm2 when the total current is above 50 A. This
value shall be adjusted when the ambient temperature is high or when the cables are
bundled. The allowable current density (A/mm2) can be calculated as below:
Allowable current density = 8 x Current reduction coefficient of conductor x Current
augmenting coef¿cient
Current augmenting coefficient (Max. allowable temperatur e o

f cable - Ambient temperatur e)/30
Duct
Cables
Table 3-2 Current reduction coef¿cient of conductor
Number of Cables Current Reduction

in the Same Duct Coef¿cient
3 0.7
4 0.63
5 to 6 0.56
7 to 15 0.49
1. Do not connect the power cables to the output terminals U, V, W. Otherwise, the servo
drive will be damaged.
2. The braking resistor must not be connected between terminals B1/ and - . Failure to
comply may cause a ¿re.
3. Do not bundle power cables and signal cables together or run them through the
same duct. Power and signal cables shall be separated by at least 30 cm to prevent
interference.
4. High voltage may still remain in the servo drive when the power supply is cut off. Do not
touch the power terminals within 5 minutes after power off.
5. Conduct maintenance after con¿rming that the CHARGE indicator is OFF.
6. Do not frequently turn ON and OFF the power supply. Do not turn ON or OFF the
power supply more than once per minute. The servo drive contains a capacitor in
the power supply, and a high charging current Àows for 0.2 seconds when the power
supply is turned OFF. Frequently turning ON and OFF the power supply will deteriorate
performance of the main circuit components inside the servo drive.
7. Use a grounding wire with the same cross-sectional area of the main circuit wire. If the
cross-sectional area of the main circuit wire is less than 1.6 mm2, use a grounding wire
with a cross-sectional area of 2.0 mm2.
8. Do not power on the servo drive when any screw of the terminal block becomes loose or
any cable is loose. Otherwise, a ¿re may occur.
3.1.4 Power Cable Connection

Figure 3-5 Example of connecting servo drive and servo motor
Table 3-3 Connectors of power cables on servo motor side
Frame Size
Connector Appearance Terminal Pin Layout of Adaptable
Motor
4-pin connector
A viewing direction
2 4
1 3
A viewing direction
Pin No. Signal 40
1 U 60
2 V 80
3 W
4 PE
Recommendation:
Plastic housing: EL-4A (CWB);
Terminal: 421.6003.0 (CWB)
MIL-DTL-5015 series 3108E20-18S aviation plug
20-18 aviation
plug
A H G
B I F
C D E
New Structure Old Structure 100

Pin No. Signal Pin No. Signal 130
B U B U
I V I V
F W F W
G PE G PE
C Brake (regardless of
E positive or negative)
Frame Size
Connector Appearance Terminal Pin Layout of Adaptable
Motor
MIL-DTL-5015 series
3108E20-22S aviation plug
20-22 aviation
plug
A
B F
C E
D
Y Series Z Series
180
Pin No. Signal Pin No. Signal
A U A U
C V C V
E W E W
F PE F PE
B Brake (regardless of
D positive or negative)
Note
Frame size of motor: indicates the width of motor Àange.
3.1.5 Encoder Cable Connection

Figure 3-6 Example of connecting encoder signal cable
CN2
Table 3-4 Connectors of encoder cables on servo drive side
Connector Appearance Terminal Pin Layout

1 11
2 12
3 13
4 14
5 15
6 16
7 17
8 18
9 19
10 20
Pin
Pin No. Signal Signal
A viewing
No.
direction 1 A+ 2 A-
3 B+ 4 B-
5 Z+ 6 Z-
7 U+ 8 U-
9 V+ 10 V-
11 W+ 12 W-
13 +5V 14 GND
15 PS+ 16 PS-
17 Reserved 18 Reserved
19 Reserved 20 Reserved
Housing PE
Recommendation:
Plastic housing of plug on cable side: 3M 10320, core: 3M 10120
Table 3-5 Connectors of encoder cables on servo motor side
Frame Size of
Adaptable Motor
9-pin connector
A direction
1 7
3 9
Pin No. Signal

3 A+
A viewing Twisted-pair
direction 6 A-
2 B+ 40
Inovance
Twisted-pair 60
5 B-
80
1 Z+
Twisted-pair
4 Z-
9 +5V
8 GND
7 PE
Recommendation:
Plastic housing : AMP 172161-1
Terminal: AMP 770835-1
Frame Size of
Adaptable Motor
MIL-DTL-5015 series
3108E20-29S aviation plug
20-29 aviation
plug
B A M
C N L
P T
D K
R S
E J
F H
G
100
Pin No. Signal 130
A A+ 180
Twisted-pair
B A-
C B+
Twisted-pair
D B-
E Z+
Twisted-pair
F Z-
G +5V
H GND
J PE
Observe the following precautions when wiring the encoder:

1. The cable wiring sequence between the encoder and the servo drive varies with the servo
motor and encoder types.
2. It is recommended that twisted-pair cables of size from AWG26 to AWG16 be used. The
cables shall not exceed 20 m.
3. Do not connect wires to the reserved pins.
4. To determine the length of the encoder cable, consider voltage drop caused by the cable
resistance and signal attenuation caused by the capacitors. The minimum working voltage
of the motor encoder is 4.75 V, and it is recommended to use twisted-pair cable of size
AWG26 or above (as per UL2464 standard) and with a length within 10 m. The following
table lists the recommended cable sizes.
Table 3-6 Recommended cable size
Cable Size ȍ/km Allowed Cable Length

26 AWG (0.1282) 143 10.0
25 AWG (0.1520) 89.4 16.0
24 AWG (0.2051) 79.6 18.0
23 AWG (0.2588) 68.5 20.9
22 AWG (0.3247) 54.3 26.4
21 AWG (0.41) 42.7 33.5
20 AWG (0.52) 33.9 42.2
Cable Size ȍ/km Allowed Cable Length

19 AWG (0.65) 26.9 53.2
18 AWG (0.82) 21.4 66.9
5. Shielded layer of the encoder cable must be properly grounded. Differential signals shall
be connected to the two wires of the twisted-pair cable.
6. To determine the length of the signal cable, consider voltage drop caused by the cable
resistance. Pay attention to the capacity of the power supply and make sure that the
signal and power are strong enough when arriving at the input side of the servo drive. It is
recommended to use twisted-pair cable of size AWG26 and above.
7. The encoder cable and signal cable must be separated by at least 30 cm.
8. If the encoder cable is too short and an extension cable is required, make sure the
shielded layers of two separate cables are well connected to ensure reliable grounding.
3.2 Wiring of Input and Output Terminals

Figure 3-7 Pin layout of control circuit terminal connectors of servo drive
CN1
1 26
2 27
CN5
3 28 1 3
4 29 2 4
5 30 CN3 CN4
6 31
6 3
7 32
8 1
33
7 4
9 34
2
10 35 5
8
11 36
12 37
13 38 CN2
14 39
15 40
16 41 1 11
2 12
17 42
18 43 3 13
19 44 4 14
20 45 5 15
21 46 6 16
22 47
7 17
23 48 8 18
24 49
9 19
25 50
10 20
3.2.1 Wiring of I/O Signals (CN1)

Plastic housing of plug on cable side: 3M 10350, core: 3M 10150
Note that the following table only lists the default the functions of the input and output
terminals (signals), and you can configure other functions for these terminals by setting
function codes.
Ƶ Input Signal
Default
Signal Pin No. Function Description
Function
DI1 CMD1 46 Multi-speed selection 1
Internal reference direction selection: default
DI3 DIR-SEL 4
direction or reverse direction
DI4 ALM-RST 44 Alarm reset
Common DI5 S-ON 40 Turning ON/OFF the servo motor

DI6 ZCLAMP 41 Zero clamp enabled
DI9 JOGCMD+ 23 Forward jog
DI10 JOGCMD- 24 Reverse jog
Pulse reference form:
PULS+ 7 Reference pulse input Direction + Pulse
PULS- 8 mode:
Phase A + B
SIGN+ 11 Differential drive input
quadrature pulse
SIGN- 12 Open-collector input
Position CW/CCW pulse
reference CLR+ 15
Clear deviation counter in position control mode
CLR- 14
PL1 3 +24 V power supply (provided by the 2.4-kȍ resistor)
PL2 13 when the PULS, SIGN, and CLR references are
PL3 18 open-collector output signals
Common analog input signals, resolution: 12 bits,
AI1 5 input voltage: maximum ±12V
AI2 9 Normal input voltage range: -10 to 0 V or 0 to 10 V,
input impedance: 14 kȍ
Common analog input signals, resolution: 12 bits,
Analog
AI3+ 48 input voltage: maximum ±12V
AI3- 49 Normal input voltage range: -10 to 10 V, input
impedance: 14 kȍ
6
GND Ground of analog input signal
10
Ƶ Output Signals
Default
Signal Pin No. Function Description
Function
DO1+ S-RDY+ 29 ON when the servo drive is ready and the S-ON
DO1- S-RDY- 30 signal can be received.
ON when the motor rotational speed within

DO2+ V-CMP+ 27
the setting range is consistent with the speed
DO2- V-CMP- 28
reference in speed control mode.
DO3+ ZERO+ 25 ON when the motor rotational speed is lower than

DO3- ZERO- 26 the speed threshold.
DO4+ ALM+ 31
ON when a fault occurs.
DO4- ALM- 32
PAO+ 33 Phase A frequency-

PAO- 34 division output signal Phases A+B quadrature
frequency-division
PBO+ 35 Phase B frequency- pulse output signal
PBO- 36 division output signal
Common
PZO+ 19 Phase Z frequency- Home pulse output
PZO- 20 division output signal signal
PA-OUT 21
Phase A/B/Z frequency- A/B/Z open-collector
PB-OUT 22
division output signal output signal
PZ-OUT 17
DO6 ALO1 37
3-bit fault code output, open-collector output,
DO7 ALO2 38
maximum load: 30 V, 20 mA
DO8 ALO3 39
+24V 47 Internal 24 V power supply, voltage range: 20 to
COM 50 28 V, maximum output current: 200 mA
+5V 16
Internal 5 V power supply, maximum output
1 current: 200 mA
GND
2
PE Housing
The following ¿gures show the typical wiring for three control modes.
1. Position control mode
Figure 3-8 Wiring of the position control mode
Servo unit
5V
16
+5V Referenced to GND, the
Torque limit: 0-10 V AI1 5 servo drive provides 5 V
Impedance: about 9 kȍ Low-pass filter 1
GND power supply.
2 Maximum current: 200 mA
A/D GND
converter
GND
Torque limit: -10 to 0 V AI2 9 Low-pass filter
Impedance: about 9 kȍ 33
GND 10 PAO+
34
PAO-
35 Encoder frequency-
PBO+
36 division pulse
PBO- differential output
PULS+ 7 150 ȍ 19 PZO+
PULS
[CW phase A] PULS- 8 20
PZO-
SIGN SIGN+ 11 150 ȍ
[CCW phase B] 21
SIGN- 12 PA-OUT
Position CLR+ 15 150 ȍ 22
reference CLR PB-OUT Home signal
CLR- 14 open-collector
17 output
PZ-OUT
24V 50 COM
PL1 3 2.4 kȍ
By default, the terminals are
Internal 24 V PL2 13 2.4 kȍ COM ON when being conducted.
power supply You can modify the positive
18 2.4 kȍ and negative logics .
PL3
The below are default 29 S-RDY+(DO1+)
functions. You can also 24V
configure functions of the +24 V power 30 S-RDY-(DO1-)
DIs in function codes. supply 47
Multi-speed CMD1(DI1) 46 27
selection 1 V-CMP+(DO2+)
Multi-speed CMD2(DI2) 45 28 V-CMP-(DO2-)
selection 2 State
25 output
Internal reference DIR-SEL(DI3) 4 ZERO+(DO3+)
direction selection
26
ALM-RST(DI4) 44 ZERO-(DO3-)
Alarm reset
S-ON(DI5) 40 31 ALM+(DO4+)
Servo ON
32
ZCLAMP(DI6) 41 ALM-(DO4-)
Zero clamp
The above are default functions.
Multi-speed CMD3(DI7) 42 You can also configure functions
selection 3 of the DOs in function codes.
37
AL0(DO6)
Multi-speed CMD4(DI8) 43
selection 4 38 Fault code
AL1(DO7) output
JOGCMD+(DI9) 23 39
Forward jog AL2(DO8)
JOGCMD-(DI10) 24
Reverse jog
COM 50 COM
COM Connect to
the housing
Note: The servo drive provides the
power supply for DI detection internally. The shield of the PE is connected
to the housing of the connector.
indicates the twisted pair.
2. Speed control mode

Figure 3-9 Wiring of the speed control mode
Servo unit
5V
16
+5V Referenced to GND, the
servo drive provides 5 V
Analog speed 1
AI1 5 GND power supply.
Signal input: ±10 V Low-pass filter 2 Maximum current: 200 mA
Impedance: about 9 kȍ GND
A/D GND
converter
Analog torque limit AI2 9 Low-pass filter 33 PAO+
Signal input: ±10 V 34
Impedance: about 9 kȍ GND 10 PAO-
35 PBO+ Encoder frequency-
36 division pulse
PBO- differential output
19 PZO+
20
PZO-
21
PA-OUT
22
PB-OUT Home signal
open-collector
17 output
PZ-OUT
50
COM
The below are default
functions. You can also By default, the terminals are
COM ON when being conducted.
configure functions of the
DIs in function codes. You can modify the positive
and negative logics .
24V 29
+24 V power S-RDY+(DO1+)
supply 47
Multi-speed CMD1(DI1) 46 30
S-RDY-(DO1-)
selection 1
Multi-speed 27 V-CMP+(DO2+)
CMD2(DI2) 45
selection 2
28
Internal reference DIR-SEL(DI3) 4 V-CMP-(DO2-)
State
direction selection output
25 ZERO+(DO3+)
ALM-RST(DI4) 44
Alarm reset
26
ZERO-(DO3-)
S-ON(DI5) 40
Servo ON
31 ALM+(DO4+)
ZCLAMP(DI6) 41
Zero clamp 32
ALM-(DO4-)
Multi-speed CMD3(DI7) 42 The above are default functions.
selection 3 You can also configure functions
of the DOs in function codes.
selection 4 37
AL0(DO6)
JOGCMD+(DI9) 23 38 Fault code
Forward jog AL1(DO7) output
39
JOGCMD-(DI10) 24 AL2(DO8)
Reverse jog
COM 50
COM COM
Note: The servo drive provides the Connect to
the housing
power supply for DI detection internally.
The shield of the PE is connected
3. Torque control mode

Figure 3-10 Wiring of the torque control mode
Servo unit
5V
16
+5V Refere
servo d
1
GND power
Maximu
Analog torque 2
AI1 5 GND
Signal input: ±10 V Low-pass filter
Impedance: about 9 kȍ GND
A/D
converter 33
PAO+
Analog torque limit AI2 9 Low-pass filter 34
Signal input: ±10 V PAO-
Impedance: about 9 kȍ GND 10 35 E
PBO+
36 d
PBO- d
19
PZO+
20
PZO-
21
PA-OUT
22 H
PB-OUT
o
17 o
PZ-OUT
50 COM
By default, t
COM ON when be
The below are default You can mo
and negative
functions. You can also
configure functions of the 29 S-RDY+(DO
DIs in function codes. 24V
+24 V power
supply 47 30
S-RDY-(DO1
selection 1 27 V-CMP+(DO
selection 2 28
V-CMP-(DO2
Internal reference DIR-SEL(DI3) 4
direction selection 25 ZERO+(DO3
ALM-RST(DI4) 44 26
Alarm reset ZERO-(DO3-
S-ON(DI5) 40 31
Servo ON ALM+(DO4+
ZCLAMP(DI6) 41 32
Zero clamp ALM-(DO4-)
The above a
Multi-speed CMD3(DI7) 42 You can also
selection 3 of the DOs in
37
Multi-speed CMD4(DI8) 43 AL0(DO6)
selection 4 38 F
AL1(DO7) o
Forward jog JOGCMD+(DI9) 23
39
AL2(DO8)
JOGCMD-(DI10) 24
Reverse jog
COM 50 COM
COM Connect to
the housing
Note: The servo drive provides the
power supply for DI detection internally. The shield of the PE is connected
Note
The signal cables and power cables must be laid separately with the distance at least above 30
cm.
When the signal cable is not long enough and an extension cable needs to be connected, ensure
that the shield is connected reliably and the shielding and grounding are reliable.
+5V is referenced to GND, and +24V is referenced to COM-.
The current must not exceed the maximum allowable current. Otherwise, the servo drive cannot
work properly.
3.2.2 Input Terminals

1. AI circuit
The following describes the AI1 and AI2 input that are used for speed reference or torque
reference. The input requirements are as follows:
Input voltage range: -10 to +10 V; resolution: 12 bit;
Maximum allowable voltage: ±12 V;
Input impedance: § 14 kȍ
Servo drive
AI1 5
-10 to 10 V § 14 kȍ
GND 6
AI2 9
-10 to 10 V § 14 kȍ
GND 10
2. Position reference input circuit

The reference pulses and deviation counter clear signal on the host controller side can be
differential drive output or open-collector output.
a. Differential drive output

Servo drive
PULS+ 7 150 ȍ
PULS- 8
SIGN+ 11 150 ȍ
SIGN- 12
CLR+ 15 150 ȍ
CLR- 14
2.8 V (H level) – (L level) 3.7 V

The preceding formula meet be met. Otherwise, input pulses of the servo drive are unstable,
which will cause:
When the reference pulse is input, pulse loss occurs.
When the reference direction is input, the direction will reverse.
b. Open-collector output
When the internal 24 V power supply of the servo drive is used:
Wrong connection: Pin 50 (COM) is not connected, which cannot form a closed-loop circuit.
Servo drive
Servo drive
24V
PL1 3 3.3 kȍ 24V
PL1 3 3.3 kȍ
7 150 ȍ
7 150 ȍ
PULS+
PULS- 8 PULS+
PULS- 8
COM 50
COM 50
24V
PL2 13 3.3 kȍ 24V
PL2 13 3.3 kȍ
11 150 ȍ 11 150 ȍ
SIGN+ SIGN+
SIGN- 12 SIGN- 12
COM 50 COM 50
24V Pin 50 24V

