WISE Servo Driver Guide-R4

Preface
Main contents of this Guide are as follows:
 Overall dimensions, installation dimensions and terminals of WISE driver;
 Wiring between WISE servo driver and the control system;
 Axis address setting for M-II bus driver;
 Specifications for wiring between WISE servo driver and MA/MB/MN/ME motor
or Panasonic motor;
 List of error codes and lists of parameters of WISE servo driver.
 Applicable Product Models
This Guide is applicable to WSDV series of WISE servo drivers. Please refer to the
following table.
Product Model Remarks
It is herein abbreviated as WISE (维智).

WISE (维智) servo At present, there are six models: WSDV-1R2 (0.1kW); WSDV-2R8
driver (0.4kW); WSDV-5R0 (0.75kW); WSDV-6R8 (1.0kW); WSDV-110
(1.5kW); WSDV-140 (2.5kW).
 Revision History
Date Edition Revision Contents
Updated on the basis of the latest Users’ Manual of WISE (维智)

2016.01 R3
Servo Driver-R8
1) Model designation of the driver added. (Refer to Section 1.1)
2) Related contents of the bus driver added. (Refer to Section
2.2, Chapter 3, Chapter 4, Chapter 7 and Section 8.3)
3) Analog speed command and analog torque command of CN2
terminal added. (Refer to Section 3.3)
4) List of error codes and list of parameters of pulse type servo
2016.11 R4
updated. (Refer to Chapter 7 and Section 8.2)
5) Parameter setup on the control pane and via iMotion software
updated. (Refer to Section 8.1)
6) Specifications for wiring between the driver and
MA/MB/MN/ME motor or Panasonic motor added. (Refer to
Chapter 5 and 6)
 Contact Us
You can contact us by the following info for technical support and
pre-sales/after-sales service:
Company Name: Weihong Electronic Technology Co., Ltd.
Headquarters Address: No. 1590, Huhang Rd., Fengxian, Shanghai 201401
Tel: 400-882-9188
Fax: 021-33587519
Website: http://www.weihong.com.cn/en/
 Precautions
Precautions can be divided into caution and warning according to the degree of
possible loss or injury in case of negligence or omission of precautions stipulated in
this manual.
CAUTION
: general info, mainly for informing, such as supplementary
instructions and conditions to enable a function. In case of negligence or omission of
this kind of precautions, you may not activate a function. Note that in some
circumstances, negligence or omission of even this kind of precautions could cause
physical injury or machine damage.
WARNING
: warning info requiring special attention. In case of negligence or
omission of this kind of precautions, you may suffer physical injury, or even death,
machine damage or other losses.
CAUTION
 Personnel Safety
 As the product features high voltage and heavy current, please make
sure that the personnel are within the safe area of the working
mechanism when the power is on.
 As the product features high voltage and heavy current,
mal-operation may cause electric arc burn/shock or other accidents.
 You must conduct wiring and energization in accordance with the
Guide.
 Place Safety
 Don’t power on and use the product when exposed to combustible or
corrosive gas; otherwise, fire and explosion may be resulted in.
 Don’t power on and use the product exposed to falling combustible
and explosive objects; otherwise, fire and explosion may be resulted
in.
 Don’t use the product in the environment with high humidity, moisture,
and metal powder etc.; otherwise, you and other people may get
shocked or suffer other dangers.
 Product and Equipment Safety
 As the product features high voltage and heavy current, wrong
connection may cause damage to the product.
 GND terminal must be connected to the ground wire, in order to
ensure reliable grounding.
 Terminals U, V and W should be connected to the output power of the
motor, not the input power.
 Terminals U, V and W are three-phase output. Don’t connect them in
wrong order; otherwise, the DC motor may reach the Max. rotary
speed and lose control, the equipment and the product may be
damaged due to overcurrent.
 Fasten all terminals. Purchase the wires in strict accordance with the
power.
 When you make the cables by yourself, please conduct wiring as per
the wiring diagram in this Guide.
 Don’t conduct power distribution or touch the terminals when the
driver is powered on.
 Don’t touch the terminals until 5 minutes after power-off.
 Don’t touch the motor or cables when the motor is running, to avoid
burn, sprain and other accidents.
Contents
1 Basic Information ........................................................................1
1.1 Nameplate & Model...................................................................... 1

1.2 Overall Dimensions and Installation Dimensions .......................... 2
2 System Configuration and Wiring .................................................4
2.1 Wiring Diagram of Pulse Type Driver ............................................ 4

2.2 Wiring Diagram of M-II Bus Type Driver ....................................... 5
3 Driver Terminals ..........................................................................7
3.1 Main Circuit Terminal .................................................................... 9

3.2 CN1 Terminal (Mini USB Interface) ............................................. 10
3.3 CN2 Terminal (I/O Signal Interface)............................................. 10
3.4 CN4 Terminal (Encoder Interface) ............................................... 15
4 Axis Address Setting for M-II Bus Type Driver ............................. 16
4.1 Connection to Control System .................................................... 16

4.2 Axis Address Setting .................................................................... 17
4.3 Related Parameters Setting in Control System ............................ 19
5 Wiring Specifications for Driver and MA/MB/MN/ME Motor ..... 21
5.1 Connector Type ........................................................................... 21

5.1.1 Connector for Encoder Cable ......................................................... 21
5.1.2 Connector for Motor Cable ............................................................ 23
5.1.3 Connector for Brake Cable ............................................................. 24
5.2 Wiring Diagram of Encoder Cable ............................................... 25
5.3 Wiring Diagram of Motor Cable .................................................. 27
6 Wiring Specifications for Driver and Panasonic A5/A5-II Motor ... 31

6.1 Connector Type ........................................................................... 31
6.1.1 Connector for Encoder Cable ......................................................... 31
6.1.2 Connector for Motor Cable ............................................................ 34
6.1.3 Connector for Brake Cable ............................................................. 35
6.2 Wiring Diagram of Encoder Cable ............................................... 36
6.3 Wiring Diagram of Motor Cable .................................................. 38
7 List of Error Codes ...................................................................... 41
8 Lists of Driver Parameters .......................................................... 45
8.1 Modifying Parameter Setting ...................................................... 45

8.2 Parameters List of Pulse Type Driver ........................................... 48
8.3 Parameters List of M-Ⅱ Bus Type Driver ................................... 55
Basic Information
1 Basic Information
1.1 Nameplate & Model

 Nameplate Specifications
SERVO DRIVER
Product Model Model:WSDV-2R820PSB
AC-INPUT AC-OUTPUT SURROUNDING
1/3PH 200-240V 3PH 0-240V AIR
50/60Hz 0-500Hz TEMPERATURE
4.1A/2A 2.8A 400W 0-55ºC
Input power supply Output power supply Ambient temperature

specification specification
 Model Specifications
WSDV 2R8 2 0P S B
Product series Control type

Symbol Type Symbol Specification
WSDV Wise series Position control/speed control/
B
torque control
Capacity symbol P Dedicated for position control
Rated output
Symbol
power
1R2 0.1kW Encoder feedback type
2R8 0.4kW Symbol Specification
5R0 0.75kW S Serial communication encoder
6R8 1.0kW
Interface type
110 1.5kW
Symbol Specification
140 2.5kW
0P Pulse train command
Voltage specification Analog voltage-pulse train
AP
command
Symbol Specification
M2 M-Ⅱbus communication
2 220V
1
Basic Information
1.2 Overall Dimensions and Installation Dimensions

 WSDV-1R2 (100W) & WSDV-2R8 (400W)
2-M4 Thread
40
170 30.5
2-Φ 5 30.5
150
160
160
150
5 50.5
175.5 Mounting dimensions
Back of base
40
 WSDV-5R0 (750W) & WSDV-6R8 (1000W)
180 6 58 2-Φ5 58
160
150
150
160
4 61.5 5 70
187.1
Back of base Mounting dimensions
Direction of air flowing from the internal cooling fan.
2
Basic Information
 WSDV-110 (1500) & WSDV-140 (2500W)
190 5 70 2-Φ5 70 4-M4

160
150
160
150
4.5
197.14 70 5 80
Direction of air flowing from the Mounting dimensions
Back of base
internal cooling fan.
3
System Configuration and Wiring
2 System Configuration and Wiring
2.1 Wiring Diagram of Pulse Type Driver