PL3 18 3.3 kȍ (COM) not PL3 18 3.3 kȍ
connected
15 150 ȍ 15 150 ȍ
CLR+ CLR+
CLR- 14 CLR- 14
COM 50 COM 50
When the external 24 V power supply is used:

Servo drive
VCC
VF = 1.5-1.8 V
R1 R1 R1
PULS+ 7 150 ȍ
PULS- VF
8
SIGN+ 11 150 ȍ
VF
SIGN- 12
CLR+ 15 150 ȍ
CLR- 14 VF
Set the resistance based on the working resistance R1 so that the current is within 6–10
mA.
VCC Voltage R1 Resistance

24 V 2.4 kȍ
12 V 1.5 kȍ
5V 200 ȍ
The following ¿gures show the wrong wiring examples.

Wrong connection 1: The current-limiting resistor is not connected, resulting in burnout of
terminals.
Servo drive
Current- limit
resistor not
VCC connected
VF = 1.5-1.8 V
PULS+ 7 150 ȍ
PULS- VF
8
SIGN+ 11 150 ȍ
VF
SIGN- 12
CLR+ 15 150 ȍ
CLR- 14 VF
Wrong connection 2: Multiple terminals share the same current-limit resistor, resulting in the
pulses receiving error.
Servo drive
Multiple terminals
share the same
VCC current-limit resistor
V F = 1.5-1.8 V
PULS+ 7 150 ȍ
VF
PULS- 8
SIGN+ 11 150 ȍ
VF
SIGN- 12
CLR+ 15 150 ȍ
VF
CLR- 14
Wrong connection 3: SIGN and CLR terminals are not connected, resulting in that these two
terminals receive no pulses.
Servo drive
VCC
VF = 1.5-1.8 V
PULS+ 7 150 ȍ
SIGN and
CLR signals PULS- VF
8
not connected
SIGN+ 11 150 ȍ
VF
SIGN- 12
CLR+ 15 150 ȍ
CLR- 14 VF
Wrong connection 4: Terminals are not correctly connected, resulting in burnout of terminals.
OC signal not Servo drive
connected to the
specified terminal
VCC
VF = 1.5-1.8 V
PULS+ 7 150 ȍ
VF
PULS- 8
SIGN+ 11 150 ȍ
VF
SIGN- 12
CLR+ 15 150 ȍ
VF
CLR- 14
Wrong connection 5: Terminals are not connected to current-limit resistors separately,

resulting in pulse receiving error.
Servo drive A Servo drive A

Terminals not
connected to
Terminals connected current-limit VF = 1.5-1.8 V
to current-limit VF = 1.5-1.8 V VCC resistors separately
resistors separately
VCC
PULS+ 7 150 ȍ
PULS+ 7 150 ȍ
VF
VF PULS- 8
PULS- 8
SIGN+ 11 150 ȍ
SIGN+ 11 150 ȍ
VF
VF SIGN- 12
SIGN- 12
CLR+ 15 150 ȍ
CLR+ 15 150 ȍ
VF
VF CLR- 14
CLR- 14
Servo drive B
Servo drive B
VF = 1.5-1.8 V
VF = 1.5-1.8 V
PULS+ 7 150 ȍ PULS+ 7 150 ȍ
VF VF
8 PULS- 8
PULS-
SIGN+ 11 150 ȍ
SIGN+ 11 150 ȍ
VF VF
12 SIGN- 12
SIGN-
15 150 ȍ CLR+ 15 150 ȍ

CLR+
VF 14 VF
CLR- 14 CLR-
3. DI circuit
DI1 to DI10 circuits are the same. The following takes DI1 circuit as an example.
a. When the host controller provides relay output:
Servo drive
24V
3.3 kȍ
DI1 46
COM 50
b. When the host controller provides open-collector output:

Servo drive
24V
3.3 kȍ
DI1 46
COM 50
3.2.3 Output Terminals

1. Encoder frequency-division output circuit
The following describes frequency-division output of phases A, B, and Z.
The encoder frequency-division output circuit outputs differential signals via the differential
drive. Normally, the encoder output circuit provides feedback signals to the host controller.
The circuit and the host controller together form a closed-loop position control system.
A differential circuit shall be used in the host controller to receive feedback signals.
Servo drive
PAO+ 33
PAO- 34
PBO+ 35
PBO- 36
PZO+ 19
PZO- 20
Encoder phase Z output circuit outputs OC signals. Normally, the encoder phase Z output
circuit provides feedback signals to the host controller. The circuit and the host controller
together form a closed-loop position control system. An optocoupler circuit, relay circuit, or
bus receiver circuit shall be used in the host controller to receive feedback signals.
5-24 VDC
Servo drive
21 PA-OUT
22 PB-OUT
17 PZ-OUT
50 COM
COM
The maximum allowable voltage and current of the optocoupler output circuit inside the
servo drive are as below:
Maximum voltage: 30 VDC
Maximum current: DC, 50 mA
2. DO circuit
DO1 to DO4 circuits are all optocoupler output . The following takes DO1 circuit as an
example
a. When the host controller supports relay input:
Servo drive
Servo drive
5-24 VDC
5-24 VDC
Relay not
Relay connected
29 DO1+ 29 DO1+
30 DO1- 30 DO1-
b. When the host controller supports optocoupler input:

Servo drive Servo drive
5-24 VDC 5-24 VDC
Current-limit
resistor not
connected
29 DO1+ Optocoupler 29 DO1+ Optocoupler
30 DO1- 30 DO1-
The preceding wrong wirings will result in burnout of DO terminals.

Maximum current: DC 50 mA
DO6 to DO8 are all open-collector output. The following takes DO6 as an example.
a. When the host controller supports relay input:

Servo drive
5-24 VDC
Relay
37 DO6
50 COM
COM
b. When the host controller supports optocoupler input:

Servo drive
5-24 VDC
37 DO6 Optocoupler
50 COM
COM
Maximum current: DC 50 mA
3.3 Wiring Holding Brakes

The holding brake is used when the servo motor controls a vertical shaft. The servo motor
with brake prevents the movable part from shifting due to gravity when the power supply
turns off.
Note
The holding brake built in the servo motor is only used for keeping the stopped state. Do not
use it to stop running of the servo motor.
Brake coils are of no polarity.
When the servo motor with brake runs, the brake may generate click sound, which does not
affect its functions.
When brake coils are energized (the brake is ON), magnetic Àux leakage may occur at the shaft
end. Thus, pay special attention when using magnetic sensors around the servo motor.
3.3.1 Models of Holding Brake Connectors

Models of holding brake connectors for frame 40/60/80 servo motor:
2-pin plug, regardless of positive or negative polarity

Plastic housing: AMP 172157-1
Terminal: AMP 770835-1
Models of holding brake connectors for frame 100/130/180 servo motor:
2-pin aviation plug, regardless of positive or negative polarity

MIL-DTL-5015 series 3108E10SL-4S aviation plug
3.3.2 Wiring Example of Holding Brake

The connector of the holding brake is of no polarity. You needs to prepare a 24 V external
power supply.
The following ¿gure shows the standard wiring of brake signal (/BK) and power supply .
Figure 3-11 Wiring of the holding brake
L1 Servo motor
AC L2 U
power Motor
V
supply L3 M
W
Servo drive
L1C
Encoder
L2C CN2 PG
Brake controls relay

CN1 BK-RY
DO+(/BK+) Brake
+24V
+24V BK
DO-(/BK-)
(power supply
for brake)
When DO1 outputs the brake signal (/BK), set H04-00 to 9 to allocate DO1 with FunOUT.9
(brake output).
3.3.3 Wiring Precautions

1. To decide the length of the cable on the motor brake side, consider voltage drop caused
by the cable resistance. The input voltage must be at least 21.6 V to make the brake work.
The following table lists brake speci¿cations of ISMH servo motors.
Table 3-7 Holding brake speci¿cations
Holding Supplied Supplied Braking Pickup

Resistance
Servo Motor Model Torque Voltage Current Time Time
(ȍ) ±7%
(N·m) (V) ±10% Range (A) (ms) (ms)
ISMH1-10B 0.32 24 96 0.23–0.27 10 30
ISMH1-20B/40B 1.3 24 82.3 0.25–0.34 35 20
ISMH1-75B 2.39 24 50.1 0.40–0.57 40 25
ISMH2-10C/15C 8 24 25 0.81–1.14 48 40
ISMH3-85B/13C/18C 16 24 21.3 0.95–1.33 95 50
ISMH3-29C/
48 24 13.7 1.47–2.07 108 26
44C/55C/75C
2. The brake shall not share the same power supply with other devices. Otherwise, the
brake may conduct false operation due to voltage or current drop resulted from working of
other devices.
2
3. Cables of 0.5 mm and above are recommended.
3.4 Analog Monitoring Signal Wiring

The following ¿gures shows pin layout of the analog monitoring signal terminal CN5.
Figure 3-12 Analog monitoring signal terminal
1 3
2 4
No. 1 2 3 4
Definition GND AO1 GND AO2
Corresponding interface circuit:

Analog output: 0–10 V
Maximum output current: 1 mA
Servo drive
2 AO1
3 A Unidirectional
1-mA meter
GND
4 AO2
3 A Unidirectional
1-mA meter
GND
The monitored objects of analog signals are listed in the following table.
Signal Monitored Object

AO1 0: Motor rotational speed, 1: Speed reference, 2: Torque reference, 3: Position
deviation, 4: Position ampli¿er deviation, 5: Position reference speed, 6: Positioning
AO2 completed reference, 7: Speed feedforward (H04-50/H04-53)
Note
After the control power turns OFF, the analog monitoring output terminal may output around 5 V
voltage for 50 ms at most. Take this into full consideration when using this terminal.
3.5 Communication Signal Wiring

CN3 and CN4 are two same communication signal terminals connected in parallel. Do not
connect wires to the reserved pins.
Pin No. Pin Description Terminal Pin layout

1 GND Ground
RS232 receiving end, connected to the
2 RS232-RXD
sending end of the host controller 6 3
RS232 sending end, connected to the 7 4 1
CN3
3 RS232-TXD 8 5 2
receiving end of the host controller
4 RS485+
RS485 communication interface
5 RS485- 6 3
7 4 1
CN4
6 Reserved 8 5 2
7 Reserved
8 Reserved
Housing PE Shield
3.6 Other Wiring Precautions

1. Lock the terminal block screws according to the requirements in the following table. Do
not turn on the power supply when any screw becomes loose.
Table 3-8 Screw locking torque of terminal block
Screw Size Locking Torque (Nm)

M2 0.08–0.15
M2.5 0.2–0.3
M3 0.4–0.55
M4 0.6–1.2
M5 1.0–1.8
M6 1.5–2.8
2. Pay attention to the power capacity when the external control power or 24 VDC power is
used, especially when the power is supplied to multiple servo drives or brakes at the same
time. If the power capacity is insuf¿cient, the supplied current will be insuf¿cient, causing the
servo drive out of control or brake failure.
3. It is forbidden to run or stop the motor by using the electromagnetic contactor. As a high-
inductance device, the motor generates instantaneous high voltage, which may damage the
contactor.
4. In scenarios where cables need to be moved, use Àexible cables. Common cables are
easily damaged after being bent for a long time. Cables con¿gured together with low power
servo motors cannot be used for movement.
5. If cable towline is used, make sure:

The bending radius of the cable must be at least 10 times of the diameter of the cable.
Do not ¿x or bundle the cables inside the cable towline. You can bundle them at both
ends of the cable towline.
Cables must not be wound or warped.
Space factor inside the cable towline must not exceed 60%.
4
Running and Commissioning
efesotomasyon.com
Running and Commissioning IS500 Series Servo Drive User Manual
Chapter 4 Running and Commissioning
Based on the command modes and running characteristics, the servo drive supports three
running modes, position control, speed control, and torque control.
In the position control mode, the displacement is determined based on the number of pulses
and the speed is determined based on the input pulse frequency. The position control mode
strictly controls the position and speed, and is often used in the positioning device. It is the
most commonly used mode of the servo drive, applicable to the mechanical arm, mounter,
engraving and milling machine, and computer numerical control (CNC) machine tool.
In the speed control mode, the speed is controlled by the AI setting, DI setting, or
communication setting. It is often used in scenarios with constant speed. For example,
for the analog engraving and milling machine, the host controller uses the position control
mode, and the servo drive uses the speed control mode.
In the torque control mode, the torque is changed by changing the analog setting or the
address value by means of communication. This mode is mainly applied to the winding and
unwinding devices with strict tension requirements, for example, tension control scenarios
of the winding device or ¿ber pulling device. In these scenarios, the torque always changes
with the winding radius so that the tension will not change along with the change of the
winding radius.
4.1 Use of the Position Control Mode

Figure 4-1 Diagram of the position control mode
Servo drive
H05-07 Electronic gear ratio 1

(numerator)
H05-09 Electronic gear ratio 1
(denominator)
H05-00 Main position H05-11 Electronic gear ratio 2 H05-04 First-order low-
reference source (numerator) pass filter time
H05-01 Pulse H05-13 Electronic gear ratio 2 H05-06 Average filter time
reference selection (denominator) of position references
Pulse input
Reference input Electronic gear Position
setting ratio reference filter
POSDirSel
input Reference direction selection
Host INHIBIT
controller input
Pulse input forbidden
Position
CLR input regulator
Frequency- Position deviation cleared
division pulse
output
Frequency-division output
H05-17 Encoder
frequency-vision pulses
H05-38 Servo pulse
COIN output output source
Positioning completed
H05-20 Output condition of positioning
completed signal (COIN)
H05-21 Amplitude for positioning
completed
IS500 Series Servo Drive User Manual Running and Commissioning
The position control mode is the most common mode of the servo drive. The main use
procedure is as follows:
1. Connect the power cables of the main circuit and control circuit of the servo drive, motor
power cables, and encoder cables correctly. After power-on, the keypad of the servo drive
displays "rdy", indicating that the wiring is correct.
2. Perform trial jog running by pressing keys and ensure that the motor can run properly.
3. Connect the signals of terminal CN1, such as the pulse direction input, pulse reference
input, and required DI/DO signals (servo drive enabled and positioning completed)
according to Figure 3-8.
4. Perform the setting related to the position control mode. Set the DI/DO functions in groups
H03 and H04 based on actual requirements. You may also need to set the home return and
frequency-division functions based on actual requirements.
5. Enable the servo drive. Send a position reference from the host controller to enable the
servo motor to rotate. Make the motor rotate at a low speed and check whether the rotating
direction and electronic gear ratio are normal. Then, adjust the gain. For details, see the
commissioning procedure in section 4.5.
4.1.1 Position Reference Input Setting

a. Position reference source
Use the default value 0 of H05-00, or set this parameter based on the actual situation.
Function Parameter Min. Default Effective Control

Setting Range Property
Code Name Unit Setting Time Mode
Main 0: Pulse reference
position 1: Step setting
H05 00 1 0 Immediate At stop P
reference 2: Multi-position
source setting
b. Position reference direction switchover
Set the function FunIN.27 to switch over the position reference direction by a DI.
Function
Function No. Description Setting Remarks
Name
Valid: Forward Set the logic of the
Position
direction corresponding DI to 0 or 1.
FunIN.27 POSDirSel reference
Invalid: Reverse This function is supported only
direction
direction when H05-00 is set to 0 or 1.
c. Pulse reference form
Select the pulse reference form by setting H05-15.

0: Direction + pulse,
positive logic
1: Direction + Pulse,
Pulse
negative logic Power-
H05 15 reference 1 0 At stop P
2: Phase A + Phase on again
form
B orthogonal pulse,
4-frequency multiplication
3: CW + CCW
The following table describes the principles of the three pulse reference forms.
Table 4-1 Principles of pulse reference forms
Pulse Reference Positive Logic Negative Logic

Form Forward Rotation Reverse Rotation Forward Rotation Reverse Rotation
PULS PULS PULS PULS
Direction + Pulse SIGN SIGN
SIGN SIGN
Phase A + Phase PULS PULS

B orthogonal SIGN
SIGN
pulse
PULS PULS
SIGN SIGN
CW + CCW
PULS PULS
SIGN SIGN
d. Pulse input forbidden

Set the function FunIN.13 for a DI to forbid pulse reference input.
Function
Name
Valid: Pulse reference
Pulse input input forbidden Set the logic of the
FunIN.13 INHIBIT
forbidden Invalid: Pulse reference corresponding DI to 0 or 1.
input allowed
4.1.2 Electronic Gear Ratio

Set the electronic gear ratio based on the actual situation of the mechanism and host
controller.
Function Min. Default Effective Control

Parameter Name Setting Range Property
Code Unit Setting Time Mode
Electronic
During
H05 07 gear ratio 1 1–1073741824 1 14 Immediate P
running
(numerator)
Electronic gear 1 During
H05 09 1–1073741824 1 1 Immediate P
(denominator) running

Gear ratio 2 During
H05 11 1–1073741824 1 4 Immediate P
(numerator) running
Gear ratio 2 During
H05 13 1–1073741824 1 1 Immediate P
(denominator) running
The following ¿gure shows the working principle of the electronic gear ratio.
Figure 4-2 Working principle of the electronic gear ratio
Position
Position reference reference
(reference unit ) B (pulses ) Position Speed Current
PMSM
A loop loop loop
PG
Position feedback (pulses)
The IS500 supports two electronic gear ratios, which can be switched over by using the
function FunIN.24.
4.1.3 Position Reference Filter

The input position references are ¿ltered to make rotation of the servo motor smoother. This
function has obvious effects in the following scenarios:
Acceleration/deceleration processing is not performed on the pulse references output by
the host controller and the acceleration/deceleration rate is large.
The pulse frequency is too low.
The electronic gear ratio is larger than 10.
Note
This function has no effect on the displacement (total pulses of position references).
The parameter setting for the position reference ¿lter is as follows:
Function Setting Min. Default Effective Control

Parameter Name Property
Code Range Unit Setting Time Mode
First-order low-pass 0.0–6553.5
H05 04 0.1 ms 0.0 ms Immediate At stop P
¿lter time ms
Figure 4-3 Example of ¿rst-order low-pass ¿lter

Position Reference before filter
reference
P
P x 0.632
Reference after filter
P x 0.368
Time (T)
Low-pass filter time Low-pass filter time
H05-04 H 05-04

Average ¿lter time of
H05 06 0.0–128.0 ms 0.1 ms 0.0 ms Immediate At stop P
position references
When H05-06 = 0, the average ¿lter is invalid.