Circuit Breaker
Protect the power line by shutting PC
the circuit OFF when over-current
is detected.
Noise Filter
Used to eliminate external noise
from the power line and noise
disturbance form the driver.
WISE servo driver
Magnetic Contactor (pulse type)
Turn the servo ON and OFF.
Install a surge suppressor on
the magnetic contactor.
Note: Weihong CNC system

CHARGE
Never start nor stop the L1
C
N
NK300BX
1
servo motor with this L2
NcStudio
仿V9仿仿仿仿仿仿仿仿仿仿仿 .dxf 08:58:06
Magnetic Contactor.
仿仿
L3 4
-10 0 10 20 30 40 50
00:00:0
仿仿仿仿仿仿仿仿
0 0
仿仿仿 X仿 -1.978
L1 Y仿 6.248
仿仿仿仿仿仿 0%
00:04:0
C 3 Z仿 5.000
仿仿仿仿仿仿仿
8
0
L2 仿仿仿仿仿仿 0
C 2
仿仿仿仿仿仿 1
C 0 仿仿仿仿仿仿 0
B1
N F仿 0% 0 mm/min
1 0
2 0
S仿 50%
RPM
B2 02300
G0 X-11.3589 Y6.6469
02301 G1 Z5.0000
0
Z0.0000
B3 02302 G1 X-11.3589
02303 Y6.6469
G1
Z0.0000G1 X-12.2148
02304
1 -
1 02305 Y6.9251
G1
0 Z0.0000
02306 G1 X-12.2148
2 Y
02307 Y6.9251
G1
- Z0.0000
Z X 02308 G1 X-11.9367
2
0 02309 Y7.7810
G1
Z0.0000
02310 G1 X-11.9367
U C 仿仿仿 2M/8M 仿仿仿仿仿仿仿仿仿仿仿仿仿仿仿仿仿仿 “G”仿仿 Y7.7810
N
V 3 F1
仿仿仿仿
F2
仿仿仿仿
F3
仿仿仿仿
F4 F5
仿仿仿仿
F6 F7
仿仿仿仿仿仿
F8
W
C
N F1 F2 F3 F4 F5 F6 F7 F8
4
Regenerative Resistor
Contactor B1, B2 and B3: Encoder Cable

· Keep short-circuit wiring between
B2-B3 contactors. Motor Main
· When a regenerative resistor is Circuit Cable
equipped, break the short-circuit
wiring between B2-B3 contactors,
and externally connect regenerative
resistor to B1-B2 contactors,
together set Pr016 to 1.
4
2.2 Wiring Diagram of M-II Bus Type Driver
Circuit Breaker Bus CNC System

Protect the power line by
NK300CX
shutting the circuit OFF NcStudio V9
仿真空闲：正常结束自行车.dxf 08:58:06
when over-current is -10 0 10 20 30 40 50
加工
detected. 0 仿真
俯视图 X：
Y：
-1.978
6.248
已加工时间：
完成百分比：
00:00:00
0%
3 Z：
预计剩余时间： 00:04:08
5.000
0
当前程序行： 0
Noise Filter 2
当前刀具号： 1
0 完成工件数： 0
Used to eliminate external 1

0
F：
S：
0%
50%
0 mm/min
0 RPM
noise from the power line and 0

02300
02301
G0 X-11.3589 Y6.6469 Z5.0000
G1 Z0.0000
noise disturbance form the -

02302
02303
02304
G1 X-11.3589 Y6.6469
G1 Z0.0000
G1 X-12.2148 Y6.9251
driver. 1
0
Y
02305
02306
G1 Z0.0000
G1 X-12.2148 Y6.9251
-
02307 G1 Z0.0000
2 Z X 02308 G1 X-11.9367 Y7.7810
0
02309 G1 Z0.0000
Magnetic Contactor WISE Servo Driver (M-Ⅱbus type) 内存：2M/8M 提示：方向键可调整视图位置（详细请按“G”键）

02310 G1 X-11.9367 Y7.7810
F1 F2 F3 F4 F5 F6 F7 F8
模拟仿真图形调整加工统计加工范围工件计数范围
Turn the servo ON and

OFF. Install a surge F1 F2 F3 F4 F5 F6 F7 F8
suppressor on the
magnetic contactor.
Note: CHARGE C
Never start nor stop the L1
N
5
servo motor with this L2
PC
Magnetic Contactor. L3
ON
S1
L1C
OFF
L2C C
N
B1 1
B2
B3
1 C
N
2 2
U
V
W
C
N
4
Regenerative Resistor
Contactor B1, B2 and B3:

Motor Main Encoder Cable
· Keep short-circuit wiring between
Circuit Cable
B2-B3 contactors.
· When a regenerative resistor is
equipped, break the short-circuit
wiring between B2-B3 contactors,
and externally connect regenerative
resistor to B1-B2 contactors,
together set Pr016 to 1.
CAUTION
1. When externally wiring to a regenerative resistor, external protection such as

over-temperature protection must be provided.
2. Over-temperature protection fuse and thermostat are installed in the regenerative resistor.
Once fuse action occurs, the regenerative resistor cannot restore to the previous state.
5
3. Please install the regenerative resistor on non-combustible substance such as

non-combustible metal.
4. Please connect the bus control system to Terminal CN5 in case of M-II bus type driver,
while connect other non-bus NC systems to Terminal CN2.
6
Driver Terminals
3 Driver Terminals
Display:
6-digit 7-section
Operating buttons LED display
Power indicator Mini USB socket:

CHARGE C used to
L1 N
1 communicate with
Main circuit power input terminals L2 iMotion software
L3
L1C
Control power input terminals
L2C
C
B1 N I/O interface
External regenerative resistor 2
B2
terminals
B3
Connection terminals for high 1
harmonic restraint DC reactor 2
U C
N Reserved
Servo driver connection terminals V 3
W C
N
Connector for
4 encoder cable
Fig. 3-1 Terminals for pulse type driver
7
Driver Terminals
Display:
6-digit 7-section LED
display
Operating buttons
Power indicator CHARGE C

N M-Ⅱ bus interface
L1 5
Main circuit power input terminals L2
ON Dip switch for bus terminal resistor
L3
ON: access to terminal resistor
S1
L1C OFF: no access
Control power input terminals OFF
L2C C
N Mini USB socket: realizing
B1 1 iMotion communication with
External regenerative resistor terminals B2 computer software
B3
1 C
Connection terminals for high
N I/O interface
harmonic restraint DC reactor 2 2
U
Servo driver connection terminals V
W
C
N Connector for encoder cable
4
Fig. 3-2 Terminals for M-Ⅱ bus type driver
8
Driver Terminals
3.1 Main Circuit Terminal

The main circuit terminals of pulse type driver are the same as those of M-II bus
type driver.
Terminal Name Specifications

 Single-phase: connected to any two of the
terminals
Main circuit power  3-phase: connected to all of the three terminals
L1/L2/L3
input terminal
10%
 200～240V , 50/60Hz
15%
Control power input 10%

L1C/L2C Single-phase200～240V , 50/60Hz
terminal 15%
 If the capacity of the internal regenerative resistor

is insufficient, connect an external regenerative
resistor (optional) to terminals B1 and B2.
External regenerative  If the capacity of the internal regenerative resistor
B1/B2/B3
resistor terminal is insufficient, remove the wire between terminals
B2 and B3 (B-2B3 is short-circuited by default),
and connect an external regenerative resistor to
terminals B1 and B2.
Connection terminal When high harmonic restraint to the power is required,

for power high connect a DC reactor between1-2 (1-2 is short-circuited
1/2
harmonic restraint DC by default). Make sure 1-2 is short-circuited if no
reactor requirement.
Main circuit font side

1
terminal
DC power input.
Main circuit side
2
terminal
U/V/W Servo driver terminal Used to connect with the servo driver.
GND (2) Used to connect with power supply ground line.
9
Driver Terminals
3.2 CN1 Terminal (Mini USB Interface)

Terminal CN1 is used to connect the driver and iMotion software on PC via USB wire.
After connection, trial run, parameters commissioning, gain adjustment and other
operations can be conducted on PC. Please contact the manufacturer for iMotion
software (or login Weihong official website to download it:
www.weihong.com.cn/en/).
3.3 CN2 Terminal (I/O Signal Interface)