Table 4-2 Different ¿lter effects of two position reference types under the average ¿lter
Rectangular Position Reference Ladder Position Reference
Position Before filter Before filter

Position Average filter time
reference After filter reference H05-06 Before filter
P After filter
P
Before filter
After filter After filter
Time (T) Time (T)

Average filter time Average filter time Average filter time
H05-06
H 05-06 H05-06
4.1.4 Frequency-Division Output

This parameter is used to select the pulse output source. The pulse reference synchronous
output is used in the synchronous control scenario.

0: Encoder frequency-
division output
Servo pulse Power-on
H05 38 1: Pulse reference 1 0 At stop P
output source again
synchronous output
The servo drive performs frequency division on the pulses from the encoder based on the
value of H05-17 and then outputs the processed pulses via the frequency-division output
terminal. The value of H05-17 corresponds to the pulses from PAO/PBO at each revolution
(before 4-frequency multiplication).

Encoder frequency- 35–32767 1 2500 Power-on
H05 17 At stop -
division pulses P/Rev P/Rev P/Rev again
Table 4-3 Output phase pattern
Forward Rotation (Phase A Reverse Rotation (Phase B

Advancing Phase B by 90°) Advancing Phase A by 90°)
PAO PAO
PBO PBO
The phase pattern of output pulse feedback can be modi¿ed in H02-23.

0: CCW direction as the
forward direction (phase
advancing phase B)
Direction of
1: CW direction as Power-on
H02 03 output pulse 1 0 At stop PST
the forward direction again
feedback
(reverse rotation mode,
phase A lagging phase
B)
4.2 Use of the Speed Control Mode

Figure 4-4 Diagram of the speed control mode
H06-00 Main speed Servo drive

reference A source
H06-01 Auxiliary speed H06-05 Acceleration ramp H06-07 Maximum rotational
command B source time of speed reference speed limit
Speed H06-02 Speed H06-06 Deceleration ramp H06-08 Forward speed limit
reference reference selection time of speed reference H06-09 Reverse speed limit
input
Reference input Reference ramp Reference limit
setting
SPDDirSel input
Reference direction selection
Host
controller ZCLAMP input
Zero clamp function (H06-15)
Speed
regulator
V-LT output
Rotational speed limit output
V-ARR output
Speed reached output
V-CMP output
Speed consistent output
H06-17 Width of speed
consistent signal
The main use procedure of the speed control mode is as follows:

3. Connect the required DI/DO signals and analog speed references of terminal CN1
4. Perform the setting related to the speed control mode.
5. Make the motor rotate at a low speed and ensure that the rotating direction is normal.
Then, adjust the gain. For details, see the commissioning procedure in section 4.5.
4.2.1 Speed Reference Input Setting

a. Speed reference source
In the speed control mode, there are two speed reference sources, source A and source B.

0: Digital setting
Main speed
(H06-03)
H06 00 reference A 1 0 Immediate At stop S
1: AI1
source
2: AI2
0: 0: Digital setting
(H06-03)1: AI1
Auxiliary
2: AI2
speed
H06 01 3: 0 (No function) 1 1 Immediate At stop S
reference B
4: 0 (No function)
source
5: Multi-speed
reference
Keypad
setting value 200 During
H06 03 -9000–+9000 RPM 1 RPM Immediate S
of speed RPM running
reference
Jog speed 100 During
H06 04 0–3000 RPM 1 RPM Immediate S
setting value RPM running
Digital setting: The digital setting is performed on the keypad, and the speed set in H06-03
is used as the speed reference.
Analog setting: The analog setting means that the externally input analog voltage signal is
converted to the speed reference signal.
The multi-speed references refer to the 16 groups of speed references and related control
parameters stored in the internal register and specified internally or via external DI. The
multi-speed references can be used in all the three working modes.
For the jog speed references, two DIs or the host control software is con¿gured with the jog
running functions (FunIN.18 and FunIN.19); the jog running speed is the speed stored in
H06-04, and the speed reference direction is determined based on the DI states.
b. Speed reference direction switchover
Set the function FunIN.26 to switch over the speed reference direction by a DI.
Function Function
Description Setting Remarks
No. Name
Speed reference Valid: Forward direction Set the logic of the
FunIN.26 SPDDirSel
direction Invalid: Reverse direction corresponding DI to 0 or 1.
c. Speed reference selection

In the speed control mode, ¿ve methods of obtaining speed references are available, and
you can select one in H06-02.

0: Main speed reference A
source
Speed 1: Auxiliary speed
H06 02 reference reference B source 1 0 Immediate At stop S
selection 2: A+B
3: A/B switchover
4: Communication setting
When H06-02 is set to 3, you need to allocate a DI with the A/B switchover function to
determine whether A reference input or B reference input is active currently.
Function No. Function Name Description Setting Remarks

Invalid: Current running
Main/Auxiliary
reference being A
FunIN.4 CMD-SEL reference -
Valid: Current running
switchover
reference being B
4.2.2 Reference Ramp Parameter Setting

The ramp control function is to change the speed references with large difference to
smoother speed references with constant acceleration and deceleration, that is, controlling
acceleration and deceleration by setting the acceleration and deceleration time. If the set
speed references change greatly, the motor may jitter or vibrate greatly. In this case, the soft
start acceleration and deceleration time can implement smooth running of the motor and
prevent vibration and damage to the mechanical parts.
The related function codes are set in the following table.

Acceleration ramp
During
H06 05 time of speed 0-65535 ms 1 ms 0 Immediate PS
running
reference
Deceleration ramp
During
H06 06 time of speed 0-65535 ms 1 ms 0 Immediate PS
running
reference
The ramp control function converts the stepped speed references to smooth speed
references with constant acceleration/deceleration, implementing smooth speed control
(including internally set speed reference).
Figure 4-5 Ramp control diagram
Stepped speed
reference After ramp control 1000 RPM
H06-05 H06-06
H06-05 speci¿es the time for the speed reference to accelerate from zero to 1000 RPM.
H06-06 speci¿es the time for the speed reference to decelerate from1000 RPM to zero.
The formulas of calculating the actual acceleration and deceleration time are as follows:
Actual acceleration time = (Speed reference/1000) x Acceleration ramp time of speed
reference
Actual deceleration time = (Speed reference/1000) x Deceleration ramp time of speed
reference
Figure 4-6 Acceleration/Deceleration time diagram
1000 RPM
Set motor
rotational speed
Actual Actual
acceleration time deceleration time
Acceleration ramp time Deceleration ramp time

(H06 -05) (H06-06 )
4.2.3 Speed Reference Limit

The speed references in the speed control mode can be limited.
H06-07 speci¿es the amplitude limit of speed references. The forward or reverse speed
references must not exceed the limit. If speed references exceed the limit value, the
servo drive outputs the limit value.
H06-08 speci¿es the forward speed limit. If the speed reference of the forward direction
exceeds the value, the servo drive outputs the value.
H06-09 speci¿es the reverse speed limit. If the speed reference of the reverse direction
exceeds the value, the servo drive outputs the value.
The maximum motor rotational speed changes with the actual motor parameters.
Note
When the rotational speed is restricted, the smallest value of H06-07, H06-08, and H06-09 takes
effect, as shown in the following ¿gure, where the value of H06-09 is larger than the value of H06-
07, the actual forward rotational speed limit is the value of H06-08, and the reverse rotational
speed limit is the value of H06-07.
Figure 4-7 Speed reference limit

Speed reference
Maximum motor
rotational speed
Maximum rotational
speed limit (H06-07)
Forward speed limit (H06-08)
Actual
rotational
speed
amplitude
Maximum rotational
speed limit (H06-07)
Reverse speed limit (H06-09)
Maximum motor
rotational speed
Note
By default, the limit does not exceed the maximum motor rotational speed.
The actual motor rotational speed amplitude meets the following requirements:
_Amplitude of forward speed_ min ^maximum motor rotational speed, H06-07, H06-08`
_Amplitude of reverse speed_ min ^maximum motor rotational speed, H06-07, H06-09`
Function Parameter Setting Default Effective Control

Min. Unit Property
Code Name Range Setting Time Mode
Maximum
During
H06 07 rotational 0–9000 RPM 1 RPM 9000 RPM Immediate S
running
speed limit
Forward During
H06 08 0–9000 RPM 1 RPM 9000 RPM Immediate S
speed limit running
Reverse During
speed limit running
4.2.4 Zero Clamp Function

In the speed control mode, if the ZCLAMP function is valid, and the speed reference
amplitude is smaller than or equal to the value of H06-15, the servo motor enters the zero
clamp state. If oscillation occurs at this moment, you can adjust the position loop gain. When
the speed reference amplitude is larger than the value of H06-15, the servo motor exits the
zero clamp state.
Function
Name
This function is
Zero clamp Valid: Zero clamp enabled
FunIN.12 ZCLAMP supported only in the
function Invalid: Zero clamp disabled
speed control mode.
The related function code is set in the following table.
Function Parameter Default Effective Control

Setting Range Min. Unit Property
Code Name Setting Time Mode
Speed limit for During
zero clamp running
4.3 Use of the Torque Control Mode

Figure 4-8 Diagram of the torque control mode
Servo drive
H07-00 Main torque H07-07 Torque limit source

reference A source H07-08 T-LMT selection
H07-01 Auxiliary torque H07-09 Internal forward torque limit
reference B source H07-10 Internal reverse torque limit
Torque H07-02 Torque H07-05 Torque H07-11 External forward torque limit
reference reference source reference filter time 1 H07-12 External reverse torque limit
input
Reference input
setting Reference filter Reference limit
TOQDirSel
input
Reference direction selection
External AI
speed limit
Host input
controller Torque limit
H07-17 Speed limit source
H07-18 V-LMT selection
H07-19 Forward speed limit/ Speed
Speed limit 1 in torque control regulator
H07-20 Reverse speed limit/
Speed limit 2 in torque control
V-LT output
Speed limit function
C-LT output
Torque limit output
Toq-Reach
output
Torque reached output
H07-21 Base value for torque reached
H07-22 Threshold of torque reached valid
H07-23 Threshold of torque reached invalid
The main use procedure of the torque control mode is as follows:

3. Connect the required DI/DO signals and analog speed references of terminal CN1
4. Perform the setting related to the torque control mode.
5. Set a low speed limit, send a forward or reverse torque reference, and check whether the
rotating direction of the motor is correct and whether the torque is correctly limited. If yes,
the servo system can be used properly.
4.3.1 Torque Reference Input Setting

a. Torque reference source
In the torque control mode, there are two torque reference sources, source A and source B,
set as follows:
Digital setting is performed on the keypad, and the percentage of the torque relative to
the rated torque set in H07-03 is used as the torque reference.
The analog setting means that the externally input analog voltage signal is converted
to the torque reference signal of motor speed. The relationship between the analog and
the torque reference can be de¿ned based on actual requirements.

0: Digital setting
Main torque
(H07-03)
H07 00 reference A 1 0 Immediate At stop T
1: AI1
source
2: AI2
0: Digital setting
Auxiliary torque
(H07-03)
H07 01 reference B 1 1 Immediate At stop T
1: AI1
source
2: AI2
Keypad setting
-300.0%– During
H07 03 value of torque 0.1% 0 Immediate T
+300.0% running
reference
b. Torque reference selection

In the torque control mode, ¿ve methods of obtaining torque references are available, and
you can select one in H07-02.

0: Main torque reference A
source
Torque 1: Auxiliary torque reference
H07 02 reference B source 1 0 Immediate At stop T
source 2: A+B
3: A/B switchover
c. Torque reference direction switchover
Set the function FunIN.25 to switch over the torque reference direction by a DI.
Function Function
No. Name
Valid: Forward direction Set the logic of the
Torque reference
FunIN.25 TOQDirSel Invalid: Reverse corresponding DI to 0 or
direction
direction 1.
When H07-02 = 3, you need to allocate a DI with the A/B switchover function to determine
whether A reference input or B reference input is active currently.
Function Function
No. Name
Main/Auxiliary
Valid: Current running reference being A
FunIN.4 CMD-SEL reference -
Invalid: Current running reference being B
switchover
4.3.2 Speed Limit in Torque Control

In the torque control mode, the rotational speed of the servo motor needs to be limited to
protect the mechanism. In the torque control mode, only the output torque reference of
the servo motor is limited, and the rotational speed is not controlled. Therefore, if the set
torque reference is larger than the load torque on the mechanical side, the motor will keep
acceleration. This may cause overload. In this case, the rotational speed limit needs to be
set.
When the actual speed exceeds the limit, the difference between the actual speed and the
limit is converted to a certain percentage of torque and cleared negatively, so that the speed
reaches the limited range. The actual rotational speed limit changes with the load. The
speed limit can be set internally or by analog sampling (similar to speed reference in the
speed control mode).
Table 4-4 Speed limit diagram
Without speed limit With speed limit

Rotational Rotational
speed Overspeed may cause speed
Maximum mechanical damage .
rotational
The speed
speed is limited.
Speed
limit
t t
When the rotational speed is limited, the DO terminal outputs the signal described in the
following table.
Function Function
No. Name
Con¿rming rotational speed limit in torque
Rotational control:
FunOUT.8 V-LT -
speed limit Valid: Motor rotational speed limited
Invalid: Motor rotational speed not limited
Note
The V-LT function needs to be allocated to a certain DI.
The speed limit source can be internal or external. When the internal speed limit source
is used (H07-17 = 0), directly set the forward speed limit (H07-19) and reverse speed limit
(H07-20). When the external speed limit source is used (H07-17 = 1), the analog setting is
speci¿ed in H07-18, and the corresponding relationship between the speed limit and the
analog setting is set based on actual requirements. In addition, the externally set speed limit
must be lower than the internally set speed limit to prevent faults due to improper setting of
external speed limit.
The speed limit setting modes are set in the following function codes.

0: Internal setting
(in torque control)
Speed limit During
H07 17 1: External V-LMT 1 0 Immediate T
source running
setting
V-LMT 1: AI1 During

H07 18 1 1 Immediate T
selection 2: AI2 running
Forward speed
1 3000 During
H07 19 limit in torque 0–9000 RPM Immediate T
RPM RPM running
control
Reverse
1 3000 During
H07 20 speed limit/ in 0–9000 RPM Immediate T
RPM RPM running
torque control
4.3.3 Torque Reference Limit

The output torque needs to be limited to protect the mechanism. Set the torque limit in
H07-07.

0: Internal setting
1: External setting
(P-CL and N-CL
selection)
Torque
2: External T-LMT
H07 07 limit 1 0 Immediate At stop PST
setting
source
3: Smaller of external
setting and external
T-LMT setting (P-CL
and N-CL selection)
Allocate DIs with the P-CL/N-CL function for selecting external forward/reverse torque limit.

External Valid: External torque limit enabled
FunIN.16 P-CL forward torque Invalid: External torque limit -
limit disabled
External Valid: External torque limit enabled
FunIN.17 N-CL reverse torque Invalid: External torque limit -
limit disabled
When the output torque is limited, the DO terminal outputs the C-LT signal described in the
following table.

Con¿rming torque limit
FunOUT.7 C-LT Torque limit Valid: Motor torque limited -
Invalid: Motor torque not limited
Allocate the functions and logics to DIs and DOs by setting the related function codes.
For example, when setting AI, specify T_LMT in H07-08, and then set the corresponding
relationship between the torque and the analog voltage.
When H07-07 = 1, the external setting is triggered by the DIs with functions P-CL and
N-CL, and torque limit is implemented according to the values of H07-11 and H07-12. When
the external torque limit or T_LMT value is larger than the internal limit value, the internal
limit value is used. That is, among all the limit conditions, the smallest limit value is used.
During forward rotation, the torque is limited to the positive value of |T_LMT|; during reverse
rotation, the torque is limited to the negative value of |T_LMT|.