 Pulse Type Driver
— 50 25 SO7+ (V-COIN+)
— 49 24 —
— 48 23 —
50 25 +24VIN 47 22 —
SI2 (INTSPD2) 46 21 —
SI3 (INTSPD1) 45 20 /PCO Encoder divider
SI1 (A-CLR) 44 19 PCO C-phase output
SI4 (NOT) 43 18 —
SI5 (POT) 42 17 —
SI6 (INH) 41 16 —
SI7 (SRV-ON) 40 15 —
SO2 (S-RDY) 39 14 SI8 (CLR)
SO4 (INP) 38 13 —
SO6 (TLC) 37 12 /SIGN Command sign input
Encoder divider /PBO 36 11 SIGN Command sign input
B-phase output PBO 35 10 T-REF_N
Encoder divider /PAO 34 9 T-REF_P
A-phase output PAO 33 8 /PULS Command sign input
SO3-(ALM-) 32 7 PULS Command sign input
SO3+(ALM+) 31 6 V-REF_N
SO1- (BRK-OFF-) 30 5 V-REF_P
1 SO1+ (BRK-OFF+) 29 4 —
26 SO5- (ZSP-) 28 3 —
SO5+ (ZSP+) 27 2 GND
SO7- (V-COIN-) 26 1 GND
10
Driver Terminals
CAUTION
1. Figure above shows how terminals are allocated for CN2 connector of driver of “Analog
• Pulse Serial Command” type. For driver of “Pulse Serial Command” type, pin 5 and 9
are empty, and pin 6 and 10 are for GND.
2. If Weihong motion NC system is chosen, CN2 terminal-Weihong NC system cable can

be purchased directly.
3. Signals in brackets are default setup when leaving factory. Do not use any empty pins (3,
4, 5, 9, 13, 15, 16, 17, 18, 21, 22, 23, 24, 48, 49, 50).
4. Please connect shield layer of I/O signal cable with shell of terminal, and make frame
grounding (FG) through the terminal for driver cable.
5. Following signals can be allocated to the pins as needed. Refer to I/O signal allocation
in Section 2.4 in Users’ Manual of WISE Servo Driver for details.
Input signals: 44 (SI1), 46 (SI2), 45 (SI3), 43 (SI4), 42 (SI5), 41 (SI6), 14 (SI8).

Output signals: 25/26 (SO7), 27/28 (SO5), 29/30 (SO1), 31/32 (SO3), 37 (SO6), 38
(SO4), 39 (SO2).
Signal Pin Default

Functions
Name No. Function
Input Signals
7 PULS
8 /PULS
— Position command input signal
11 SIGN
12 /SIGN
SI1 44 — Alarm clear input signal
SI2 46 — —
SI3 45 — —
11
Driver Terminals
Signal Pin Default

Functions
Name No. Function
Negative
over-travel
SI4 43 NOT
inhibition
input When machine moves out of the limits, stop
motor driving (over-travel protection
Positive function).
over-travel
SI5 42 POT
inhibition
input
Command
pulse
SI6 41 INH Ignore position command pulse.
inhibition
input
SI7 40 SRV-ON Servo motor power ON/OFF signal.
Clear positional deviation pulse when position control is

SI8 14 CLR
enabled.
Power supply input;

+24V IN 47 +24V IN Voltage range: +11V～+30V (+24V power supply prepared
by the user)
Output Signals
33 PAO A-phase
34 /PAO signal Output signal of 90 degree phase-deviation
35 PBO B-phase encoder division pulse.
—
36 /PBO signal
19 PCO C-phase
Output signal of origin pulse.
20 /PCO signal
If the shield layer of I/O signal cable has been connected

— Case FG to the case of connector, frame grounding has been
made.
1) Time sequence signal of electric-magnetic brake action

is fed out.
SO1 29/30 BRK-OFF
2) Release time sequence of electric-magnetic brake and
connect with transistor.
SO2 39 S-RDY Output signal at servo-ON status of the driver.
SO3 31/32 ALM Output signal at alarm status.
1) Output positioning complete signal.

SO4 38 INP
2) Turn transistor ON at positioning complete status.
12
Driver Terminals
Signal Pin Default

Functions
Name No. Function
1) Output zero-speed clamp detection signal.

SO5 27/28 ZSP 2) Turn transistor ON at zero-speed clamp detection
status.
1) Output torque in- limit signal.

SO6 37 TLC
2) Turn transistor ON at torque limiting status.
With position control mode is enabled, positional deviation

SO7 25/26 V-COIN
pulse will be ON when it reaches setup range.
 M-Ⅱ Bus Type Driver
SO4-(ZSP-) 26 13 SI1 (GP)

26 13 SO4+(ZSP+) 25 12 SI7(EXT3)
SO3-(INP-) 24 11 SI6(EXT2)
SO3+(INP+) 23 10 SI5(EXT1)
PC- 22 9 SI4(DEC)
PC+ 21 8 SI3(NOT)
PB- 20 7 SI2(POT)
PB+ 19 6 +24V IN
PA- 18 5 —
PA+ 17 4 SO1-(ALM-)
FG 16 3 SO1+(ALM+)
14 1 BAT- 15 2 SO2-(BRK-OFF-)
BAT+ 14 1 SO2+(BRK-OFF+)
CAUTION
1. If Weihong motion NC system is chosen, CN2 terminal-Weihong NC system cable can

be purchased directly.
2. Signals in brackets are default setup when leaving factory. Do not use any empty pins.
13
Driver Terminals
3. Please connect shield layer of I/O signal cable with shell of terminal, and make frame
grounding (FG) through the terminal for driver cable.
4. Following signals can be allocated to the pins in bracket at will as needed. Refer to I/O
signal allocation in Section 2.4 in Users’ Manual of WISE Servo Driver for details.
Input signals: 13 (SI1), 7 (SI2), 8 (SI3), 9 (SI4), 10 (SI5), 11 (SI6), 12 (SI7).

Output signals: 3/4 (SO1), 1/2 (SO2), 22/23 (SO3), 25/26 (SO4).
Signal Pin Default

Functions
Name No. Function
Input signals
SI1 13 GP Universal input
Positive
SI2 7 POT over-travel
inhibition input When machine moves out of limits,
stop motor driving (over-travel
Negative protection function).
SI3 8 NOT over-travel
inhibition input
SI4 9 DEC Deceleration limit switching
SI5 10 EXT1
SI6 11 EXT1 3-circuit external latch signal input
SI7 12 EXT1
Power supply input;

+24V IN 6 +24V IN Voltage range: +11V～+30V (+24V power supply prepared
by the user)
Output signals
17 PAO
A-phase signal Output signal of 90 degree
18 /PAO
phase-deviation encoder division
19 PBO pulse.
— B-phase signal
20 /PBO
21 PCO
C-phase signal Output signal of origin pulse.
22 /PCO
If the shield layer of I/O signal cable has been connected to

— Case FG
the case of connector, frame grounding has been made.
14
Driver Terminals
Signal Pin Default

Functions
Name No. Function
1) Time sequence signal of electric-magnetic brake action

is fed out.
SO1 3/4 ALM
2) Release time sequence of electric-magnetic brake and
connect with transistor.
SO2 1/2 BRK-OFF Output signal at servo-ON status of the driver.
SO3 23/24 INP Output signal at alarm status.
1) Output positioning complete signal.

SO4 25/26 ZSP
2) Turn transistor ON at positioning complete status.
3.4 CN4 Terminal (Encoder Interface)

The details of pins of CN4 terminal (driver encoder interface) are as below:
Pin Signal Remark
1 +5V Power supply +5V
2 GND 5 6
3 — — 3 4
1 2
4 — —
5 A Serial signal +
6 B Serial signal -
15
Axis Address Setting for M-II Bus Type Driver
4 Axis Address Setting for M-II Bus Type Driver
4.1 Connection to Control System

Following diagram shows the connection between the bus driver and the control
system. Attention: please set the dip switch S1 of the last driver at ON while others
at OFF, to ensure normal communication of the system. (The dip switch is to
activate the terminal resistor, specifically ON for enabling and OFF for disabling).
CHARGE C CHARGE C CHARGE C

N N N
L1 5 L1 5 L1 5
L2 L2 L2
ON ON ON
L3 L3 L3
L1C
S1 OFF L1C
S1 OFF L1C
S1 ON
OFF OFF OFF
L2C C L2C C L2C C
N N N
B1 1 B1 1 B1 1
B2 B2 B2
B3 B3 B3
1 C 1 C 1 C
N N N
2 2 2 2 2 2
U U U
V V V
W W W
C C C
N N N
4 4 4
16
4.2 Axis Address Setting