0: Internal setting
1: External setting (P-
CL and N-CL selection)
Torque 2: External T-LMT
H07 07 limit setting 1 0 Immediate At stop T
source 3: Smaller of external
T-LMT setting (P-CL
and N-CL selection)
T-LMT 1: AI1
H07 08 1 2 Immediate At stop PST
selection 2: AI2
Internal
0–300.0% (100%
forward During
H07 09 corresponds to the 0.1% 300.0% Immediate PST
torque running
rated motor torque)
limit
Internal
0–300.0% (100%
reverse During
torque running
rated motor torque)
limit
External
0–300.0% (100%
forward During
torque running
rated motor torque)
limit
External
0–300.0% (100%
reverse During
torque running
rated motor torque)
limit
4.4 Check Before Running

Disconnect the servo motor from the load, the coupling connected to the motor shaft, and
other related components. To prevent potential risks, check that the servo motor can work
properly without load, and then connect the load.
Before running, check that the following requirements are met:
1. There is no obvious damage on the appearance of the servo drive.
2. The wiring terminals have been insulated.
3. There are no conductive objects such as screw or metal sheet or flammable objects
inside the servo drive, and there are no conductive objects around the wiring terminals.
4. The servo drive or external braking resistor is not placed on Àammable subjects.
5. The wiring is complete and correct:
Power cables, auxiliary power cables and grounding cable of the servo drive
All control signal cables
Limit switches and protection signals
6. The servo drive enable switch is in OFF state.
7. The power circuit is cut off, and the emergency stop circuit is ON.
8. The external voltage reference of the servo drive is correct.
When the host controller does not send the running reference, power on the servo drive.
Then, check that:
1. The servo motor can rotate properly without vibration or loud noise.
2. All parameter setting is correct. Unexpected actions may occur due to different
mechanical characteristics, and do not set the parameters too large or small.
3. The bus voltage indicator and digital display are normal.
4.5 Load Inertia Auto-tuning and Gain Adjustment

After completing the installation and wiring correctly and performing required parameter
setting, commission the inertia auto-tuning, rigid table, and vibration suppression.
Perform inertia auto-tuning (see section 4.5.1) to obtain the correct load inertia ratio.
Then, perform automatic gain adjustment (see section 4.5.2). If the effect is not good,
perform manual gain adjustment (see section 4.5.3). When using the notch to suppress the
mechanical resonance, you can set two resonance frequencies (see section 4.5.4). The
following ¿gure is the general commissioning Àowchart.
Figure 4-9 General commissioning Àowchart
Complete the installation and wiring

correctly, and set H00-00, H02-00, DI/DO
parameters in groups H03 and H04,
electronic gear ratio and reference input
mode in group H05.
Perform inertia auto-tuning (H0D-02, H08-15,

H09-05, H09-06, H09-07, and H09-08).
Perform automatic gain adjustment by using the

rigid table (H09-00 = 1).
Note that the manual setting of H08-00, H08-01,
H08-02, and H07-05 is invalid in this mode .
The mechanism repeats the operation to adjust Reduce the rigidity level or use the
the rigidity level based on the setting of H 09-01. trap (H09-12 or H09-15).
Yes
Is there vibration?
No
No Perform manual gain adjustment (H09-00 = 0)

Is performance OK? (H08-00, H08-01, H08-02, H07-05, H08-18, H08-
19, H08-20, H08-21, and H08-22).
Yes
End
4.5.1 Inertia Auto-tuning

Before performing automatic or manual gain adjustment, perform inertia auto-tuning to
obtain the actual load inertia ratio. The following ¿gure is the inertia auto-tuning Àowchart.
Figure 4-10 Inertia auto-tuning Àowchart
After the wiring and basic setting are complete, the servo
drive enters the "rdy" state.
Note: To prevent accidents due to overtravel during inertia
auto-tuning, install the limit switches on the mechanical side
and ensure that the movable travel of at least one revolution
on the forward and reverse directions is allowed for the motor.
Is preset inertia ratio smaller No

Preset the inertia ratio in H08-15.
than 10?
Yes
Does the
actual motor movable travel No Reduce the maximum speed for inertia
satisfy the setting of H09-09? auto-tuning (H09-06).
Yes
Yes
Enter H0D-02, and the keypad displays the

inertia ratio set in H08-15.
Increase the value of H09-06 properly (the Set H09-05 to 1.

larger the value, the more accurate the
auto-tuning result) Hold down the UP key, and the motor rotates in
the forward and then reverse directions
repeatedly. After you release the key, the motor
coasts to stop. It is similar when you hold down
the DOWN key.
The keypad displays the obtained inertia ratio.
Does the displayed inertia No

Increase the inertia ratio in H08-15.
ratio change?
Yes
Does the displayed No Is long-travel running Yes

inertia ratio become stable after supported?
repeated operations?
Yes No
Yes Can the The inertia auto-tuning may not be

maximum speed for inertia auto- supported. Manually set the inertia
tuning (H09-06) be increased ratio or contact Inovance.
Noonsite?
No
Hold down the SET key until the keypad

displays "SAVE", and then the obtained inertia
ratio is written to H08-15. Then, release the key
and exit H0D-02.
End
When H08-15 = 1 (default value), the actual speed may not reach the reference due to
too small inertia ratio, and the auto-tuning will fail. In this case, you need to set H08-15.
It is recommended that H08-15 be set to 5 initially and then increased gradually so that
the auto-tuning can be performed successfully.
For offline inertia auto-tuning, the triangular wave mode is suggested. For scenarios
with poor auto-tuning effect, the step rectangular wave mode is suggested.
When H09-05 = 1, pay attention to the mechanical travel and prevent accidents due to
overtravel during ofÀine inertia auto-tuning.
Function Parameter Setting Default Effective Control

Min. Unit Property
Code Name Range Setting Time Mode
0: Positive
and
OfÀine inertia
negative
H09 05 auto-tuning 1 0 Immediate At stop -
triangular
mode
wave mode
1: Jog mode
Maximum speed
100–1000 500
H09 06 for inertia auto- 1 RPM Immediate At stop -
RPM RPM
tuning
Acceleration/
Deceleration 250
H09 07 20–800 ms 1 ms Immediate At stop -
time for inertia ms
auto-tuning
Interval after
50–10000 800
H09 08 an inertia auto- 1 ms Immediate At stop -
ms ms
tuning
Motor
revolutions for 0.01
H09 09 - - - Display -
an inertia auto- revolution
tuning
The conditions for successful inertia auto-tuning are as follows:

The actual maximum rotational speed of the motor is larger than 150 RPM.
The actual acceleration rate during acceleration/deceleration is higher than 3000
RPM/s.
The load torque is stable without dramatic change.
A maximum of 120 times of inertia can be auto-tuned.
The auto-tuning may fail when the mechanical rigidity is very low or the back clearance
of the transmission mechanism is large.
4.5.2 Automatic Gain Adjustment

The automatic gain adjustment is performed as follows:
Set H09-00 to 1, and send a reference to make the servo motor rotate. Observe the running
and meanwhile adjust the setting of H09-01 until the satisfactory effect is achieved. If the
effect is unsatisfactory anyway, perform manual gain adjustment.
Pay attention to the following aspects during automatic gain adjustment:
When the rigid table is valid, H08-00, H08-01, H08-02, and H07-05 are set automatically
based on the rigidity level in H09-01, and the manual setting of these four parameters
are invalid.
When the rigidity level is increased, resonance may occur. Use a notch to suppress the
resonance (see section 4.5.4).
Increase the rigidity level gradually to prevent vibration due to abrupt increase of the
rigidity level.
Check whether there is margin for the gain to prevent the situation in which the servo
system approaches the unstable state.

Gain
0: Manual During
H09 00 adjustment 1 0 Immediate PS
1: Automatic running
mode
Rigidity level During

H09 01 0–31 1 12 Immediate PS
selection running
Recommended Rigidity
Type of Load Mechanism
Level
Level 4 to level 8 Large-scale machinery
Level 8 to level 15 Applications with low rigidity such as belt
Applications with high rigidity such as ball screw
Level 15 to level 20
and direct-connected motor
4.5.3 Manual Gain Adjustment

Set H09-00 to 0 and then manually adjust the related parameters.
When the position loop gain and speed loop gain are increased, the system response
becomes faster, but too large gains cause instability. In addition, when the load inertia ratio
is basically correct, the speed loop gain and position loop gain must meet the following
condition to guarantee system stability:
1 H08-00 [Hz]
1
3 H08-02 [Hz]
Increasing the torque reference filter time in H07-05 helps suppress the mechanical
resonance but reduces the system response. The ¿lter time must not be increased randomly
and must meet the following condition:
1000
H07-05 [ms] <
2 S x H08-00 [Hz]

Speed loop During
H08 00 1.0–2000.0 Hz 0.1 Hz 25.0 Hz Immediate PS
gain running
Speed loop
31.83 During
H08 01 integral time 0.15–512.00 ms 0.01 ms Immediate PS
ms running
constant
Position loop During
H08 02 1.0–2000.0 Hz 0.1 Hz 40.0 Hz Immediate P
gain running

Torque
During
H07 05 reference 0.00–30.00 ms 0.01 ms 0.79 ms Immediate PST
running
¿lter time
4.5.4 Notch
The mechanical system has a certain resonance frequency. If the gain is too high,
resonance may occur around the resonance frequency, and a notch can be used to
solve the problem. The notch reduces the gain of the speci¿ed frequency to suppress the
mechanical resonance. Therefore, the gain can be set higher than that without using the
notch.
A total of four notches can be used, and each has three parameters, frequency, width level,
and attenuation level. When the frequency is the default value 2000 Hz, the notch is actually
invalid. The 1st and 2nd notches are manual notches, and their parameters need to set
manually. The 3rd and 4th notches are self-adaptive notches, and their parameters are set
automatically by the servo drive.
The mode of the self-adaptive notch is determined in H09-02. When H09-02 = 1, only the
3rd notch is valid; when the servo is enabled and detects resonance, the parameters of the
3rd notch are set automatically to suppress the resonance. When H09-02 = 2, both 3rd and
4th notches are valid, and their parameters can be set automatically.
The self-adaptive notch is preferred during the use. If the self-adaptive notch cannot
produce satisfactory performance, use the manual notch. When using the manual notch,
set the frequency to the actual resonance frequency, which is obtained by the mechanical
feature analysis tool of the background software. Use the default value 2 of the width level.
Adjust the depth level based on the actual conditions. The smaller the value is, the better
the resonance suppression result is. The larger the value is, the worse the resonance
suppression result is. If the depth level is set to 99, the resonance suppression almost does
not work. Reducing the depth level enhances the suppression result, but causes phase lag
and system instability. Do not reduce the depth level if not necessary.
More precautions about the notch are as follows:
The notch can be used in only the speed control and position control modes.
When H09-02 is always 1 or 2, the updated parameters of the self-adaptive notch are
automatically written to EEPROM every 30 minutes, and the update within 30 minutes is
not written to EEPROM.
When H09-02 is set to 0, the current parameters of the self-adaptive notch will keep
unchanged. After the self-adaptive notch is used for suppression and the system
becomes stable for a certain period, you can set H09-02 to 0 to ¿x the parameters of the
self-adaptive notch.
It is recommended that at most two notches work at the same time. Otherwise, the
resonance may become severe.
When the resonance frequency is below 300 Hz, the suppression effect of the self-
adaptive notch may degrade.
When the resonance cannot be cleared after a long time use of the self-adaptive notch,
disable the servo drive.

0–4
0: Self-adaptive notch
not updated
1: Only one notch (3rd
Working notch) valid
mode 2: Both notches (3rd
During
H09 02 of self- and 4th notches) valid 1 0 Immediate PS
running
adaptive 3: Only detect
notch resonance frequency
(displayed in H09-24),
not update parameters
4: Restore parameters
to default setting
1st notch 2000 During
H09 12 50–2000 Hz 1 Hz Immediate PS
frequency Hz running
1st notch During
width level running
1st notch
During
H09 14 attenuation 0–99 1 0 Immediate PS
running
level
2nd notch 2000 During
2nd notch During
width level running
2nd notch
During
running
level
3rd notch 2000 During
3rd notch During
width level running
3rd notch
During
running
level
4th notch 2000 During
4th notch During
width level running
4th notch
During
running
level
Obtained
H09 24 resonance 0–2000 Hz 1 Hz - - - PS
frequency
5
Background Software
efesotomasyon.com
Background Software IS500 Series Servo Drive User Manual
Chapter 5 Background Software
The background software IS-Opera is provided at www.inovance.cn for free download and
use. Install a communication cable (S6-L-T00-3.0), and then the PC can communicate with
the servo drive. You can also make the communication cable yourself, and connect the
cable according to the instructions in chapter 3.
The IS-Opera supports the following functions:
Oscilloscope for detecting and saving instantaneous data during running of the servo
system
Electronic cam, whose parameters can be set in graphical form (supported only by
certain servo drive models)
Parameter management, including reading and downloading of parameters in batches
Database which can recognize customized function codes
Inertia auto-tuning
Mechanical feature analysis, which can analyze the resonance frequency of the
mechanical system
Jog running, which supports position references to make the motor repeat forward and
then reverse running
Gain adjustment, which supports the operation of adjusting the rigidity level and simple
motion information monitoring
Supporting the WindowsXP and Windows7 operating systems. For details on how to
use the IS-Opera, see the IS-Opera help manual.
6
Troubleshooting
efesotomasyon.com
Troubleshooting IS500 Series Servo Drive User Manual
Chapter 6 Troubleshooting
6.1 Analysis and Handling of Faults

When a fault occurs on the servo drive, the keypad displays "Er.xxx". You can view the
internal fault code in H0B-45 (if a fault has no internal fault code, the value of H0B-45 is the
same as the display on the keypad). The following table describes the analysis and handling
of faults.
Fault Display and

Probable Cause Con¿rming Method Solution
Description
Ensure that the
power voltage
1. The control
Measure the power is within the
power voltage drops
voltage. speci¿cations, and
instantaneously.
restore the default
setting via H02-31.
2. Instantaneous Check whether Restore the setting
power failure occurs instantaneous power via H02-31, and
during parameter failure occurs during enter the parameter
Er.101
writing. parameter writing. values again.
Er.111 Change the
(if the actual values of 3. The times of Check whether parameter parameter writing
groups H00 and H01 parameter writing update is performed method and write
parameters exceed within a certain period frequently from the host parameters again.
the limits, Er.111 is exceeds the limit. controller. If the servo drive is
reported. If the values faulty, replace it.
of other groups of
Set the servo drive
parameters exceeds
model and motor
the limits, Er.101 is 4. The software is Check whether the
model again, and
reported) upgraded. software is upgraded.
restore the default
setting.
If the servo drive is
powered off and powered
on gain several times
5. The servo drive is Replace the servo
and the default setting
faulty. drive.
is restored, but the fault
persists, it indicates that
the servo drive is faulty.
1. The FPGA and Check whether the
Update the
MCU versions do not software versions (H01-
software.
match. 00, H01-01) match.
Er.102 If the servo drive is
(programmable logic powered off and powered
con¿guration fault) 2. The logic on again several times Replace the servo
component is faulty. but the fault persists, it drive.
indicates that the servo
drive is faulty.
IS500 Series Servo Drive User Manual Troubleshooting
Fault Display and

Description
1. The logic on again several times Replace the servo
104
component is faulty. but the fault persists, it drive.
Er.104 indicates that the servo
(programmable drive is faulty.
logic interruption If the servo drive is
fault) 2. The communication powered off and powered
between the FPGA on again several times Replace the servo
100
and the MCU is but the fault persists, it drive.
abnormal. indicates that the servo
drive is faulty.
Restore the default
Check the causes
1. An EEPROM fault setting via H02-31,
according to the method of
occurs. and power on the
Er.101.
servo drive again.
Er.105
(internal program If the servo drive is
abnormal) powered off and powered
2. The servo drive is on again several times Replace the servo
faulty. but the fault persists, it drive.
drive is faulty.
If the fault persists
Modify a certain after the servo drive
Er.108 parameter, power on is powered off and
Parameter storage is
(parameter storage the servo drive again, powered on again
abnormal.
fault) and check whether the several times,
modi¿cation is saved. replace the servo
drive.
The power classes Check whether the rated
of products such as motor current is larger Replace the product
120
motor and servo drive than the rated current of that does not match.
do not match. the servo drive.
Read the manual and
Er.120
2. The encoder type check whether the type of Use the correct
(product model
106 does not meet the the currently used encoder encoder type or
matching fault)
requirements. is supported by the servo servo drive type.
drive.
3. The product (motor Read the manual and
Select the correct
107 or servo drive) SN check whether the set
product SN.
does not exist. product SN exists.
When the servo drive Check whether the
Er.121 Correct the
is internally enabled, external DI with the S-ON
(Invalid servo ON improper
the external S-ON signal is ON when the
command) operations.
signal is active. auxiliary function is used.
Fault Display and

Description
Er.130
The same function is Check whether any two Set the related
(different DIs
allocated to different values of H03-02 to H03- function codes
allocated with the
DIs. 20 are the same. again.
same function)
1. The reference
input is at the same Input the reference
time with the servo Check the time sequence after the servo drive
drive startup or the of reference input. starts up and enters
reference input is too the "rdy" state.
early.
2. The external
Measure whether the Select a proper
braking resistor
resistance of the braking braking resistor
provides too small
resistor meets the according to the
resistance or is short-
speci¿cations. manual.
circuited.
3. The motor cables Check whether the cable Fasten the cable
are in poor contact. connectors become loose. connectors.
Check the insulation
resistance between Replace the motor
4. The motor cables
the UVW cables and if the insulation is
are grounded.
grounding cable of the poor.
Er.200 motor.
(overcurrent 1)
Check whether the motor
5. The motor UVW
UVW cables are short- Connect the motor
Er.201 cables are short-
circuited and whether cables correctly.
(overcurrent 2) circuited.
glitch occurs.
Check whether the Replace the motor
6. The motor is
resistance between the if the resistance is
damaged.
motor cables is balanced. unbalanced.
7. The gain setting
oscillates or produces
is improper and the Adjust the gain.
abnormal noise, or view
motor oscillates.
the running graph.
8. The encoder cable
Check whether the Weld again or
is incorrectly wired,
encoder cable is fasten the encoder
corrosive, or inserted
connected securely. cable.
loosely.
Check whether the fault
is reported after the motor
cables are disconnected
faulty. drive.
and the servo drive is
powered on again.
Fault Display and

Description
Er.207
The servo drive is on again several times Replace the servo
(shaft D/Q current
faulty but the fault persists, it drive.
overÀow)
drive is faulty.
Er.208 powered off and powered
(FPGA system The servo drive is on again several times Replace the servo
sampling operation faulty. but the fault persists, it drive.
timeout) indicates that the servo
drive is faulty.
Connect the UVW
Er.220 Check the phase
The UVW cables are cables according
(UVW phase sequence of the UVW
connected incorrectly. to the correct
sequence error) cables.
sequence.
Connect the UVW
Check the phase
1. The UVW phase cables according
sequence of the UVW
sequence is incorrect. to the correct
cables.
sequence.
2. The phase Check whether the fault is Power off the servo
detection is incorrect reported when the UVW drive and then
Er.234 due to interference. phase sequence is correct. power it on again.
(runaway fault)
Correct the motor
3. The encoder type is
Check the encoder type model, encoder
set incorrectly or the
and wiring. type, and encoder
wiring is incorrect.
wiring.
Set H0A-12 to 0 to shield this fault when the motor is dragged by the
load.
1. When the power
voltage is 220 VAC
(380 VAC), the
Measure the power Adjust the AC power
detected bus voltage
voltage between terminals voltage to within the
is higher than 420 V
B1/ and - . speci¿cations.
(760 V), or the power
voltage is higher than
Er.400 the input voltage limit.
(overvoltage)
Connect a surge
suppressor and
2. The power supply Measure the power supply then connect the
is instable or affected voltage between terminals power supply. If
by the lightning strike. B1/ and - . the fault persists,
replace the servo
drive.
Fault Display and