Please set the axis address of each driver after connection. It is recommended to
set them in order (X-axis: 1; Y-axis: 2; Z-axis: 3 and so forth. 0 means disabling the
communication function). The axes addresses can be set via iMotion software
(Version 1.2.3 or above) or on the driver panel.
 Setting via Driver Panel
Here is the flowchart for axis address setting on the driver panel, and please restart
the driver to validate the modification.
SET
Monitor mode
MODE
Parameter
setting mode
MODE
Parameter
save mode
MODE
Auxiliary
function mode
SET
Alter the No. of

axis address via up
and down buttons
Press “ ”
for about 2s
Success. Enabled by Error

restart after power off
17
 Setting via iMotion Software
Method for setting drive axes addresses via iMotion software is as below:
1 After the driver is connected, you should click “Axis setting” to enter
“Axis setting” interface.
2 Set the axis address and click “Setting”. (In

the same control system, the number of the axis
setting of every driver is the unique one)
3 Then a prompt box will pop out

and you should click “OK”.
18
4.3 Related Parameters Setting in Control System

Taking WEIHONG NcStudio V10 (XYZ1Z2) control system as an example, this
section explains how to set related parameters when M-Ⅱbus type driver is used
together with NcStudio V10.
Set Set parameter「N50000 Control System Type」to be 1. (1: Bus control

control system; 0: Non-bus control system)
system
type
Set parameter 「N16050 Servo Type」 to be 2. (0: Yaskawa Σ5 servo;

1: Yaskawa Σ7 servo; 2: WISE servo)
Set servo
type
Set parameter 「N16000 Driver Station Address」 according to the axis

address numbers of the driver, in order to set the station addresses
corresponding to the axes on the NC system. (Attention: the number of
station address should be same with that of corresponding axis
Set station address set via the driver.)
address
Set parameter 「N16020 Encoder Digit」 according to the servo motor

Set encoder digits used by the axes.
encoder
digit
19
Set parameter of 「N11010 Encoder Type」 according to encoder

models used by the axes. (0: incremental encoder; 1: absolute
Set encoder)
encoder
type
Modifications to parameters will take effect after restarting the software.
CAUTION
The electronic gear ratio by default in the system parameter is 1:1. You can set it based on
your own demands. However, you should ensure that the electronic gear ratio of the NC
system is the same with that of the corresponding driver.
20
Wiring Specifications for Driver and MA/MB/MN/ME Motor
5 Wiring Specifications for Driver and
MA/MB/MN/ME Motor
If you make the encoder wires and power wires by yourself, please refer to this
chapter for wiring.
5.1 Connector Type

5.1.1 Connector for Encoder Cable
 SM-6P (Lateral encoder connector of the driver)
Pin Signal
1 +5V
2 0V
3 —
5 6
—
5
4
MXJ
3 4
5418
3
1 2
5 PS
1
6 /PS
 7-pin directly inserted XS16K7P
Pin Signal
FG
1
(shield ground)
2 BAT-
1 2
3 BAT+
3 4 5
4 /PS
5 0V
6 7
6 PS
7 +5V
21
 7-pin aviation connector YD28K7TSL
Pin Signal
FG
1
(shield ground) 1
2 BAT-
2 3
3 BAT+ 4
4 /PS
5 6
5 0V
7
6 PS
7 +5V
 15-pin military aviation connector (please don’t connect anything to NC)
Pin Signal
FG
1
(shield ground)
2 BAT-
3 BAT+
4 /PS
5 0V
1 2
6 PS
3 5
7 +5V
6 10
8 NC
11 13
9 NC
14 15
10 NC
11 NC
12 NC
13 NC
14 NC
15 NC
22
5.1.2 Connector for Motor Cable
 4-pin directly inserted motor cable connector XS16K4aP
Pin Signal
1 1 2
2 U
3 4
3 V
4 W
 4-pin aviation motor cable connector YD28K4TSL
Pin Signal
1 1
2 U
2 3
3 V
4
4 W
 4-pin aviation motor cable connector CMS3108A18-10SI
Pin Signal
A U A D
B V
C W B C
D
23
5.1.3 Connector for Brake Cable
 3-pin brake aviation connector XS12K3P
Pin Signal
2 3
1 Brake +
2 Brake - 1
3 NC
 2-pin brake connector 172157-1
Pin Signal
1
1 Brake +
2
2 Brake -
 2-pin brake connector SC-CMV1-AP02C
Pin Signal
1 2
1 Brake +
2 Brake -
24
5.2 Wiring Diagram of Encoder Cable

Motor Rated
Wiring Diagram
Power
Wiring diagram of 17/23-bit absolute encoder
The core wire should The wire must get through

be coated with heat the battery holder.
Twisted pair 7-pin directly
shrink tube. inserted
100W~ SM-6P XS16K7P
750W
5V 1 7 5V
0V 2 5 0V
PS 5 6 PS
Driver /PS 6 4 Motor
/PS
side BAT+ 3 Battery holder 3.5cm
3 side
BAT+
BAT- 4 2 BAT-
1000W FG LS14500 battery 1 FG

Shield layer
(MN080-DA4 8cm 6cm
The shielding wire
Get the wire sleeved
should be sleeved.
035F-F□ and press the shield
layer and the spring.
series)
The core wire should The wire must get through Twisted pair 7-pin aviation
shrink tube.
connector
SM-6P YD28K7TSL
5V 1 7 5V
0V 2 5 0V
PS 5 6 PS
Driver /PS 6 4 Motor
1000W~ Battery holder 3.5cm /PS
side
side BAT+ 3 3 BAT+
2300W 4 2
BAT- BAT-
FG LS14500 battery 1 FG
Shield layer
8cm 6cm
The shielding wire
Get the wire sleeved should be sleeved.
and press the shield
25
Motor Rated
Wiring Diagram
Power
The core wire should The wire must get through Twisted pair
15-pin military
SM-6P shrink tube. aviation connector
5V 1 7 5V
0V 2 5 0V
PS 5 6 PS
850W& Driver /PS 6 Battery holder 4 Motor
3.5cm /PS
1300W side BAT+ 3 3 BAT+ side
(MB130 BAT- 4 2 BAT-
series)
Shield layer
8cm 6cm
Get the wire sleeved The shielding wire

and press the shield should be sleeved.
Wiring diagram of 17-digit incremental encoder
The core wire should Twisted pair 7-pin directly

100W~ be coated with heat
SM-6P shrink tube.
inserted XS16K7P
750W
5V 1 7 5V
0V 2 5 0V
Driver 5 6 Motor
PS PS
side /PS 6 4 /PS
side
1000W
(MN080-DA4 FG 1 FG
Get the wire sleeved Shield layer The shielding wire
035F-F□
series) layer and the spring.
The core wire should Twisted pair 7-pin aviation

be coated with heat
SM-6P shrink tube.
connector YD28K7TSL
5V 1 7 5V
0V 2 5 0V
Driver 5 6 Motor
PS PS
1000W~ side /PS 6 4 /PS
side
2300W
FG 1 FG
26
5.3 Wiring Diagram of Motor Cable

Motor
Rated Wiring Diagram
Power
4-pin directly
1-2134249-3 inserted XS16K4aP
U 1 2 U
Driver
V 2 3 V Motor
side side
W 3 4 W
100~400W
(with brake)
Driver ground 1
terminal
172157-1
DC power supply+24V
1 Brake + Motor
for brake GND 2 Brake - side
4-pin directly
U 1 2 U
100~400W
Driver
V 2 3 V Motor
(without side
side
brake) W 3 4 W
Driver ground 1
terminal
27
Motor
Power
4-pin directly
U 1 2 U
Driver
V 2 3 V Motor
side side
W 3 4 W
750W
Driver ground 1
(with brake)
terminal
Aviation connector
XS12K3P
DC power supply+24V 1 Brake +
Motor
4-pin directly
U 1 2 U
750W
Driver
V 2 3 V Motor
(without side
3 4 side
brake) W W
Driver ground 1
terminal
28
Motor
Power
4-pin aviation connector

1-2134249-3 YD28K4TSL
U 1 2 U
Driver
V 2 3 V Motor
side side
W 3 4 W
1000W~
2300W Driver ground 1
(with brake) terminal
Aviation connector
XS12K3P
1 Brake +
DC power supply+24V Motor
for brake GND
2 Brake - side