Description
If the resistance is
Measure the resistance , wire breaking
3. The braking resistor
between terminals B1/ occurs. In this case,
fails.
and C. replace the external
braking resistor.
4. The resistance of
Select a proper
the braking resistor
braking resistor
is too large, and the Check the resistance of
based on the
energy absorption the braking resistor.
running and load
during braking is
conditions.
insuf¿cient.
If the input power
voltage is too high,
Check the deceleration
adjust it to within
5. The motor is in ramp time during running
Er.400 the speci¿cations.
abrupt acceleration/ and monitor the power
(overvoltage) Increase the
deceleration state. voltage between terminals
acceleration/
B1/ and - .
deceleration time if
possible.
Adjust the bus
6. The bus voltage
Check whether the voltage sampling
sampling value has a
sampling value in H0B- again under the
large deviation from
26 is consistent with the instruction of the
the actually measured
actually measured value. technical support
value.
personnel.
Do not connect the main
circuit power supply, but
connect the control circuit
faulty. drive.
power supply, and check
whether the fault persists.
1. When the power
voltage is 220 VAC
(380 VAC), the
Measure the power Increase the power
detected bus voltage
voltage, and check the bus voltage and replace
is lower than 220 V
voltage during running. the power supply.
(380 V), or the power
voltage is lower than
the input voltage limit.
Er.410
(undervoltage) Ensure that the
2. The power voltage Measure the power power voltage
drops during running. voltage. remains within the
speci¿cations.
Check whether the input
3. The input reactor is power voltage meets Use a proper
too large. the speci¿cations during reactor.
running.
Fault Display and

Description
Adjust the power
4. Instantaneous Measure the power
voltage to within the
power failure occurs. voltage.
speci¿cations.
Check the required and
5. Phase loss exists: Use the correct
actual power supply of the
Single-phase power power supply, and
servo drive, and check
supply is used for the connect the power
Er.410 whether the power supply
three-phase servo cables again or
(undervoltage) cables are connected
drive. replace them.
properly.
persists after the servo
drive is powered off and
faulty. drive.
powered on again several
times.
1. The three-phase Connect the power
Check wiring of the power
power cables are not cables again or
cables.
connected well. replace them.
2. The single-phase
Check the required and
power supply is used Use the correct
actual power supply of the
for the three-phase power supply.
servo drive.
servo drive.
Er.420 Ensure that the
(power cable phase 3. The three-phase three-phase power
loss) power supply is Check the voltage of each supply is balanced
unbalanced or the phase. and the power
voltage is too low. voltage meets the
speci¿cations.
4. The servo drive is persists after the servo Replace the servo
faulty. drive is powered off and drive.
powered on again.
1. The UVW phase
Check the UVW phase Correct the motor
sequence of the motor
sequence of the motor. wiring.
is incorrect.
2. The input reference Decrease the
value exceeds the Check the input reference. reference value or
speed limit. adjust the gain.
Er.500
(motor overspeed) Reduce the gain of
the regulator, and
3. The motor speed Check the waveform of the
adjust the servo
overshoots. motor speed.
drive gain or the
running conditions.
4. The servo drive is Repair or replace
-
faulty. the servo drive.
Fault Display and

Description
1. Wiring of the
Check wiring of the motor Correct the wiring or
motor and encoder is
and encoder. replace the cables.
incorrect or poor.
Increase the
2. The load is too
capacity of the
heavy. The valid
Check the overload feature servo drive and
torque exceeds the
and running references of motor, reduce the
rated torque, and the
the motor and servo drive. load, and increase
motor keeps running
the acceleration/
for a long time.
deceleration time.
3. The acceleration/
Increase the
deceleration is too View the inertia ratio and
acceleration/
frequent or the load the start/stop period.
deceleration time.
inertia is too large.
Er.610 4. The gain is

(servo drive overload) improper, causing
vibrates and produces
Er.620 too high rigidity and Adjust the gain.
abnormal noise during
(motor overload) motor vibration and
running.
abnormal noise.
5. The servo drive or
View the setting of the Set the models
motor model is set
related function codes. correctly.
incorrectly.
View the running
6. Locked-rotor occurs references and motor
Eliminate
due to mechanical rotational speed in the
mechanical factors.
factors. background or on the
keypad.
Restart the servo drive
and check whether the
faulty. drive.
fault persists.
Note that the fault can be cleared or the servo drive can be restarted at
least 30s after the overload fault occurs.
Fault Display and

Description
Improve the cooling
1. The ambient
Measure the ambient conditions to
temperature is too
temperature. reduce the ambient
high.
temperature.
Change the fault
reset method.
After the overload
fault occurs, wait
30s and then
2. The servo drive
perform the reset
is powered off and View the fault records
operation. Increase
powered on several and check whether the
the capacity of the
times to reset the overload fault occurs.
servo drive and
overload fault.
motor, increase
Er.650 the acceleration/
(heatsink overheat) deceleration time,
and reduce the
load.
3. The fan is Observe whether the fan Contact Inovance to
damaged. works during running. replace the fan.
4. The installation
direction and Install the servo
Check the installation of
clearance away from drive according to
the servo drive.
other servo drives are the requirements.
improper.
Power off the servo drive,
5. The servo drive is restart it after 5 minutes, Replace the servo
faulty. and check whether the drive.
fault persists.
Fault Display and

Description
Use the twisted
shielded cable as
the encoder cable.
1. Interference on Z
Fasten the encoder
signal of the encoder Check the encoder wiring.
wiring terminals.
exists.
Separate the motor
cables and encoder
cable.
Connect the
2. The encoder wiring
Er.740 Check the encoder wiring. encoder cable
is incorrect.
(encoder interference) correctly.
Connect the
3. Connection of
encoder cable
the encoder cable Check the encoder wiring.
again and fasten
becomes loose.
the wiring terminal.
Rotate the motor shaft
Replace the
manually to check whether
4. The encoder is encoder or contact
the value of H0B-10
faulty. Inovance for
changes slowly within
technical support.
0–360°.
Ensure that the
1. The AI voltage is
Measure the AI voltage. input voltage is not
Er.834 too high.
higher than 11.5 V.
(AD sampling
overvoltage) Check the wiring according
2. The AI wiring is Perform the wiring
to the correct wiring
incorrect. again.
diagram.
1. The motor UVW
Check wiring of the main Connect the motor
cables are connected
circuit cables of the motor. UVW cables again.
incorrectly.
2. The servo drive Check whether the servo Increase the servo
gain is too low. drive gain is too low. drive gain.
Reduce the pulse
frequency of
Reduce the pulse
3. The pulse position references
frequency of position
frequency of position and acceleration
references and check
Er.B00 references is too high. rate, or adjust the
whether the fault persists.
(position follow-up electronic gear
deviation too large) ratio.
Implement the
4. The acceleration smooth function
rate of the position Reduce the acceleration by setting the
references is too rate of position references. acceleration/
large. deceleration time
(H05-06).
5. The position
Check whether the value Set the value of
deviation threshold
of H0A-10 is proper. H0A-10 properly.
(H0A-10) is too small.
Fault Display and

Description
Replace the servo
Er.B00 Check the running
6. The servo drive or drive or motor if
(position follow-up graphics in the background
motor is faulty. there is input but no
deviation too large) software.
feedback.
Check the output
1. The input pulse
frequency of the host Change the
frequency is higher
controller and the maximum
than the maximum
maximum frequency set in frequency.
frequency (H0A-09).
ErB01 H0A-09.
(pulse input Ground the cables
abnormal) Check whether the
reliably; use the
2. There is references are abnormal in
twisted shielded
interference on the the background software,
cables; separate
input. and check grounding of
the input cables and
cables.
power cables.
Ensure that the
The setting of the
Er.B03 Check the ratios of H05- ratios of H05-11/
electronic gear ratio
(electronic gear ratio 11/H05-10 and H05-09/ H05-10 and H05-
is outside the range
setting error) H05-07. 09/H05-07 are
0.001–4000.
within 0.001–4000.
Er.D03 The CAN
Power on the servo
(CAN communication communication is -
drive again.
interrupted) interrupted.
6.2 Analysis and Handling of Warnings

When a warning occurs on the servo drive, the keypad displays "Er.xxx". The following table
describes the analysis and handling of warnings.
Fault
Code and Probable Cause Con¿rming Method Solution Principle
Description
For the incremental
encoder, the frequency-
Er.110 The frequency- division pulses per
The value
(setting division pulses revolution must not exceed Set the frequency-
of H05-17
error of per revolution the encoder PPR. division pulses per
exceeds
frequency- of the encoder For the absolute encoder, revolution in H05-
the encoder
division do not meet the the frequency-division 17 again.
PPR.
pulse output) speci¿cations. pulses must not exceed
1/4 of the encoder
resolution.
Fault
Description
There is only high-speed
searching and no low-
1. The home Replace the home
speed searching during
switch fails. switch.
the operation of returning
to home.
Check whether the time for
2. The search Increase the value
home return set in H05-35
time is too short. of H05-35.
is too short.
Er.601
(home return 3. The -
Increase the
timeout) motor stops
low-speed
immediately after
creeping time
reaching the Check whether the motor
and the search
home at high- stops immediately after
acceleration/
speed running, reaching the home at high-
deceleration time,
and there is speed running.
and decrease the
no low-speed
high-speed search
reverse creeping
speed.
process.
Use the twisted
shielded cables
The zero drift
1. The wiring is Check the wiring according and perform the
exceeds 500
incorrect. to the wiring diagram. wiring again, and
mV.
shorten the cable
distance.
Er.831 Disconnect the external
(AI zero drift cables and view the AI
too large) sampling value in group
H0B.
2. The servo Replace the servo
If the sampling value -
drive is faulty. drive.
exceeds 500 mV when
there is no input, it
drive is faulty.
Er.900 Check the running
The DI braking
(DI Check whether the DI mode and clear
switch is -
emergency braking switch is triggered. the DI braking
triggered.
braking) enable signal.
1. The cable
The
Er.920 of the external
1. Check cable wiring accumulative
(braking braking resistor Connect the
of the external braking heat of the
resistor is in poor braking resistor
resistor according to the resistor
overload) connection, cable correctly.
wiring diagram. exceeds the
becomes loose
setting value.
or breaks.
Fault
Description
The jumper
across terminals
B1/ and D is
Check wiring of the jumper Connect the
disconnected
between power terminals. jumper correctly.
when the internal
braking resistor is
used.
3. The setting
of H02-25 is
incorrect when View the setting of H02- Set H02-25
the external 25. correctly.
braking resistor is
used.
Replace the power
4. The input
supply and ensure
power voltage Measure the power
that the power
is outside the voltage.
voltage is within
speci¿cations.
the speci¿cations.
Increase the
5. The capacity capacity of the The
Er.920 of the servo View the motion graphics servo unit or accumulative
(braking ampli¿er or and calculate the braking resistor, heat of the
resistor braking resistor is maximum braking energy. and increase resistor
overload) insuf¿cient. the acceleration/ exceeds the
deceleration time. setting value.
6. The speed
is too high, and
the deceleration Reduce the load,
View the motor graphics
process is not and improve the
and check whether
completed within capacities of the
the motor is in power
the required servo motor, servo
generation state for a long
time. The drive, and braking
time.
braking resistor resistor.
is in continuous
braking state.
Improve the
7. The load capacities of the
inertia exceeds Check the load inertia. servo drive, motor,
the limit. and braking
resistor.
8. The resistance Select the braking
of the external View the resistance of the resistor with
braking resistor is braking resistor. proper resistance
too large. and capacity.
Fault
Description
9. The resistance
of the braking Check whether the setting
Set H02-27
resistor set of H02-27 is consistent
correctly. The
in H02-27 is with the actual value.
incorrect. accumulative
Er.920 heat of the
Do not connect the main resistor
(braking
circuit power supply, but exceeds the
resistor
10. The servo connect the control circuit Replace the servo setting value.
overload)
unit is faulty. power supply, and check drive.
whether the warning is still
reported.
When the external braking resistor is used, you must set the resistance in H02-27
and capacity in H02-26 correctly.
The
Er.922 The resistance resistance of
(resistance of the external the external
Select a proper
of the braking resistor is Measure the resistance braking
braking resistor
external smaller than the and check the setting of resistor is
and change the
braking minimum value H02-27. smaller than
setting of H02-27.
resistor too required by the the required
small) servo drive. minimum
value.
The set
reference
is too large
Er.939 Connect the motor (above 50%
(motor The motor power Check the motor power power cables or maximum);
power cable cables break. cables. again or replace the feedback
breaking) them. current is too
small (10%);
the speed is
too small.
Er.941 The modi¿cation
(parameter of certain
modi¿cation parameters takes
Power on the
taking effect effect only after - -
servo drive again.
only after the servo drive
power-on is powered on
again) again.
Check the running
mode. For the
Check whether the parameters that
Er.942
Parameters are host controller performs need not be stored The memory
(parameter
stored frequently frequent and fast in EEPROM, cache
storage too
to EEPROM. parameter writing on the set H0C-14 to 0 overÀows.
frequent)
servo drive. before the writing
operation of the
host controller.
Fault
Description
Check the running
mode. Send a
Er.950 reverse reference
The forward
(forward Check whether the forward or rotate the
limit switch is -
overtravel limit switch is triggered. motor, making the
triggered.
warning) motor not reach
the forward limit
switch.
Check the running
mode. Send a
Er.952 forward reference
The reverse
(reverse Check whether the reverse or rotate the
limit switch is -
overtravel limit switch is triggered. motor, making the
triggered.
warning) motor not reach
the reverse limit
switch.
Internal
Er.980 parameters
The encoder is on again several times Replace the servo
(encoder of the
faulty internally. but the warning is still motor.
fault) encoder are
reported, it indicates that
abnormal.
the encoder is faulty.
If the warning
is reported
when three-
phase cables
When H0A-00
are connected
is set to 1, the
according to the
three-phase
requirements,
servo drive can
Er.990 Check whether the servo handle the Its principle is
run (0.4–0.75
(input drive is three-phase but warning as Er.420 similar to that
kW) when two
phase loss only two phases are (power cable of the phase
phases are
warning) connected during running. phase loss). If loss fault.
connected, but
the warning is
a warning is
reported when
reported in this
two-phase cables
case.
are connected
according to the
requirements, set
H0A-00 to 0.
7
Function Code Table
efesotomasyon.com
Function Code Table IS500 Series Servo Drive User Manual
Chapter 7 Function Code Table

Function
Parameters
Code Group
Group H00 Servo motor parameters
Group H01 Servo drive parameters
Group H02 Basic control parameters
Group H03 Input terminal parameters
Group H04 Output terminal parameters
Group H05 Position control parameters
Group H06 Speed control parameters
Group H07 Torque control parameters
Group H08 Gain parameters
Group H09 Auto-adjusting parameters
Group H0A Fault and protection parameters
Group H0B Display parameters
Group H0C Communication parameters
Group H0D Auxiliary function parameters
Group H11 Multi-position function parameters
Group H12 Multi-speed function parameters
Group H17 VDI/VDO parameters
Servo state variables read by communication (not displayed
Group H30
on keypad)
Group H31 Variables set via communication (not displayed on keypad)
Group H00: Servo Motor Parameters

Function Default Effective
Parameter Name Setting Range Min. Unit Property
Code Setting Time
0–65534 Model Power-on
H00 00 Motor SN 1 At stop
65535: motor SN null dependent again
Customized motor
H00 02 - 1 - - At display
SN
Rated motor 0–220 V Power-on
H00 09 - - At stop
voltage 1–380 V again
Rated motor Power-on
H00 10 0.01–655.35 kW 0.01 kW - At stop
power again
H00 11 0.01–655.35 A 0.01 A - At stop
current again
H00 12 0.10–655.35 Nm 0.01 Nm - At stop
torque again
IS500 Series Servo Drive User Manual Function Code Table
Function Default Effective

Code Setting Time
Maximum motor Power-on
H00 13 0.10–655.35 Nm 0.01 Nm - At stop
torque again
H00 14 100–9000 RPM 1 RPM - At stop
rotational speed again
Maximum motor Power-on
H00 15 100–9000 RPM 1 RPM - At stop
rotational speed again
0.01 Power-on
H00 16 Load inertia 0.01–655.35 kgcm2 - At stop
kgcm2 again
Number of pole Power-on
H00 17 2–360 1 - At stop
pairs of PMSM again
Power-on
H00 18 Stator resistance 0.001–65.535 ȍ 0.001 ȍ - At stop
again
Stator inductance Power-on
H00 19 0.01–655.35 mH 0.01 mH - At stop
Lq again
Stator inductance Power-on
H00 20 0.01–655.35 mH 0.01 mH - At stop
Ld again
Line back EMF 0.01–655.35 mV/ 0.01 Power-on
H00 21 - At stop
coef¿cient RPM mV/RPM again
0.01
Torque coef¿cient 0.01–655.35 Nm/ Power-on
H00 22 Nm/ - At stop
Kt Arms again
Arms
Electrical constant Power-on
H00 23 0.01–655.35 ms 0.01 ms - At stop
Te again
Mechanical Power-on
H00 24 0.01–655.35 ms 0.01 ms - At stop
constant Tm again
Position offset of 0–1073741824 1 pulses/ Power-on
H00 28 - At stop
absolute encoder pulses/rev rev again
0x000: Incremental
encoder (UVW-ABZ)
0x001: Wire-saving
Encoder type Power-on
H00 30 incremental encoder 1 0x013 At stop
(HEX) again
(UVW-ABZ)
0x013: Inovance 20-
bit serial encoder
1–1073741824 1 pulses/ 1048576 Power-on
H00 31 Encoder PPR At stop
pulses/rev rev pulses/rev again
Electrical angle of Power-on
H00 33 0.0–360.0° 0.1° 180.0° At stop
Z signal again
Electrical angle
Power-on
H00 34 of phase U rising 0.0–360.0° 0.1° 180.0° At stop
again
edge
Group H01: Servo Drive Parameters

Function Setting Effective
Parameter Name Min. Unit Default Setting Property
Code Range Time
H01 00 Software version - 0.01 - - At display
FPGA software
H01 01 - 0.01 - - At display
version
Group H02: Basic Control Parameters

0: Speed mode
1: Position mode
2: Torque mode
3: Speed mode
torque mode
4: Position mode
H02 00 Control mode 1 1 Immediate At stop -
speed mode
5: Position mode
torque mode
6: Position mode
speed mode
torque mode
0: CCW direction as
the forward direction
(phase A advancing
phase B)
Rotating Power-on
H02 02 1: CW direction as 1 0 At stop PST
direction again
(reverse rotation
mode, phase A
lagging phase B)
0: CCW direction as
(phase A advancing
Direction of phase B)
Power-on
H02 03 output pulse 1: CW direction as 1 0 At stop PST
again
feedback the forward direction
(reverse rotation
mode, phase A
lagging phase B)
Minimum 0.1 Power-on
H02 04 0.2–14.0 RPM 4.0 RPM At stop PST
speed RPM again
0: Coast to stop,
keeping free running
Stop mode at
state
H02 05 servo drive 1 0 Immediate At stop PST
1: Stop at zero
disabled
speed, keeping free
running state

0: Coast to stop,
keeping free running
Stop mode 2 state
at fault 1: Stop at zero
speed, keeping free
running state
0: Determined by
H02-08
1: Emergency torque
Stop mode at stop, position locking
overtravel state
2: Emergency torque
stop, free running
state
0: Coast to stop,
Stop mode 1
H02 08 keeping free running 1 0 Immediate At stop PST
at fault
state
Brake release
command During
H02 09 20–500 ms 1 ms 200 ms Immediate PS
delay at servo running
drive enabled
Servo drive
disable delay During
H02 10 1–500 ms 1 ms 100 ms Immediate PS
at brake apply running
command
Output speed
1 During
H02 11 limit of brake 0–1000 RPM 100 RPM Immediate PS
RPM running
reference
Waiting time
from servo
During
H02 12 disable signal 1–1000 ms 1 ms 500 ms Immediate PS
running
to brake apply
command
Rotational
speed 1 Power-on
H02 13 0–3000 RPM 100 RPM At stop PST
detection RPM again
threshold
Display
0: Immediate output
H02 15 of keypad 1 0 Immediate At stop -
1: Not output
warning
Smallest
allowed
At
H02 21 dynamic - 1ȍ - - -
display
braking
resistor

Power of
built-in
At
H02 22 dynamic - 1W - - -
display
braking
resistor
Resistance
of built-
At
H02 23 in dynamic - 1ȍ - - -
display
braking
resistor
Resistor heat
H02 24 dissipation 10–100 1 30 Immediate At stop -
coef¿cient
0: Internal
1: External, natural
Dynamic cooling
H02 25 braking 2: External, forced air 1 0 Immediate At stop -
resistor type cooling
3: No resistor, using
only capacitor
Power of
external
Model
H02 26 dynamic 1–65535 W 1W Immediate At stop -
dependent
braking
resistor
Resistance
of external
Model
H02 27 dynamic 1–1000 ȍ 1ȍ Immediate At stop -
dependent
braking
resistor
0: No operation
1: Restore default
Parameter
H02 31 setting (except 1 0 Immediate At stop -
initialization
groups H0 and H1)
2: Clear fault records
0: Switchover to
H0B-00
1: Switchover to
Default
H0B-01 During
H02 32 keypad 1 50 Immediate -
2: Switchover to running
display
H0B-02
……
50: Not switchover
H02 40 Reserved - - - - - -
H02 41 Reserved - - - - - -
Group H03: Input Terminal Parameters

States of 0–0xFFFF
functions not Bit0: FunIN.1
Power-on During
H03 00 allocated Bit1: FunIN.2 1 0 -
again running
among FunIN ……
1–16 (HEX) Bit15: FunIN.16
States of 0–0xFFFF
functions not Bit0: FunIN.17
Power-on During
H03 01 allocated Bit1: FunIN.18 1 0 -
again running
among FunIN ……
17–32 (HEX) Bit15: FunIN.32
0–34
0: No function
DI1 function During
H03 02 1–34: FunIN.1–34 1 6 Upon stop -
selection running
(refer to the DI/DO
basic function table)
Input polarity: 0–4
0: Low level valid
1: High level valid
DI1 logic During
H03 03 2: Rising edge valid 1 0 Upon stop -
selection running
3: Falling edge valid
4: Both rising edge
and falling edge valid
0–34
0: No function
DI2 function During
H03 04 1–34: FunIN.1–34 1 7 Upon stop -
selection running
(refer to the DI/DO
0: Low level valid
1: High level valid
DI2 logic During
selection running
4: Both rising edge
0–34
0: No function
DI3 function During
H03 06 1–34: FunIN.1–34 1 5 Upon stop -
selection running
(refer to the DI/DO
0: Low level valid
1: High level valid
DI3 logic During
selection running
4: Both rising edge

0–34
0: No function
DI4 function During
H03 08 1–34: FunIN.1–34 1 2 Upon stop -
selection running
(refer to the DI/DO
0: Low level valid
1: High level valid
DI4 logic During
selection running
4: Both rising edge
0–34
0: No function
DI5 function During
H03 10 1–34: FunIN.1–34 1 1 Upon stop -
selection running
(refer to the DI/DO
0: Low level valid
1: High level valid
DI5 logic During
selection running
4: Both rising edge
0–34
0: No function
DI6 function During
H03 12 1–34: FunIN.1–34 1 12 Upon stop -
selection running
(refer to the DI/DO
0: Low level valid
1: High level valid
DI6 logic During
selection running
4: Both rising edge
0–34
0: No function
DI7 function During
H03 14 1–34: FunIN.1–34 1 8 Upon stop -
selection running
(refer to the DI/DO
0: Low level valid
1: High level valid
DI7 logic During
selection running
4: Both rising edge

0–34
0: No function
DI8 function During
H03 16 1–34: FunIN.1–34 1 9 Upon stop -
selection running
(refer to the DI/DO
0: Low level valid
1: High level valid
DI8 logic During
selection running
4: Both rising edge
0–34
0: No function
DI9 function During
H03 18 1–34: FunIN.1–34 1 0 Upon stop -
selection running
(refer to the DI/DO

0: Low level valid
1: High level valid
DI9 logic During
selection running
4: Both rising edge
0–34
0: No function
DI10 function During
H03 20 1–34: FunIN.1–34 1 0 Upon stop -
selection running
(refer to the DI/DO
0: Low level valid
1: High level valid
DI10 logic During
selection running
4: Both rising edge
AI1 minimum
H03 50 -10.00–+10.00 V 0.01 V -10.00 V Immediate At stop -
input
Corresponding
H03 51 setting of AI1 -100.0%–+100.0% 0.10% -100.0% Immdiate At stop -
minimum input
AI1 maximum
H03 52 -10.00–+10.00 V 0.01 V 10.00 V Immediate At stop -
input
Corresponding
H03 53 setting of AI1 -100.0%–+100.0% 0.10% 100.0% Immdiate At stop -
maximum input

0.1 During
H03 54 AI1 zero offset -500.0–+500.0 mV 0 mV Immediate -
mV running
0.01
H03 56 AI1 ¿lter time 0–655.35 ms 2.00 ms Immediate At stop -
ms
AI2 minimum
H03 57 -10.00–+10.00 V 0.01 V -10.00 V Immediate At stop -
input
Corresponding
H03 58 setting of AI2 -100.0%–+100.0% 0.10% -100.0% Immdiate At stop -
minimum input
AI2 maximum
H03 59 -10.00–+10.00 V 0.01 V 10.00 V Immediate At stop -
input
Corresponding
H03 60 setting of AI2 -100.0%–+100.0% 0.10% 100.0% Immdiate At stop -
maximum input
0.1
H03 61 AI2 zero offset -500.0–+500.0 mV 0 mV Immediate At stop -
mV
0.01
H03 63 AI2 ¿lter time 0–655.35 ms 2.00 ms Immediate At stop -
ms
Speed
3000
H03 80 corresponding 0–9000 RPM 1 RPM Immediate At stop -
RPM
to 10 V
Torque
1–8 times of rated
H03 81 corresponding 1.00 1.00 Immediate At stop -
torque
to 10 V
Group H04: Output terminal Parameters

0–18
DO1 0: No function
During
H04 00 function 1–18: FunOUT.1–18 1 1 Upon stop -
running
selection (refer to the DI/DO basic
function table)
Output polarity reverse
setting: 0–1
DO1 logic 0: Output low level when During
H04 01 1 0 Upon stop -
selection valid (optocoupler ON) running
1: Output high level when
valid (optocoupler OFF)
0–18
DO2 0: No function
During
running
function table)

setting: 0–1
0–18
DO3 0: No function
During
running
function table)
setting: 0–1
0–18
DO4 0: No function
During
running
function table)
setting: 0–1
0–18
DO6 0: No function
During
running
function table)

setting: 0–1
0–18
DO7 0: No function
During
running
function table)

setting: 0–1
0–18
DO8 0: No function
During
running
function table)
setting: 0–1
Bit0: DO1 source
……
Bit7: DO8 source
Bit8 to Bit15: Reserved
H04 22 DO source - 0 Immediate At stop -
Bitx = 0: DO(x+1) signal
given by the servo drive
Bitx = 1: DO(x+1) signal
given via communication
0: Motor rotational speed
(1 V/1000 RPM, by default)
1: Speed reference (1
V/1000 RPM)
2: Torque reference (1
V/100%)
3: Position deviation (0.05
V/1 reference unit)
4: Position ampli¿er
AO1 signal During
H04 50 deviation (0.05 V/1 1 0 Immediate -
selection running
encoder pulse unit)
5: Position reference
speed (1 V/1000 RPM)
6: Positioning completed
reference (positioning
completed: 5 V, positioning
uncompleted: 0 V)
7: Speed feedforward (1
V/1000 RPM)
AO1 offset 5000 During
H04 51 0–10000 mV 1 mV Immediate -
voltage mV running
AO1
0.01 1.00 During
H04 52 multiplying -99.99–+99.99 times Immediate -
times times running
factor

0: Motor rotational speed
(1 V/1000 RPM, by default)
1: Speed reference (1
V/1000 RPM)
2: Torque reference (1
V/100%)
3: Position deviation (0.05
V/1 reference unit)
4: Position ampli¿er
deviation (0.05 V/1
AO2 signal During
H04 53 encoder pulse unit) 1 0 Immediate -
selection running
5: Position reference
speed (1 V/1000 RPM)
6: Positioning completed
reference (positioning
completed: 5 V, positioning
uncompleted: 0 V)
1: Speed feedforward (1
V/1000 RPM)
8: AI1 voltage
9: AI2 voltage
AO1 offset 5000 During
H04 54 0–10000 mV 1 mV Immediate -
voltage mV running
AO2
During
H04 55 multiplying -99.99–+99.99 times 0.01 1.00 Immediate -
running
factor
Group H05: Position Control Parameters

0: Pulse setting
Main position
1: Step setting
H05 00 reference 1 0 Immediate At stop P
2: Multi-position
source
setting
1 50
-9999–+9999
H05 03 Step size reference reference Immediate At stop P
reference unit
unit unit
First-order
H05 04 low-pass ¿lter 0–6553.5 ms 0.1 ms 0 Immediate At stop P
time
Average
¿lter time
H05 06 0–128.0 ms 0.1 ms 0 Immediate At stop P
of position
references
Electronic
During
running
(numerator)

Electronic
During
running
(denominator)
Electronic
During
running
(numerator)
Electronic
During
running
(denominator)
0: Direction +
pulse, positive
logic
1: Direction +
pulse, negative
Pulse
logic Power-on
H05 15 reference 1 0 At stop P
2: Phase A again
form
+ phase B
orthogonal pulse,
4-frequency
multiplication
3: CW+CCW
0: Clear position
deviation pulses
upon servo drive
disabled or fault
1: Clear position
deviation pulses
upon fault
2-Clear position
deviation pulses
H05 16 Clear action upon high CLR 1 0 Immediate At stop P
3-Clear position
deviation pulses
upon low CLR
4-Clear position
deviation pulses
upon rising CLR
5-Clear position
deviation pulses
upon falling CLR
Encoder
frequency- 1 2500 Power-on
H05 17 35–32767 P/Rev At stop -
division P/Rev P/Rev again
pulses
0: No speed
Speed
feedforward
feedforward
H05 19 1: Internal 1 1 Immediate At stop P
control
2: AI1
selection
3: AI2

0: Position
deviation
absolute value
smaller than
amplitude of
positioning
completed
1: Position
deviation
absolute value
smaller than
Output amplitude of
condition of positioning
During
H05 20 positioning completed 1 0 Immediate P
running
completed and position
signal (COIN) reference after
¿lter being 0
2: Position
deviation
absolute value
smaller than
amplitude of
positioning
completed
and position
reference being
0
Amplitude for 7
1–65535 1 encoder During
H05 21 positioning encoder Immediate P
encoder unit unit running
completed unit
Amplitude of
65535
positioning 1–65535 1 encoder During
H05 22 encoder Immediate P
almost encoder unit unit running
unit
completed
Interruption 1: Enabled Power-on
H05 23 0 0 At stop P
¿xed length 0: Disabled again
Displacement 1 10000
0–1073741824 During
H05 24 of interruption reference reference Immediate P
reference unit running
¿xed length unit unit
Constant
speed for During
H05 26 0–9000 RPM 1 RPM 200 RPM Immediate P
interruption running
¿xed length
Acceleration/
Deceleration
During
H05 27 time of 0–1000 ms 1 ms 10 ms Immediate P
running
interruption
¿xed length

Interruption
0: Disabled During
H05 29 ¿xed length 1 1 Immediate P
1: Enabled running
unlock
0: Disabled
1: Enabled upon
ORGSET signal
from DI
2: Electrical
home return
upon ORGSET
signal from DI
Control of 3: Started During
H05 30 1 0 Immediate P
home return immediately running
upon power-on
4: Started
immediately
5: Electrical
home return
6: Taking current
position as the
home
0: Forward
home return,
deceleration
position and
home as home
switches
1: Reverse
home return,
deceleration
position and
home as home
switches
Mode of home 2: Forward
return home return,
deceleration
position and
home as motor Z
signals
3: Reverse
home return,
deceleration
position and
home as motor Z
signals
(To be continued)

6: Forward
home return,
deceleration
position and
home as forward
limit switches
7: Reverse
home return,
deceleration
position and
home as reverse
limit switches
8: Forward
Mode of home
H05 31 home return, 1 0 Immediate At stop P
return
deceleration
position as
forward limit
switch and home
as motor Z signal
9: Reverse
home return,
deceleration
position as
reverse limit
switch and home
as motor Z signal
(End)
Speed of
home switch
H05 32 signal at 0–3000 RPM 1 RPM 100 RPM Immediate At stop P
high-speed
searching
Speed of
home switch
H05 33 signal at 0–1000 RPM 1 RPM 10 RPM Immediate At stop P
low-speed
searching
Acceleration/
Deceleration
H05 34 0–1000 ms 1 ms 1000 ms Immediate At stop P
time at home
searching
Time of home 10000
H05 35 0–65535 ms 1 ms Immediate At stop P
searching ms
-1073741824– 1
Mechanical
H05 36 +1073741824 reference 0 Immediate At stop P
home offset
reference unit unit

0: Encoder
frequency-
division output
1: Pulse
reference
Servo pulse Power-on
H05 38 synchronous 1 0 At stop P
output source again
output
2: Frequency-
division and
synchronous
output forbidden
0: Enabled
after position
Electronic
pulse reference
gear ratio
H05 39 remaining 0 for 1 0 Immediate At stop P
switchover by
10 ms
DI
1: Enabled in
real time
0: H05-36 as
coordinate for
home return,
trigger home
return and ¿nd
home reversely
after reaching
limit switch
1: H05-36 as
relative offset
for home return,
trigger home
return and ¿nd
home reversely
Home offset after reaching
and action limit switch
after reaching 2: H05-36 as
limit switch coordinate for
home return,
automatically
¿nd zero position
reversely after
reaching limit
switch
3: H05-36 as
relative offset
for home return,
automatically
¿nd zero position
reversely after
reaching limit
switch

0: Positive (Z
pulse being high
Output polarity level) Power-on
H05 41 1 1 At stop P
of Z pulse 1: Negative (Z again
pulse being low
level)
Group H06: Speed Control Parameters

Main speed 0: Digital setting (H06-03)
H06 00 reference A 1: AI1 1 0 Immediate At stop S
source 2: AI2
0: Digital setting (H06-03)

1: AI1
Auxiliary speed
2-AI2
H06 01 command B 1 1 Immediate At stop S
3: 0 (No function)
source
4: 0 (No function)
5: Multi-speed reference
0: Main speed reference A

source
Speed 1: Auxiliary speed
H06 02 reference reference B source 1 0 Immediate At stop S
selection 2: A+B
3: A/B switchover
Keypad setting
1 200 During
H06 03 value of speed -9000–+9000 RPM Immediate S
RPM RPM running
reference
Jog speed 1 100 During
H06 04 0–9000 RPM Immediate S
setting value RPM RPM running
Acceleration
ramp time During
H06 05 0–65535 ms 1 ms 0 Immediate S
of speed running
reference
Deceleration
ramp time During
H06 06 0–65535 ms 1 ms 0 Immediate S
of speed running
reference
Maximum
1 9000 During
H06 07 rotational 0–9000 RPM Immediate S
RPM RPM running
speed limit
Forward speed 1 9000 During
limit RPM RPM running

Reverse speed 1 9000 During
limit RPM RPM running
Torque 0: No torque feedforward
During
H06 11 feedforward 1: Internal torque 1 1 Immediate PS
running
selection feedforward
Speed limit for 1 10 During
zero clamp RPM RPM running
Motor
rotational 1 20 During
H06 16 0–1000 RPM Immediate PST
speed RPM RPM running
threshold
Width of speed
1 10 During
H06 17 consistent 0–100 RPM Immediate S
RPM RPM running
signal
Group H07: Torque Control Parameters

100% of the torque reference corresponds to the rated motor torque.