1-2134249-3 YD28K4TSL
1000W~ U 1 2 U
2300W Driver
V 2 3 V Motor
(without side side
W 3 4 W
brake)
Driver ground 1
terminal
29
Motor
Power

1-2134249-3 CMS3108A18-10SI
U 1 A U
Driver
V 2 B V Motor
850W & side
3 C side
1300W W W
(MB130
series) Driver ground D
(with brake) terminal
SC-CMV1-AP020C
DC power supply+24V
1 Brake +
Motor

850W& 1-2134249-3 CMS3108A18-10SI
1300W U 1 A U
(MB130 2 B
Driver
V V Motor
series) side
3 C side
(without W W
brake)
Driver ground D
terminal
30
Wiring Specifications for Driver and Panasonic A5/A5-II Motor
6 Wiring Specifications for Driver and Panasonic
A5/A5-II Motor
6.1 Connector Type

6.1.1 Connector for Encoder Cable
 SM-6P (Lateral encoder connector of the driver)
Pin Signal
1 +5V
2 0V
3 —
5 6
—
5
4
MXJ
3 4
5418
3
1 2
5 PS
1
6 /PS
 6-pin incremental encoder connector 172160-1 (please don’t connect anything

to NC)
Pin Signal
1 NC
2 PS
1 2 3
3 /PS NC PS /PS
4 5 6
4 +5V E5V E0V FG
172160-1
5 0V
FG
6
(shield ground)
31
 9-pin bus type encoder connector 172161-1 (please don’t connect anything to
NC)
Pin Signal
1 BAT+
2 BAT-
3 FG
1 2 3
4 PS BAT+ BAT- FG
4 5 6
5 /PS
PS /PS NC
6 NC 7 8 9
E5V E0V NC 172161-1
7 +5V
8 0V
9 NC
32
 17-pin bus type aviation connector 3108B20-29S (please don’t connect

anything to NC)
Pin Signal
A NC
B NC
C NC
D NC
E NC
F NC
G 0V M A B
H +5V L N C
FG T P
J
(shield ground) K D
K PS R
J S E
L /PS
H G F
M NC
N NC
P NC
R NC
S BAT-
T BAT+
33
6.1.2 Connector for Motor Cable
 4-pin motor cable connector 172159-1
Pin Signal
1 U 1 2
5 U V
2 V
3 4
3 W W
172159-1
4
 9-pin aviation motor cable connector with brake 3108B20-18S (please don’t
connect anything to NC)
Pin Signal
G Brake +
H Brake -
A NC A H G
F U
B I F
I V
B W C D E
E
C NC
 4-pin aviation motor cable connector 3108B18-10S
Pin Signal
A U
D A
B V
C W C B
D
34
6.1.3 Connector for Brake Cable
 2-pin power-off brake connector 172157-1
Pin Signal
1
1 Brake +
2
2 Brake -
35
6.2 Wiring Diagram of Encoder Cable

Motor
rated Wiring diagram
power
17-bit absolute encoder wiring diagram
The core wire should The wire must get Twisted pair
be coated with heat through the battery
SM-6P shrink tube. holder. 172161-1
5V 1 7 5V
0V 2 8 0V
PS 5 4 PS
Driver /PS 6 Battery holder 5 Motor
3.5cm /PS
400W~ side BAT+ 3 1 BAT+ side
750W BAT- 4 2 BAT-
Shield layer
8cm 6cm
The shielding wire
The core wire should The wire must get through Twisted pair 17-pin aviation
SM-6P shrink tube.
connector 3108B20-
29S
5V 1 H 5V
0V 2 G 0V
PS 5 K PS
Driver /PS 6 L /PS Motor
1000W~ side BAT+ 3 Battery holder 3.5cm
T BAT+ side
1500W BAT- 4 S BAT-
FG LS14500 battery J FG
Shield layer
8cm 6cm
The shielding wire
36
Motor
rated Wiring diagram
power
20-bit incremental encoder wiring diagram
The core wire should

be coated with heat
Twisted pair 172160-1
SM-6P shrink tube.
5V 1 4 +5V
2 5
Driver 0V 5 2
0V
Motor
PS PS
400W~ side /PS 6 3 /PS
side
750W
FG 6 FG
The core wire should Twisted pair 17-pin aviation

be coated with heat
SM-6P connector 3108B20-
shrink tube.
29S
5V 1 H 5V
2 G
Driver 0V 5 K
0V
Motor
PS PS
1000W~ side /PS 6 L /PS
side
1500W
T BAT+
FG S BAT-
Shield layer J
Get the wire sleeved FG
and press the shield The shielding wire
layer and the spring. should be sleeved.
37
6.3 Wiring Diagram of Motor Cable

Motor rated
Wiring diagram
power
1-2134249-3 172159-1
U 1 1 U Motor
Driver 2 2
side V V side
W 3 3 W
400W
(with brake) Driver ground 4
terminal
172157-1
DC power supply+24V
1 Brake + Motor
for brake GND
2 Brake - side
1-2134249-3 172159-1
U 1 1 U
Driver
V 2 2 V Motor
400W side side
(without W 3 3 W
brake)
Driver ground 4
terminal
38
Motor rated
Wiring diagram
power
1-2134249-3 172159-1
U 1 1 U
Driver Motor
V 2 2 V side
side
W 3 3 W
750W
(with brake) Driver ground 4
terminal
172157-1
DC power supply+24V
1 Brake + Motor
for brake GND
2 Brake - side
1-2134249-3 172159-1
U 1 1 U
Driver
V 2 2 V Motor
750W side side
(without W 3 3 W
brake)
Driver ground 4
terminal

1-2134249-3
3108B20-18S
U 1 F U Motor
Driver 2 I
side V V side
1000W W 3 B W
&1500W
(with brake) Driver ground E
terminal
DC power supply+24V
G Brake + Motor
for brake GND
H Brake - side
39
Motor rated
Wiring diagram
power

1-2134249-3 SFB-2-4 3108B18-10S
U 1 A U
1000W & Driver V 2 B V Motor
1500W side side
W 3 C W
(without
brake)
Driver ground D
terminal
40
List of Error Codes
7 List of Error Codes
Error Attribute
Content
code History Clearable Immediately
Err 11.0 Control power under-voltage protection ●
Err 12.0 Over-voltage protection ● ●
Main power under-voltage protection ●

Err 13.0
(PN)
Main power under-voltage protection ●
Err 13.1
(AC)
Err 14.0 Over-current protection ●
Err 14.1 IPM error protection ●
Err 15.0 Over-heat protection ● ●
Err 16.0 Over-load protection ● ●
Err 18.0 Regeneration over-load protection ● ●
Err 18.1 Regenerative transistor error protection ●
Err 19.0 DB (Dynamic brake) over-load protection ●
Encoder communication disconnection ●

Err 21.0
error protection
Err 21.1 Encoder communication error protection ●
Encoder communication data error ●

Err 23.0
protection
Err 24.0 Positional deviation excess protection ● ● ●
Err 24.1 Velocity deviation excess protection ● ● ●
Err 25.0 Hybrid deviation excess protection ● ●
41
List of Error Codes
Error Attribute
Content
Err 26.0 Over-speed protection ● ● ●
Err 26.1 2nd over-speed protection ● ●
Command pulse input frequency error ● ● ●

Err 27.0
protection
Command pulse demultiplication ● ● ●
Err 27.1
frequency error protection
Err 28.0 Pulse regeneration limit protection ● ● ●
Err 29.0 Deviation count overflow protection ● ●
Err 33.0 IF duplicated allocation error 1 ●
Err 33.1 IF duplicated allocation error 2 ●
Err 33.2 IF input function number error 1 ●
Err 33.3 IF input function number error 2 ●
Err 33.4 IF output function number error 1 ●
Motor moveable range setup error ● ●

Err 34.0
protection
Err 36.0
～ EEPROM parameter error protection
Err 36.2
Err 37.0
～ EEPROM code error protection
Err 37.2
Err 38.0 Driver inhibited input protection ● ●
Absolute encoder system power-off error ● ●

Err 40.0
protection
Absolute encoder count overflow error ●
Err 41.0
protection
Absolute encoder over-speed error ● ●
Err 42.0
protection
42
List of Error Codes
Error Attribute
Content
Err 43.0 Encoder initial error protection ●
Absolute encoder single turn count error ●