0: Digital setting (H07-
Main torque
03)
H07 00 reference A 1 0 Immediate At stop T
1: AI1
source
2: AI2
0: Digital setting (H07-
Auxiliary torque
03)
H07 01 reference B 1 1 Immediate At stop T
1: AI1
source
2: AI2
0: Main torque reference
A source
1: Auxiliary torque
Torque
reference B source
H07 02 reference 1 0 Immediate At stop T
2: A+B
source
3: A/B switchover
4: Communication
setting
Keypad setting
During
H07 03 value of torque -300.0%–+300.0% 0.1% 0 Immediate T
running
reference
Torque
0.01 During
H07 05 reference ¿lter 0–30.00 ms 0.79 ms Immediate PST
ms running
time 1
Torque
0.01 During
H07 06 reference ¿lter 0–30.00 ms 0.79 ms Immediate PST
ms running
time 2

0: Internal
1: External setting (P-CL
and N-CL selection)
2: External T-LMT
Torque limit
H07 07 setting 1 0 Immediate At stop PST
source
3: Smaller of external
T-LMT setting (P-CL and
N-CL selection)
1: AI1
H07 08 T-LMT selection 1 2 Immediate At stop PST
2: AI2
0–300.0% (100%
Internal forward During
H07 09 corresponds to the rated 0.1% 300.0% Immediate PST
torque limit running
motor torque)
0–300.0% (100%
Internal reverse During
motor torque)
0–300.0% (100%
External forward During
motor torque)
0–300.0% (100%
External reverse During
motor torque)
0–300.0% (100%
Emergency stop
H07 15 corresponds to the rated 0.1% 100.0% Immediate At stop PST
torque
motor torque)
0: Internal (in torque
control)
Speed limit During
H07 17 1: External V-LMT 1 0 Immediate T
source running
setting
1: AI1 During
H07 18 V-LMT selection 1 1 Immediate T
2: AI2 running
Forward speed
1 3000 During
RPM RPM running
control
Reverse speed
1 3000 During
RPM RPM running
control
0–300.0%
Base value for During
H07 21 (100% corresponds to 0.1% 0 Immediate PST
torque reached running
the rated motor torque)
Threshold of 0–300.0%
During
H07 22 torque reached (100% corresponds to 0.1% 20.0% Immediate PST
running
valid the rated motor torque)

Threshold of 0–300.0%
During
H07 23 torque reached (100% corresponds to 0.1% 10.0% Immediate PST
running
invalid the rated motor torque)
Detection time
0.1 During
H07 40 of speed limit 0.5–30.0 ms 1.0 ms Immediate T
ms running
exceeded
Group H08: Gain Parameters

During
H08 00 Speed loop gain 0.1–2000.0 Hz 0.1 Hz 25.0 Hz Immediate PS
running
Speed loop
0.01 31.83 During
H08 01 integral time 0.15–512.00 ms Immediate PS
ms ms running
constant
During
H08 02 Position loop gain 0–2000.0 Hz 0.1 Hz 40.0 Hz Immediate P
running
Second speed During
H08 03 0.1–2000.0 Hz 0.1 Hz 40.0 Hz Immediate PS
loop gain running
Second speed
0.01 20.00 During
H08 04 loop integral time 0.15–512.00 ms Immediate PS
ms ms running
constant
Second position During
H08 05 0–2000.0 Hz 0.1 Hz 64.0 Hz Immediate P
loop gain running
Low speed
During
H08 08 threshold of gain 0–6000 RPM 1 RPM 10 RPM Immediate PS
running
switchover
High speed
100 During
H08 09 threshold of gain 0–6000 RPM 1 RPM Immediate PS
RPM running
switchover
0: Gain switchover
disabled, use ¿rst
gain
1: Gain switchover
disabled, use
Gain switchover
H08 10 second gain 1 0 Immediate At stop PS
condition
3: Automatic gain
switchover based
on speed reference,
with amplitude set in
H08-08 and H08-09

Average value of During
H08 15 0–120.00 0.01 1.00 Immediate PST
load inertia ratio running
Speed
0.01 During
H08 18 feedforward ¿lter 0–64.00 ms 0 Immediate P
ms running
time constant
Speed During
H08 19 0–100.0% 0.1% 0 Immediate P
feedforward gain running
Torque
0.01 During
H08 20 feedforward ¿lter 0–64.00 ms 0.50 ms Immediate P
ms running
time constant
Torque During
H08 21 0–200.0% 0.1% 0 Immediate P
feedforward gain running
Speed 0: Disabled
H08 22 1 0 Immediate At stop PS
feedforward ¿lter 1: Enabled
Cutoff frequency
During
H08 23 of speed feedback 100–4000 Hz 1 Hz 4000 Hz Immediate PS
running
low-pass ¿lter
PDFF control During
H08 24 0–100.0% 0.1% 100.0% Immediate PS
coef¿cient running
Group H09: Auto-adjusting Parameters

0: Disabled, manual
adjusting
Auto- 1: Enabled,
During
H09 00 adjusting gain parameters 1 0 Immediate PS
running
mode automatically
adjusted based on
rigidity table
Rigidity level During
selection running
0: Not updated
1: Only one notch
(3rd notch) valid
2: Both notches (3rd
Working and 4th notches)
mode of self- valid During
H09 02 1 0 Immediate PS
adaptive 3: Only detect running
notch resonance frequency
(displayed in H09-24)
4: Restore
parameters to default
setting

0: Disabled
1: Enabled, change
Online inertia slowly
During
H09 03 auto-tuning 2: Enabled, always 1 0 Immediate PS
running
mode change
3: Enabled, change
quickly
0: Positive and
OfÀine inertia
negative triangular
H09 05 auto-tuning 1 0 Immediate At stop -
wave mode
mode
1: Jog mode
Maximum
speed for 500
H09 06 100–1000 RPM 1 RPM Immediate At stop -
inertia auto- RPM
tuning
Acceleration/
Deceleration
H09 07 20–800 ms 1 ms 250 ms Immediate At stop -
time for inertia
auto-tuning
Interval after
H09 08 an inertia 50–10000 ms 1 ms 800 ms Immediate At stop -
auto-tuning
Motor
revolutions 0.01 At
H09 09 - - - -
for an inertia revolution display
auto-tuning
1st notch During
H09 12 50–2000 Hz 1 Hz 2000 Hz Immediate PS
frequency running
1st notch During
width level running
1st notch
During
running
level
2nd notch During
frequency running
2nd notch During
width level running
2nd notch
During
running
level
3rd notch During
frequency running
3rd notch During
width level running

3rd notch
During
running
level
4th notch During
frequency running
4th notch During
width level running
4th notch
During
running
level
Obtained
At
H09 24 resonance - 1 Hz - - PS
display
frequency
Group H0A: Fault and Protection

0: Allow faults and
forbid warnings
Power input
1: Allow faults and During
H0A 00 phase loss 1 0 Immediate -
warnings running
protection
2: Forbid faults and
warnings
Retentive at 0: Disabled During
H0A 03 1 0 Immediate -
power failure 1: Enabled running
Motor overload
H0A 04 50%–300% 1% 100% Immediate At stop -
protection gain
Threshold 1 32767
During
H0A 10 of position 1–1073741824 p encoder encoder Immediate P
running
deviation fault unit unit
Runaway 0: Disabled During
H0A 12 1 1 Immediate -
protection 1: Enabled running
Sigma-Delta Power-on
H0A 22 0–3 1 1 At stop -
modulator ¿lter again
TZ signal ¿lter Power-on
H0A 23 0–31 ns 25 ns 15 ns At stop -
time again
Filter time of
Power-on
H0A 24 low-speed 0–255 ns 25 ns 15 ns At stop -
again
pulse input pin
Filter time of
H0A 25 speed feedback 0–5000 ms 1 ms 50 ms Immediate At stop -
display

Motor overload 0: Not shield
H0A 26 1 0 Immediate At stop -
shielding 1: Shield
DO ¿lter time
H0A 27 of speed 0–5000 ms 1 ms 10 ms Immediate At stop -
feedback
Group H0B: Display Parameters

Function Setting Default Effective Control
Parameter Name Min. Unit Property
Code Range Setting Time Mode
Actual motor rotational At
H0B 00 - 1 RPM - - PST
speed display
At
H0B 01 Speed reference - 1 RPM - - PS
display
Internal torque reference
At
H0B 02 (relative to rated motor - 0.1% - - PST
display
torque)
At
H0B 03 Monitored DI states - - - - -
display
At
H0B 05 Monitored DO states - - - - -
display
1
Absolute position counter At
H0B 07 - reference - - P
(32-bit decimal display) display
unit
Mechanical angle
1 encoder At
H0B 09 (starting from the pulses of - - - -
unit display
home)
Rotation angle (electrical At
H0B 10 - 0.1° - - -
angle) display
Speed corresponding to At
H0B 11 - 1 RPM - - P
input position reference display
Position deviation counter 1
At
H0B 12 (valid only in position - reference - P
display
control) unit
Input reference pulse 1
At
H0B 13 counter - reference - - P
display
(32-bit decimal display) unit
Encoder position deviation
1 encoder At
H0B 15 counter - - - P
unit display
(32-bit decimal display)
Feedback pulse counter 1 encoder At
H0B 17 - - - P
(32-bit decimal display) unit display
Total power-on time At
H0B 19 - 0.1s - - -
(32-bit decimal display) display
Function Setting Default Effective Control

Parameter Name Min. Unit Property
Code Range Setting Time Mode
At
H0B 21 AI1 sampling voltage - 0.01 V - - -
display
At
H0B 22 AI2 sampling voltage - 0.01 V - - -
display
At
H0B 24 Phase current valid value - 0.01 A - - -
display
At
H0B 26 Bus voltage - 0.1 V - - -
display
At
H0B 27 Module temperature - 1°C - - -
display
0:
Current
fault
1: Latest
fault
During
H0B 33 Displayed fault record 2: Last 1 0 Immediate -
running
2nd
fault
……
9: Last
9th fault
At
H0B 34 Fault code - - - - -
display
Time stamp upon At
H0B 35 - 0.1s - - -
displayed fault display
Current rotational speed At
H0B 37 - 1 RPM - - -
upon displayed fault display
Current U upon displayed At
H0B 38 - 0.01 A - - -
fault display
Current V upon displayed At
H0B 39 - 0.01 A - - -
fault display
Bus voltage upon At
H0B 40 - 0.1 V - - -
Input terminal state upon At
H0B 41 - - - - -
Output terminal state upon At
H0B 42 - - - - -
Group H0C: Communication Parameters

Servo shaft 1–247 During
H0C 00 1 1 Immediate -
address 0: broadcast address running

0: 2400 bit/s
1: 4800 bit/s
Serial port baud 2: 9600 bit/s During
rate 3: 19200 bit/s running
4: 38400 bit/s
5: 57600 bit/s
0: No check, 2 stop bits

1: Even parity check, 1
Modbus data stop bit During
format 2: Odd parity check, 1 running
stop bit
3: No check, 1 stop bit
Communication 0: Disabled
H0C 09 1 0 Immediate At stop -
virtual DI (VDI) 1: Enabled
Communication
0: Disabled
H0C 11 virtual DO 1 0 Immediate At stop -
1: Enabled
(VDO)
Default virtual Bit0: VDO1 default value
level of VDO ……
H0C 12 1 0 Immediate At stop -
allocated with Bit15: VDO16 default
function 0 value
Update function
code values
0: Disabled During
H0C 13 written via 1 1 Immediate -
1: Enabled running
communication
to EEPROM

New protocol:
0x0001: Illegal function
(command code)
0x0002: Illegal data
address
0x0003: Illegal data
0x0004: Slave station
device fault
Old protocol:
0x0002: command code
Modbus error not being 0x03/0x06/0x10 At
H0C 14 - - - -
code 0x0004: CRC checksum display
received by servo
computer different from
checksum in data frame
0x0008: Accessed
function code not exist
0x0010: Written function
code value exceed limits
0x0080: Written function
code modi¿able only in
stop state but servo being
in running state
Modbus During
H0C 25 0–5000 ms 1 ms 1 ms Immediate -
response delay running
Modbus 32-bit 0: High 16 bits before low
function code 16 bits During
transmission 1: Low 16 bits before high running
sequence 16 bits
Modbus error 0: Old protocol During
frame format 1: Standard error protocol running
Group H0D: Auxiliary Function Parameters

0: No operation
H0D 00 Software reset 1 0 Immediate At stop -
1: Enabled
0: No operation
H0D 01 Fault reset 1 0 Immediate At stop -
1: Enabled
Load inertia auto-
H0D 02 - - - - - -
tuning
Initial angle auto- 0: No operation
H0D 03 1 0 Immediate At stop -
tuning 1: Enabled
0: No operation During
H0D 05 Emergency stop 1 0 Immediate -
1: Enabled running

0: No operation
Analog automatic
H0D 10 1: AI1 adjustment 1 0 Immediate At stop -
adjustment
2: AI2 adjustment
H0D 11 Jog function - - - - - -
Group H11: Multi-Position Function Parameters

Function Default Effective Control
Code Setting Time Mode
0: Stop after a
single running
(position selection
in H11-01)
1: Cyclic running
(position selection
Multi-position in H11-01)
running mode 2: DI switchover
(position selection
by DI)
3: Sequential
running
(position selection
in H11-01)
End position No.
H11 01 in displacement 1–16 1 1 Immediate At stop P
reference
Valid when H11-
00 2.
0: Complete
Margin
the remaining
H11 02 processing 1 0 Immediate At stop P
distance
method
1: Start running
again from
position 1
0: ms
H11 03 Waiting time unit 1 0 Immediate At stop P
1: s
0: Relative
displacement
Displacement reference
reference type 1: Absolute
displacement
reference
Start position of
H11 05 0–16 1 0 Immediate At stop P
cyclic running
-1073741824– 1 10000
During
H11 12 1st displacement +1073741824 reference reference Immediate P
running
reference unit unit unit

Maximum
running During
speed of ¿rst running
displacement
Acceleration/
Deceleration During
H11 15 0–65535 ms (s) 1 ms (s) 10 ms (s) Immediate P
time of 1st running
displacement
Waiting time after During
1st displacement running
-1073741824– 1 10000
2nd During
H11 17 +1073741824 reference reference Immediate P
displacement running
Maximum
running During
speed of 2nd running
displacement
Acceleration/
Deceleration During
time of 2nd running
displacement
Waiting time
During
H11 21 after 2nd 0–10000 ms (s) 1 ms (s) 10 ms (s) Immediate P
running
displacement
-1073741824– 1 10000
During
H11 22 3rd displacement +1073741824 reference reference Immediate P
running
Maximum
During
H11 24 running speed of 1–9000 RPM 1 RPM 200 RPM Immediate P
running
3rd displacement
Acceleration/
Deceleration During
time of 3rd running
displacement<
3rd displacement running
-1073741824– 1 10000
During
H11 27 4th displacement +1073741824 reference reference Immediate P
running
Maximum
During
running
4th displacement
Acceleration/
Deceleration During
time of 4th running
displacement<

4th displacement running
-1073741824– 1 10000
During
running
Maximum
During
running
5th displacement
Acceleration/
Deceleration During
time of 5th running
displacement

-1073741824– 1 10000
During
running
Maximum
During
running
6th displacement
Acceleration/
Deceleration During
time of 6th running
displacement<
-1073741824– 1 10000
During
running
Maximum
During
running
7th displacement
Acceleration/
Deceleration During
time of 7th running
displacement<
-1073741824– 1 10000
During
running
Maximum
During
running
8th displacement

Acceleration/
Deceleration During
time of 8th running
displacement<
H11 51 0–10000 1 ms (s) 10 ms (s) Immediate P
-1073741824– 1 10000
During
running
Maximum
During
running
9th displacement
Acceleration/
Deceleration During
time of 9th running
displacement<
-1073741824– 1 10000
10th During
Maximum
running During
speed of 10th running
displacement
Acceleration/
Deceleration During
time of 10th running
displacement<
Waiting time
During
H11 61 after 10th 0–10000 ms (s) 1 ms (s) 10 ms (s) Immediate P
running
displacement
-1073741824– 1 10000
11th During
Maximum
running During
displacement
Acceleration/
Deceleration During
displacement<
Waiting time
During
running
displacement

-1073741824– 1 10000
12th During
Maximum
running During
displacement
Acceleration/
Deceleration During
displacement<
Waiting time
During
running
displacement
-1073741824– 1 10000
13th During
Maximum
running During
displacement
Acceleration/
Deceleration During
displacement<
Waiting time
During
running
displacement
-1073741824– 1 10000
14th During
Maximum
running During
displacement
Acceleration/
Deceleration During
displacement<
Waiting time
During
running
displacement
-1073741824– 1 10000
15th During

Maximum
running During
displacement
Acceleration/
Deceleration During
displacement<
Waiting time
During
running
displacement
-1073741824– 1 10000
16th During
Maximum
running During
displacement
Acceleration/
Deceleration During
displacement<
Waiting time
During
running
displacement
Group H12: Multi-Speed Function Parameters

0: Stop after a single
running (speed selection
Multi-speed in H12-01)
H12 00 1 1 Immediate At stop S
running mode 1: Cyclic running (speed
selection in H12-01)
2: Switchover by DI
End speed
H12 01 No. in speed 1–16 1 16 Immediate At stop S
reference
Running time 0: sec
unit 1: min
Acceleration
H12 03 0–65535 ms 1 ms 10 ms Immediate At stop S
time 1
Deceleration
time 1

Acceleration
time 2
Deceleration
time 2
Acceleration
time 3
Deceleration
time 3
Acceleration
time 4
Deceleration
time 4
1st speed 1
H12 20 -9000–+9000 RPM 0 Immediate At stop S
reference RPM
Running time
0.1 s 5.0s
H12 21 of 1st speed 0–6553.5 s (min) Immediate At stop S
(min) (min)
reference
0: No acceleration/
deceleration time
1: Acceleration/
Acceleration/ Deceleration time 1
Deceleration 2: Acceleration/
time of 1st Deceleration time 2
speed reference 3: Acceleration/
Deceleration time 3
4: Acceleration/
Deceleration time 4
2nd speed 1 100
H12 23 -9000–+9000 RPM Immediate At stop S
reference RPM RPM
Running time
0.1 s 5.0 s
H12 24 of 2nd speed 0–6553.5 s (min) Immediate At stop S
(min) (min)
reference
0: No acceleration/
deceleration time
1: Acceleration/
time of 2nd Deceleration time 2
Deceleration time 3
4: Acceleration/
Deceleration time 4
3rd speed 1 300
reference RPM RPM

Running time
0.1 s 5.0 s
H12 27 of 3rd speed 0–6553.5 s (min) Immediate At stop S
(min) (min)
reference
0: No acceleration/
deceleration time
1: Acceleration/
time of 3rd Deceleration time 2
Deceleration time 3
4: Acceleration/
Deceleration time 4
4th speed 1 500
reference RPM RPM
Running time
0.1 s 5.0 s
H12 30 of 4th speed 0–6553.5 s (min) Immediate At stop S
(min) (min)
reference
0: No acceleration/
deceleration time
1: Acceleration/
time of 4th Deceleration time 2
Deceleration time 3
4: Acceleration/
Deceleration time 4
5th speed 1 700
reference RPM RPM
Running time
0.1 s 5.0 s
(min) (min)
reference
0: No acceleration/
deceleration time
1: Acceleration/
Acceleration/
Deceleration time 1
Deceleration
2: Acceleration/
H12 34 time of 1 0 Immediate At stop S
Deceleration time 2
5thspeed
3: Acceleration/
reference
Deceleration time 3
4: Acceleration/
Deceleration time 4
6th speed 1 900
reference RPM RPM

Running time
0.1 s 5.0 s
(min) (min)
reference
0: No acceleration/
deceleration time
1: Acceleration/
Deceleration time 3
4: Acceleration/
Deceleration time 4
7th speed 1 600
reference RPM RPM
Running time
0.1 s 5.0 s
(min) (min)
reference
0: No acceleration/
deceleration time
1: Acceleration/
Deceleration time 3
4: Acceleration/
Deceleration time 4
8th speed 1 300
reference RPM RPM
Running time
0.1 s 5.0 s
(min) (min)
reference
0: No acceleration/
deceleration time
1: Acceleration/
Deceleration time 3
4: Acceleration/
Deceleration time 4
9th speed 1 100
reference RPM RPM

Running time
0.1 s 5.0 s
(min) (min)
reference
0: No acceleration/
deceleration time
1: Acceleration/
Deceleration time 3
4: Acceleration/
Deceleration time 4
10th speed 1 -100
reference RPM RPM
Running time
0.1 s 5.0 s
(min) (min)
reference
0: No acceleration/
deceleration time
1: Acceleration/
Deceleration time 3
4: Acceleration/
Deceleration time 4
11th speed 1 -300
reference RPM RPM
Running time
0.1 s 5.0 s
(min) (min)
reference
0: No acceleration/
deceleration time
1: Acceleration/
Deceleration time 3
4: Acceleration/
Deceleration time 4
12th speed 1 -500
reference RPM RPM
Running time
0.1 s 5.0 s
(min) (min)
reference

0: No acceleration/
deceleration time
1: Acceleration/
Deceleration time 3
4: Acceleration/
Deceleration time 4
13th speed 1 -700
reference RPM RPM
Running time
0.1 s 5.0 s
(min) (min)
reference
0: No acceleration/
deceleration time
1: Acceleration/
Deceleration time 3
4: Acceleration/
Deceleration time 4
14th speed 1 -900
reference RPM RPM
Running time
0.1 s 5.0 s
(min) (min)
reference
00: No acceleration/
deceleration time
1: Acceleration/
Deceleration time 3
4: Acceleration/
Deceleration time 4
15th speed 1 -600
reference RPM RPM
Running time
0.1 s 5.0 s
(min) (min)
reference

0: No acceleration/
deceleration time
1: Acceleration/
Deceleration time 3
4: Acceleration/
Deceleration time 4
16th speed 1 -300
reference RPM RPM
Running time
0.1 s 5.0 s
(min) (min)
reference
0: No acceleration/
deceleration time
1: Acceleration/
Deceleration time 3
4: Acceleration/
Deceleration time 4
Group H17: VDI/VDO Parameters

0: No function
VDI1 function 1–34: FunIN.1–34 Upon During
H17 00 1 0 -
selection (refer to the DI/DO basic stop running
function table)
0: Valid when the written
VDI1 logic value is 1 Upon During
H17 01 1 0 -
selection 1: Valid when the written stop running
value changes from 0 to 1
0: No function
H17 02 1 0 -
function table)
H17 03 1 0 -

0: No function
H17 04 1 0 -
function table)
H17 05 1 0 -
0: No function
H17 06 1 0 -
function table)
H17 07 1 0 -
0: No function
H17 08 1 0 -
function table)
H17 09 1 0 -
0: No function
H17 10 1 0 -
function table)
H17 11 1 0 -
0: No function
H17 12 1 0 -
function table)
H17 13 1 0 -
0: No function
H17 14 1 0 -
function table)

H17 15 1 0 -
0: No function
H17 16 1 0 -
function table)
H17 17 1 0 -
0: No function
H17 18 1 0 -
function table)
H17 19 1 0 -
0: No function
H17 20 1 0 -
function table)
H17 21 1 0 -
0: No function
H17 22 1 0 -
function table)
H17 23 1 0 -
0: No function
H17 24 1 0 -
function table)
H17 25 1 0 -

0: No function
H17 26 1 0 -
function table)
H17 27 1 0 -
0: No function
H17 28 1 0 -
function table)
H17 29 1 0 -
0: No function
H17 30 1 0 -
function table)
H17 31 1 0 -
Bit0: VDO1 virtual level
VDO virtual At
H17 32 …… - - - -
level display
Bit15: VDO16 virtual level
0: No function
VDO1 function 1–18: FunOUT.1–18 Upon During
H17 33 1 0 -
function table)
VDO1 logic 0: Output 1 when valid Upon During
H17 34 1 0 -
selection 1: Output 0 when valid stop running
0: No function
H17 35 1 0 -
function table)
H17 36 1 0 -
0: No function
H17 37 1 0 -
function table)
H17 38 1 0 -

0: No function
H17 39 1 0 -
function table)
H17 40 1 0 -
0: No function
H17 41 1 0 -
function table)
H17 42 1 0 -
0: No function
H17 43 1 0 -
function table)
H17 44 1 0 -
0: No function
H17 45 1 0 -
function table)
H17 46 1 0 -
0: No function
H17 47 1 0 -
function table)
H17 48 1 0 -
0: No function
H17 49 1 0 -
function table)
H17 50 1 0 -
0: No function
VDO10
1–18: FunOUT.1–18 Upon During
H17 51 function 1 0 -
(refer to the DI/DO basic stop running
selection
function table)
H17 52 1 0 -

0: No function
VDO11
selection
function table)
H17 54 1 0 -
0: No function
VDO12
selection
function table)
H17 56 1 0 -
0: No function
VDO13
selection
function table)
H17 58 1 0 -
0: No function
VDO14
selection
function table)
H17 60 1 0 -
0: No function
VDO15
selection
function table)
H17 62 1 0 -
0: No function
VDO16
selection
function table)
H17 64 1 0 -
Group H30: Servo State Variables Read by Communication

The values are not displayed on the keypad.

Bit0: Servo drive ready
Servo state Bit1–11: Reserved
At
H30 00 read by Bit12–13: Servo running - - - PST
display
communication state
Bit14-15: Reserved
FunOut state Bit0: FunOUT1
At
H30 01 read by …… 1 - - PST
display
communication Bit15: FunOUT16
FunOut state Bit0: FunOUT17

At
H30 02 2 read by …… 1 - - PST
display
communication Bit15: FunOUT32
Input pulse
reference At
H30 03 - 1 - - P
sampling read by display
communication
Group H31: Variables Set via Communication

The values are not displayed on the keypad.

Bit0: VDI1 virtual
level
During
H31 00 VDI virtual level …… 1 0 Immediate PST
running
Bit15: VDI16 virtual
level
Bit0: DO1
Bit1: DO2
DO state set via Bit2: DO3 During
H31 04 1 0 Immediate PST
communication Bit3: DO4 running
Bit4: DO5
Bit5–15: Reserved
Speed
-9000.000– 0.001 During
H31 09 reference set via 0 Immediate S
+9000.000 RPM RPM running
communication
Torque
-100.000%– During
H31 11 reference set via 0.001% 0 Immediate T
+100.000% running
communication
DI/DO Basic Functions

Table 7-1 DI/DO basic function table
No. Function Symbol Function Name Description

Input Function Description
Invalid: Servo motor disabled
FunIN.1 S-ON Servo enabled
Valid: Servo motor enabled
Alarm reset The servo drive can continue to work after
FunIN.2 ALM-RST
(edge valid) alarms of certain types are reset.
Main/Auxiliary
Invalid: Current running reference being A
FunIN.4 CMD-SEL reference
Valid: Current running reference being B
switchover
Multi-reference Invalid: Default reference direction
FunIN.5 DIR-SEL
direction Valid: Reverse reference direction
Multi-reference
FunIN.6 CMD1 switchover Used to select one from the 16 references.
CMD1
Multi-reference
CMD2
Multi-reference
CMD3
Multi-reference
CMD4
Perform switchover between speed control,
Mode
position control, and torque control based on
FunIN.10 M1-SEL switchover M1-
the selected control mode (values 3, 4, 5 of
SEL
H02-00).
Perform switchover between speed control,
Mode
position control, and torque control based on
FunIN.11 M2-SEL switchover M2-
the selected control mode (values 6 of H02-
SEL
00).
Zero clamp Valid: Zero clamp enabled
FunIN.12 ZCLAMP
function Invalid: Zero clamp disabled
Pulse input Valid: pulse reference input forbidden
FunIN.13 INHIBIT
forbidden Invalid: Pulse reference input allowed
When the mechanical movement is outside
the movable range, the overtravel prevention
Forward drive
FunIN.14 P-OT function is implemented.
forbidden
Valid: Forward drive forbidden
Invalid: Forward drive allowed

When the mechanical movement is outside
the movable range, the overtravel prevention
Reverse drive
FunIN.15 N-OT function is implemented.
forbidden
Valid: Reverse drive forbidden
Invalid: Reverse drive allowed
External
Valid: External torque limit enabled
FunIN.16 P-CL forward torque
Invalid: External torque limit disabled
limit
External
Valid: External torque limit enabled
FunIN.17 N-CL reverse torque
Invalid: External torque limit disabled
limit
Valid: Reference input
FunIN.18 JOGCMD+ Forward jog
Invalid: Reference input stopped
Valid: Reference input
FunIN.19 JOGCMD- Reverse jog
Invalid: Reference input stopped
Valid: Execute step reference
DI position
FunIN.20 POSSTEP Invalid: Reference being zero, in positioning
step reference
state
Handwheel HX1 valid, HX2 invalid: X10
FunIN.21 HX1 multiplying HX1 invalid, HX2 valid: X100
factor signal 1 Other: X1
Handwheel
FunIN.22 HX2 multiplying
factor signal 2
Invalid: Position control based on the setting
of H05-00
Handwheel
FunIN.23 HX_EN Valid: Receive pulse signal from the
enable signal
handwheel for position control in position
control mode
Electronic
Invalid: Electronic gear ratio 1
FunIN.24 GEAR_SEL gear ratio
Valid: Electronic gear ratio 2
switchover
Torque
Valid: Forward direction
FunIN.25 TOQDirSel reference
Invalid: Reverse direction
direction
Speed
FunIN.26 SPDDirSel reference
direction
Position
FunIN.27 POSDirSel reference
direction
Valid at edges
Internal multi-
FunIN.28 PosInSen Valid: Internal multi-position ignored
position enable
Invalid: Internal multi-position enabled

Interruption
Invalid: Not respond to position references
FunIN.29 XintFree ¿xed length
Valid: Unlock position references
cleared
Invalid: Not triggered
FunIN.31 HomeSwitch Home switch
Valid: Triggered
Invalid: Disabled
FunIN.32 HomingStart Home return
Valid: Enabled
Interruption
Valid: Interruption ¿xed length forbidden
FunIN.33 XintInhibit ¿xed length
Invalid: Interruption ¿xed length allowed
forbidden
Motor shaft Valid: Position lock after stop at zero speed
FunIN.34 EmergencyStop
lock Invalid: Not affect current running state
Output Function Description
The servo drive is in ready state and can
Servo drive receive the S-ON signal.
FunOUT.1
ready Valid: Servo drive ready
S-RDY Invalid: Servo drive not ready
When the motor rotational speed exceeds
Motor rotation the threshold (H06-16):
FunOUT.2
output Valid: Motor rotation signal valid
TGON Invalid: Motor rotation signal invalid
When the servo motor stops rotation:
Zero speed Valid: Motor rotational speed being zero
FunOUT.3
signal Invalid: Motor rotational speed being not
ZERO zero
In the speed control mode, when the
absolute value of the deviation between
Speed
FunOUT.4 the motor rotational speed and the speed
consistent
reference is smaller than the value of H06-
V-CMP 17, this signal is valid.
In the position control mode, when the
Position
FunOUT.5 position deviation pulses reach the value of
reached
COIN H05-21, this signal is valid.
Positioning In the position control mode, when the
FunOUT.6 almost position deviation pulses reach the value of
NEAR completed H05-22, this signal is valid.
Con¿rming torque limit:
FunOUT.7 Torque limit Valid: Motor torque limited
C-LT Invalid: Motor torque not limited
Con¿rming rotational speed limit in torque
Rotational control:
FunOUT.8
speed limit Valid: Motor rotational speed limited
V-LT Invalid: Motor rotational speed not limited
Brake output:
FunOUT.9 Brake output Valid: Brake released
BK Invalid: Brake applied

FunOUT.10 WARN Warning output The warning output is active (conducted).
FunOUT.11 ALM Fault output This signal is valid when a fault occurs.
3-digit fault
FunOUT.12 A 3-digit fault code is output.
ALMO1 code output
3-digit fault
ALMO2 code output
3-digit fault
ALMO3 code output
Interruption Valid: Interruption ¿xed length completed
FunOUT.15 ¿xed length Invalid: Interruption ¿xed length not
Xintcoin completed completed
Home return Valid: Return to home

FunOUT.16
output Invalid: Not return to home
HomeAttain
Electrical home Valid: Return to electrical home

FunOUT.17
return output Invalid: Not return to electrical home
ElecHomeAttain
Valid: Absolute value reaches the setting
Torque
FunOUT.18 Invalid: Absolute value smaller than the
reached output
ToqReach setting
Warranty Agreement
1. The warranty period of the product is 18 months (refer to the barcode on the
equipment). During the warranty period, if the product fails or is damaged under the
condition of normal use by following the instructions, Inovance will be responsible for
free maintenance.
2. Within the warranty period, maintenance will be charged for the damages caused by the
following reasons:
a. Improper use or repair/modi¿cation without prior permission
b. Fire, Àood, abnormal voltage, other disasters and secondary disaster
c. Hardware damage caused by dropping or transportation after procurement
d. Improper operation
e. Trouble out of the equipment (for example, external device)
3. If there is any failure or damage to the product, please correctly fill out the Product
Warranty Card in detail.
4. The maintenance fee is charged according to the latest Maintenance Price List of
Inovance.
5. The Product Warranty Card is not re-issued. Please keep the card and present it to the
maintenance personnel when asking for maintenance.
6. If there is any problem during the service, contact Inovance’s agent or Inovance directly.
7. This agreement shall be interpreted by Shenzhen Inovance Technology Co., Ltd.
Service Department, Shenzhen Inovance Technology Co., Ltd.

Address: Building E, Hongwei Industrial Park, Liuxian 2nd Road, Baocheng 70th Zone,
Bao'an District, Shenzhen P.C.: 518101
Website: www.inovance.cn
efesotomasyon.com
Product Warranty Card
Add. of unit:
Customer
information
Contact person:
Name of unit:
P.C.:
Tel.:
Product model:
Product Body barcode (Attach here):

information
Name of agent:
(Maintenance time and content):
Failure
information
Maintenance personnel:
efesotomasyon.com
efesotomasyon.com

Inovance Servo Is500 Series Servo Drive User Manual 3 en PDF

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Chapter 2 Installation and Mounting Dimensions of Servo Drive and Servo

Chapter 3 Wiring of Servo Drive and Servo Motor ......................................... 30

Chapter 4 Running and Commissioning ......................................................... 60

Chapter 5 Background Software ...................................................................... 84

Chapter 1 Servo System Selection

Figure 1-1 Servo drive composition

Save and enter the next-level menu.

Used as the grounding terminal of the power supply and motor.

1.1 Designation Rules of the Servo Motor and Servo Drive

ISM H1-75B 30C B-U1 3 1 X

ISM ISM series servo motor X Natural cooling

2 Low inertia, medium capacity Brake, Gear , Oil

Figure 1-3 Designation rules of the servo drive

Mark Series Mark Mounting Method

Mark Product Type Mark 3R8 5R5 7R6 8R4 012

Servo Drive Model

Servo Drive Model

Servo Drive Model

Rated Max. Rated Motor Servo Drive

1.3 Adapted Cables

Servo Motor Main Circuit

Servo Motor Main Circuit

Table 1-2 Communication cables

Cable Model Description

Table 1-3 Physical appearance of cables for the servo motor

Table 1-4 Physical appearance of communication cable

Cable Model Cable Appearance

Cable Model Cable Appearance

1.4 Motor SN Table

H1 (low inertia, ISMH1-20B30CB-U1* 00003

H2 (low inertia, ISMH2-10C30CB-U1* 00150

H3 (medium inertia, ISMH3-85B15CB-U1* 00261

Motor Rated Servo Motor Model

Chapter 2 Installation and Mounting Dimensions

of Servo Drive and Servo Motor

2.1 Installation of the Servo Motor

2.1.1 Installation Location

2.1.2 Installation Environment

2.1.3 Installation Precautions

damage to the internal encoder.

Measure the distance at four different

2.2 Installation of the Servo Drive

2.2.1 Installation Location

2.2.2 Installation Environment

2.2.3 Installation Precautions

Install the servo

2.3 Overall Dimensions of the Servo Motor

2.3.1 Overall Dimensions of the ISMH1 Series Servo Motor

Connector Power Side Brake Side Encoder Side

Servo Motor Model LL (mm) LG (mm) Weight (kg)

2) 200 W, 400 W (Vn = 3000 RPM, Vmax = 6000 RPM)

Connector Power Side Brake Side Encoder Side

Servo Motor Model LL (mm) LG (mm) TP (mm) Weight (kg)

3) 750 W (Vn = 3000 RPM, Vmax = 6000 RPM)

Connector Power Side Brake Side Encoder Side

Servo Motor Model LL (mm) LG (mm) TP (mm) Weight (kg)

Connector Power Side Brake Side Encoder Side

LL LG TP KA1 KA2 KB1 KB2 Weight

2) 3.0 kW, 4.0 kW, 5.0 kW

Connector Power Side Brake Side Encoder Side

LL LG TP KA1 KA2 KB1 KB2 Weight

Servo Drive Model IS500SƑƑƑ

Terminal Servo Drive Model IS500TƑƑƑ

1KM: electromagnetic contactor; 1RY: relay; 1D: bypass diode

2.8 V (H level) – (L level) 3.7 V