Err 44.0
protection
Absolute encoder multi-turn count error ●
Err 45.0
protection
Absolute encoder over-heat error ●
Err 46.0
protection
Err 47.0 Absolute encoder state error protection ●
Err 48.0 Encoder Z-phase error protection ●
Err 49.0 Encoder CS signal error protection ●
ABZ incremental encoder over-speed ●

Err 56.0
error protection
ABZ incremental encoder UVW error ●
Err 56.1
protection
ABZ incremental encoder ABZ error ●
Err 56.2
protection
Current sampling offset excess ●
Err 57.0
protection
Err 57.1 Current gain diagnosis error protection ●
Err 58.0 Chip work error protection ●
Err 59.0 Due register time ●
Err 59.1 Mismatching software version ●
Err 60.0 M-II communication ASIC fault 1 ●
Err 61.0 M-II communication ASIC fault 2 ●
Err 62.0 M-II internal synchronous error 1 ● ●
43
List of Error Codes
Error Attribute
Content
Err 63.0 M-II transfer cycle setup error ● ●
Err 64.0 M-II synchronous error ●
Err 64.1 M-II synchronous failure ● ●
Err 65.0 M-II communication fault (receipt error) ●
M-II transfer cycle error (synchronous ● ●

Err 65.1
interval error)
Err 87.0 Forced alarm input protection ● ●
Err 95.0
～ Motor automatic recognition error
Err 95.4
Other Other error protection ●
44
Lists of Driver Parameters
8 Lists of Driver Parameters
8.1 Modifying Parameter Setting

 Setting via Driver Front Panel
After modifying the parameter setting, you should enter EEPROM write mode to
save the parameter; otherwise, the parameter setting will be the previous value after
restarting the driver. The writing method for EEPROM parameter is as below:
45
Option
Param setup mode
display
MODE
Option Execution
EEPROM write mode display
display
In about 5s after pressing 仿 , [-] will
keep increasing. Press 仿 until [start]
screen appears. Then writing starts as
follows.
After writing the parameter into

the EEPROM mode, you should
press SET to enter the execution
display mode.
SET
Writing starts
Writing
ends
Error
Caution
1.[start] screen lasts for a short period
and may not be observed.
2. screen will appear after
parameter writing ends. The parameter
can only take effect after power-off and
restart; otherwise, the modified
parameter can’t be saved.
1. Press MODE, and select EEPROM write mode ;
2. Press SET. Then will appear;
3. Keep pressing for about 5s. Then to will appear;
4. When appears, the parameter is saved. If appear, the

writing is invalid; and you should re-set the parameter.
46
 Setting via iMotion Software
1 After connecting the driver, please click “Parameter” and enter

the “Parameter” interface.
2 Click “Value” to modify the

parameter directly.
Tip: compare the background

colors of the parameters to
3 After the “Reboot” parameter know their attribute.
is modified, a prompt box will
pop out. Click “OK”.
47
8.2 Parameters List of Pulse Type Driver

In the following list, modification to parameters with * will take effect after reboot;
while modification to parameters without * will take effect immediately.
Param
Name Range Unit Default
No.
Pr000* Rotational direction setup 0～1 — 1

Pr001* Control mode setup 0～3 — 1
Pr002 Real-time auto-gain tuning setup 0～6 — 0
Real-time auto tuning
Pr003 0～31 — 13
mechanical stiffness setup
Pr004 Inertia ratio 0～10000 % 250
Command pulse rotation
Pr006* 0～1 — 0
direction setup
Command pulse input mode
Pr007* 0～3 — 3
setup
Command pulse counts per one
Pr008* 0～8388608 pulse 10000
motor revolution
st
Pr009 1 numerator of electronic gear 0～1073741824 — 0
Pr010 Denominator of electronic gear 1～1073741824 — 10000
Output pulse counts per one
Pr011* 1～2097152 pulse 2500
motor revolution
Pr012* Reversal of pulse output logic 0～1 — 0
Pr013 1st torque limit 0～500 % 300
Pr014 Position deviation excess setup 0～1073741824 Unit-dependent 100000
Pr015* Absolute encoder setup 0～2 — 1
External regenerative resistor
Pr016* 0～3 — 3
setup
Load factor of external
Pr017* 0～4 — 0
regenerative resistor selection
st
Pr100 1 gain of position loop 0～30000 0.1/S 480
Pr101 1st gain of velocity loop 1～32767 0.1Hz 270
1st time constant of velocity loop
Pr102 1～10000 0.1ms 210
integration
Pr103 1st filter of speed detection 0～10000 0.01ms 0
st
Pr104 1 torque filter 0～2500 0.01ms 84
Pr105 2nd gain of position loop 0～30000 0.1/s 570
48
Param
No.
Pr106 2nd gain of velocity loop 1～32767 0.1Hz 270

2nd time constant of velocity loop
Pr107 1～10000 0.1ms 10000
integration
nd
Pr108 2 filter of speed detection 0～10000 0.01ms 0
Pr109 2nd torque filter 0～2500 0.01ms 84
Pr110 Velocity feed forward gain 0～1000 0.10% 300
Pr111 Velocity feed forward filter 0～6400 0.01ms 50
Pr112 Torque feed forward gain 0～1000 0.1% 0
Pr113 Torque feed forward filter 0～6400 0.01ms 0
nd
Pr114 2 gain setup 0～1 — 1
Pr115 Position control switching mode 0～10 — 0
Position control switching delay
Pr116 0～10000 0.1ms 50
time
Pr117 Position control switching level 0～20000 Mode-dependent 50
Position control switching
Pr118 0～20000 Mode-dependent 33
hysteresis
Pr119 Position gain switching time 0～10000 0.1ms 33
Pr120 Velocity control switching mode 0～5 — 0
Velocity control switching delay
Pr121 0～10000 0.1ms 0
time
Pr122 Velocity control switching level 0～20000 Mode-dependent 0
Velocity control switching
hysteresis
Pr124 Torque control switching mode 0～3 — 0
Torque control switching delay
Pr125 0～10000 0.1ms 0
time
Pr126 Torque control switching level 0～20000 Mode-dependent 0
Torque control switching
hysteresis
Pr200 Adaptive filter mode setup 0～4 — 0
Pr201 1st notch frequency 50～5000 Hz 5000
Pr202 1st notch width selection 0～20 — 2
Pr203 1st notch depth selection 0～99 — 0
nd
Pr204 2 notch frequency 50～5000 Hz 5000
Pr205 2nd notch width selection 0～20 — 2
Pr206 2nd notch depth selection 0～99 — 0
49
Param
No.
Pr207 3rd notch frequency 50～5000 Hz 5000

Pr208 3rd notch width selection 0～20 — 2
Pr209 3rd notch depth selection 0～99 — 0
th
Pr210 4 notch frequency 50～5000 Hz 5000
Pr211 4th notch width selection 0～20 — 2
Pr212 4th notch depth selection 0～99 — 0
Pr214 1st damping frequency 0~2000 0.1Hz 0
Pr215 1st damping filter setup 0~500 0.001 0
Pr216 2nd damping frequency 0~2000 0.1Hz 0
Pr217 2nd damping filter setup 0~500 0.001 0
Pr218 3rd damping frequency 0~2000 0.1Hz 0
Pr219 3rd damping filter setup 0~500 0.001 0
Pr220 4th damping frequency 0~2000 0.1Hz 0
Pr221 4th damping filter setup 0~500 0.001 0
Positional command smoothing
Pr222 0～32767 0.1ms 0
filter
Pr223 Positional command FIR filter 0～1000 0.1ms 0
Switching between internal and
Pr300 0～3 — 1
external speed setup
Speed command direction
Pr301 0～1 — 0
selection
st
Pr304 1 speed of speed setup -20000～20000 r/min 0
Pr305 2nd speed of speed setup -20000～20000 r/min 0
Pr306 3rd speed of speed setup -20000～20000 r/min 0
th
Pr308 5th speed of speed setup -20000～20000 r/min 0
th
Pr312 Acceleration time setup 0～10000 ms/(1000r/min) 0
Pr313 Deceleration time setup 0～10000 ms/(1000r/min) 0
Sigmoid
Pr314 acceleration/deceleration time 0～10000 ms 0
setup
Speed-zero clamp function
Pr315 0～3 — 0
selection
50
Param
No.
Pr316 Speed-zero clamp level 10～20000 r/min 30

Pr317 Torque command selection 0～2 — 0
Torque command direction
Pr318 0～1 — 0
selection
Pr319 Input gain of torque command 10~100 0.1V/100% 30
Input reversal of torque
Pr320 0~1 — 0
command
Pr321 Speed limit value 1 0～20000 r/min 0
00000000h
Pr400* SI1 input selection 0～00FFFFFFh —
(0)
00000E00h
(3584)
00000F00h
(3840)
00020202h
(131586)
00010101h
(65793)
00111108h
(1118472)
00030303h
(197379)
00000007h
(7)
00030303h
Pr408* SO1 output selection 0～00FFFFFFh —
(197379)
00020202h
(131586)
00010101h
(65793)
00050504h
(328964)
00070707h
(460551)
00060606h
(394758)
00080808h
(526344)
Pr421 Analog input 1 offset setup -372~372 5.371mV 0
51
Param
No.
Pr422 Analog input 1 filter 0~6400 0.01ms 0

Analog input 1 over-voltage
Pr423 0~100 0.1V 0
setup
Pr424 Analog input 2 offset setup -372~372 5.371mV 0
Pr425 Analog input 2 filter 0~6400 0.01ms 0
Analog input 2 over-voltage
Pr426 0~100 0.1V 0
setup
Positioning complete
Pr430 0～262144 Unit-dependent 10
(In-position) range
Pr431 0～3 — 0
(In-position) output setup
Pr432 INP hold time 0～30000 1ms 0
Pr433 Zero-speed 10～20000 r/min 50
Pr434 Speed coincidence range 10～20000 r/min 50
Pr435 At-speed (speed arrival) 10～20000 r/min 1000
Mechanical brake action at
Pr436 0～10000 1ms 0
stalling setup
Pr437 0～10000 ms 0
running setup
Pr438 Brake release speed setup 30～3000 r/min 30
Pr439 Selection 1 of alarm output 0～10 — 0
2nd positioning complete
Pr441 0～262144 Command unit 10
(In-position) range
Pr500 Numerator of 2nd electronic gear 0～1073741824 — 0
rd
Pr501 Numerator of 3 electronic gear 0～1073741824 — 0
Pr502 Numerator of 4th electronic gear 0～1073741824 — 0
Denominator of pulse output
Pr503* 0～8388608 — 0
division
Pr504* Over-travel inhibit input setup 0～2 — 1
Pr505* Sequence of over-travel inhibit 0～2 — 0
Pr506 Sequence at Servo-OFF 0～9 — 0
Pr507 Sequence of main power OFF 0～9 — 0
LV trip selection at main power
Pr508 0～1 — 1
OFF
Detection time of main power
Pr509* 70～2000 1ms 70
OFF
52
Param
No.
Pr510 Sequence at alarm 0～7 — 0

Pr511 Torque setup for emergency stop 0～500 % 0
Pr512 Over-load level setup 0～500 % 0
Pr513 Over-speed level setup 0～20000 r/min 0
Pr514 Motor working range setup 0～1000 0.1 revolution 10
Invalidation setup of command
Pr518 0～1 — 1
pulse input
Pr520* Position setup unit selection 0～1 — 0
Pr521 Selection of torque limit 0～6 — 1
nd
Pr522 2 torque limit 0～500 % 500
Pr523 Torque limit switching setup 1 0～4000 ms/100% 0
Pr524 Torque limit switching setup 2 0～4000 ms/100% 0
Positive direction torque limit at
Pr525 0～500 % 500
external input
Negative direction torque limit at
Pr526 0～500 % 500
external input
Pr528* LED initial status 0～36 — 1
Pulse regenerative output limit
Pr533* 0～1 — 0
setup
Pr535* Lock front panel setup 0～1 — 0
Pr601 Torque command setup -500～500 % 0
Pr602 Velocity deviation excess setup 0～100 r/min 0
Pr604 JOG trial run command speed 0～500 r/min 300
Torque command additional
Pr607 -100～100 % 0
value
Positive direction torque
Pr608 -100～100 % 0
compensation value
Negative direction torque
Pr609 -100～100 % 0
compensation value
Pr611 Current response setup 20～500 % 100
Positive/negative torque
Pr612 0～3000 0.01ms 0
compensation filter
nd
Pr615 2 over-speed level setup 0～20000 r/min 0
Disturbance torque
Pr623 -100～100 % 0
compensating gain
Pr624 Disturbance observer filter 0～2500 0.01ms 2000
Pr627* Alarm latch time selection 0～10 s 5
53
Param
No.
Pr628 Auto resonance detection level 30～1000 % 100

Pr630 Damping filter ON/OFF switch 0~2 — 0
Real-time auto-tuning customer
Pr632 -32767～32767 — 0
setup
Friction compensation valid
Pr633 0～1000 0.1rpm 0
speed setup
Pr638* Alarm mask setup -32767～32767 — 0
Lambda communication
Pr639 0～1 — 1
ON/OFF signal
54
8.3 Parameters List of M-Ⅱ Bus Type Driver

In the following list, modification to parameters with * will take effect after reboot;
while modification to parameters without * will take effect immediately.
Param
No.
Pr000* Rotational direction setup 0～1 — 1

Pr001* Control mode setup 0～3 — 1
Real-time auto-gain tuning
Pr002 0～6 — 0
setup
Real-time auto tuning
Pr003 0～31 — 13
mechanical stiffness setup
Pr004 Inertia ratio 0～10000 % 250
Command pulse counts per
Pr008* 0～8388608 pulse 0
one motor revolution
1st numerator of electronic 0～
Pr009 — 1
gear 1073741824
Denominator of electronic 1～
Pr010 — 1
gear 1073741824
Output pulse counts per one
Pr011* 1～2097152 pulse 2500
motor revolution
Reversal of pulse output
Pr012* 0～1 — 0
logic
Pr013 1st torque limit 0～500 % 300
Position deviation excess 0～
Pr014 Unit-dependent 35000000
setup 1073741824
Pr015* Absolute encoder setup 0～2 — 0
External regenerative
Pr016* 0～3 — 0
resistor setup
Load factor of external
Pr017* regenerative resistor 0～4 — 0
selection
Pr100 1st gain of position loop 0～30000 0.1/s 480
Pr101 1st gain of velocity loop 1～32767 0.1Hz 270
1st time constant of velocity
Pr102 1～10000 0.1ms 210
loop integration
Pr103 1st filter of speed detection 0～10000 0.01ms 0
Pr104 1st torque filter 0～2500 0.01ms 84
55
Param
No.
Pr105 2nd gain of position loop 0～30000 0.1/s 570

Pr106 2nd gain of velocity loop 1～32767 0.1Hz 270
2nd time constant of velocity
Pr107 1～10000 0.1ms 10000
loop integration
Pr108 2nd filter of speed detection 0～10000 0.01ms 0
nd
Pr109 2 torque filter 0～2500 0.01ms 84
Pr110 Velocity feed forward gain 0～1000 0.001 300
Pr111 Velocity feed forward filter 0～6400 0.01ms 200
Pr112 Torque feed forward gain 0～1000 0.001 0
Pr113 Torque feed forward filter 0～6400 0.01ms 0
Pr114 2nd gain setup 0～1 — 1
Pr115 0～10 — 0
mode
Pr116 0～10000 0.1ms 50
delay time
level
hysteresis
Pr119 Position gain switching time 0～10000 0.1ms 33
Pr120 0～5 — 0
mode
Pr121 0～10000 0.1ms 0
delay time
level
hysteresis
Pr124 0～3 — 0
mode
Pr125 0～10000 0.1ms 0
delay time
level
hysteresis
Pr200 Adaptive filter mode setup 0～4 — 0
Pr201 1st notch frequency 50～5000 Hz 5000
56
Param
No.
Pr202 1st notch width selection 0～20 — 2

Pr203 1st notch depth selection 0～99 — 0
Pr204 2nd notch frequency 50～5000 Hz 5000
nd
Pr205 2 notch width selection 0～20 — 2
Pr206 2nd notch depth selection 0～99 — 0
Pr207 3rd notch frequency 50～5000 Hz 5000
Pr208 3rd notch width selection 0～20 — 2
rd
Pr209 3 notch depth selection 0～99 — 0
Pr210 4th notch frequency 50～5000 Hz 5000
Pr211 4th notch width selection 0～20 — 2
Pr212 4th notch depth selection 0～99 — 0
Pr214 1st damping frequency 0~2000 0.1Hz 0
Pr215 1st damping filter setup 0~500 0.001 0
Pr216 2nd damping frequency 0~2000 0.1Hz 0
Pr217 2nd damping filter setup 0~500 0.001 0
Pr218 3rd damping frequency 0~2000 0.1Hz 0
Pr219 3rd damping filter setup 0~500 0.001 0
Pr220 4th damping frequency 0~2000 0.1Hz 0
Pr221 4th damping filter setup 0~500 0.001 0
Positional command
Pr222 0～32767 0.1ms 0
smoothing filter
Positional command FIR
Pr223 0～1000 0.1ms 0
filter
Switching between internal
Pr300 0～3 — 1
and external speed setup
Speed command direction
Pr301 0～1 — 0
selection
st
Pr305 2nd speed of speed setup -20000～20000 r/min 0
Pr306 3rd speed of speed setup -20000～20000 r/min 0
th
th
57
Param
No.
Pr312 Acceleration time setup 0～10000 ms/(1000r/min) 0

Pr313 Deceleration time setup 0～10000 ms/(1000r/min) 0
Sigmoid
Pr314 acceleration/deceleration 0～1000 ms 0
time setup
Speed-zero clamp function
Pr315 0～3 — 0
selection
Pr316 Speed-zero clamp level 10～20000 r/min 30
Pr317 Torque command selection 0～2 — 0
Torque command direction
Pr318 0～1 — 0
selection
002E2E2EH
(3026478)
00818181H
(8487297)
00828282H
(8553090)
00222222H
(2236962)
00202020H
(2105376)
00212121H
(2171169)
002B2B2BH
(2829099)
00010101H
(65793)
00030303H
(197379)
00000004H
(4)
00070707H
(460551)
Pr430 0～262144 Unit-dependent 10
(In-position) range
Pr431 0～3 — 0
(In-position) output setup
Pr432 INP hold time 0～30000 ms 0
58
Param
No.
Pr433 Zero-speed 10～20000 r/min 50

Pr434 Speed coincidence range 10～20000 r/min 50
Pr435 At-speed (speed arrival) 10～20000 r/min 1000
Pr436 0～10000 ms 0
stalling setup
Pr437 0～10000 ms 0
running setup
Pr438 Brake release speed setup 30～3000 r/min 30
2nd positioning complete
Pr441 0～262144 Command unit 10
(In-position) range
nd
Numerator of 2 electronic 0～
Pr500 — 0
gear 1073741824
rd
Numerator of 3 electronic 0～
Pr501 — 0
gear 1073741824
Numerator of 4th electronic 0～
Pr502 — 0
gear 1073741824
Denominator of pulse output
Pr503* 0～8388608 — 0
division
Over-travel inhibit input
Pr504* 0～2 — 1
setup
Sequence of over-travel
Pr505* 0～2 — 0
inhibit
Pr506 Sequence at Servo-OFF 0～9 — 0
Sequence of main power
Pr507 0～9 — 0
OFF
LV trip selection at main
Pr508 0～1 — 1
power OFF
Detection time of main
Pr509* 70～2000 ms 70
power OFF
Pr510 Sequence at alarm 0～7 — 0
Torque setup for emergency
Pr511 0～500 % 0
stop
Pr512 Over-load level setup 0～500 % 0
Pr513 Over-speed level setup 0～20000 r/min 0
Pr514 Motor working range setup 0～1000 0.1 revolution 10
Pr516* Alarm clear input setup 0~1 — 0
59
Param
No.
Pr520* Position setup unit selection 0～1 — 0

Pr521 Selection of torque limit 0～6 — 1
Pr522 2nd torque limit 0～500 % 500
Torque limit switching setup
Pr523 0～4000 ms/100% 0
1
Torque limit switching setup
Pr524 0～4000 ms/100% 0
2
Pr525 0～500 % 500
limit at external input
Pr526 0～500 % 500
limit at external input
Pr528* LED initial status 0～36 — 1
Pulse regenerative output
Pr533* 0～1 — 0
limit setup
Pr535* Lock front panel setup 0～1 — 0
Pr601 Torque command setup -500～500 % 0
Velocity deviation excess
Pr602 0～100 r/min 0
setup
JOG trial run command
Pr604 0～500 r/min 300
speed
Torque command additional
Pr607 -100～100 % 0
value
Pr608 -100～100 % 0
compensation value
Pr609 -100～100 % 0
compensation value
Pr611 Current response setup 20～500 % 100
Positive/negative torque
Pr612 0～30000 0.01ms 0
compensation filter
nd
Pr615 2 over-speed level setup 0～20000 r/min 0
Front panel parameter write
Pr617* 0~1 — 0
selection
Disturbance torque
Pr623 -100～100 % 0
compensating gain
Pr624 Disturbance observer filter 0～2500 0.01ms 2000
Pr627* Alarm latch time selection 0～10 s 5
Auto resonance detection
Pr628 30～1000 % 100
level
60
Param
No.
Damping filter ON/OFF

Pr630 0~2 — 0
switch
Real-time auto-tuning
Pr632 -32767～32767 — 0
customer setup
Friction compensation valid
Pr633 0～1000 0.1r/min 0
speed setup
Pr638* Alarm mask setup -32768～32767 — 0
61

WISE Servo Driver Guide-R4

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WISE Servo Driver Guide-R4

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Preface

Main contents of this Guide are as follows:

 Overall dimensions, installation dimensions and terminals of WISE driver;

 Wiring between WISE servo driver and the control system;

 Axis address setting for M-II bus driver;

 List of error codes and lists of parameters of WISE servo driver.

 Applicable Product Models

Product Model Remarks

It is herein abbreviated as WISE (维智).

Date Edition Revision Contents

Updated on the basis of the latest Users’ Manual of WISE (维智)

Company Name: Weihong Electronic Technology Co., Ltd.

Headquarters Address: No. 1590, Huhang Rd., Fengxian, Shanghai 201401

1 Basic Information ........................................................................1

1.1 Nameplate & Model...................................................................... 1

2 System Configuration and Wiring .................................................4

2.1 Wiring Diagram of Pulse Type Driver ............................................ 4

3 Driver Terminals ..........................................................................7

3.1 Main Circuit Terminal .................................................................... 9

4 Axis Address Setting for M-II Bus Type Driver ............................. 16

4.1 Connection to Control System .................................................... 16

5 Wiring Specifications for Driver and MA/MB/MN/ME Motor ..... 21

5.1 Connector Type ........................................................................... 21

6 Wiring Specifications for Driver and Panasonic A5/A5-II Motor ... 31

7 List of Error Codes ...................................................................... 41

8 Lists of Driver Parameters .......................................................... 45

8.1 Modifying Parameter Setting ...................................................... 45

1.1 Nameplate & Model

Input power supply Output power supply Ambient temperature

Product series Control type

1.2 Overall Dimensions and Installation Dimensions

 WSDV-5R0 (750W) & WSDV-6R8 (1000W)

Direction of air flowing from the internal cooling fan.

 WSDV-110 (1500) & WSDV-140 (2500W)

190 5 70 2-Φ5 70 4-M4

2 System Configuration and Wiring

2.1 Wiring Diagram of Pulse Type Driver

Note: Weihong CNC system

Contactor B1, B2 and B3: Encoder Cable

2.2 Wiring Diagram of M-II Bus Type Driver

Circuit Breaker Bus CNC System

Used to eliminate external 1

noise from the power line and 0

noise disturbance form the -

Magnetic Contactor WISE Servo Driver (M-Ⅱbus type) 内存：2M/8M 提示：方向键可调整视图位置（详细请按“G”键）

Turn the servo ON and

Contactor B1, B2 and B3:

1. When externally wiring to a regenerative resistor, external protection such as

3. Please install the regenerative resistor on non-combustible substance such as

Power indicator Mini USB socket:

Fig. 3-1 Terminals for pulse type driver

Power indicator CHARGE C

Fig. 3-2 Terminals for M-Ⅱ bus type driver

3.1 Main Circuit Terminal

Terminal Name Specifications

Control power input 10%

 If the capacity of the internal regenerative resistor

Connection terminal When high harmonic restraint to the power is required,

Main circuit font side

GND (2) Used to connect with power supply ground line.

3.2 CN1 Terminal (Mini USB Interface)

3.3 CN2 Terminal (I/O Signal Interface)

2. If Weihong motion NC system is chosen, CN2 terminal-Weihong NC system cable can