YPV

YPV Series
UNIVERSAL SERVO DRIVE
INSTRUCTION MANUAL

YE-LI ELECTRIC& MACHINERY CO., LTD.

VER2
1.1 Checking YPV Series Products on Delivery.......................................................................................................................... 1-1
1.1.1 Servo motor Nameplate Descriptions............................................................................................................................. 1-1
1.1.2 Servo motor Model....................................................................................................................................................... 1-2
1.1.3 Servo drive Nameplate Descriptions.............................................................................................................................. 1-2
1.1.4 Servo drive Model........................................................................................................................................................ 1-3
1.1.5 Servo drive Part Names................................................................................................................................................. 1-4
2.1 Servo drive Installation Precautions..................................................................................................................................... 2-1
2.2 Servo drive Wiring Precautions............................................................................................................................................ 2-3
2.3 Servo motor Installation Precautions.................................................................................................................................... 2-5
3.1 I/O Signal Definitions and CN1 Pin Assignments................................................................................................................... 3-1
3.2 Encoder Wiring and CN2 Pin Assignments of the Servodrive.................................................................................................. 3-4
3.3 Position Command Input Circuit.......................................................................................................................................... 3-5
3.4 Input Interface Circuits....................................................................................................................................................... 3-6
3.4.1 Analog Command Input Circuit..................................................................................................................................... 3-6
3.4.2 Digital Input Circuit Interface....................................................................................................................................... 3-7
3.5 Output Interface Circuits..................................................................................................................................................... 3-7
3.5.1 Digital Output Interface................................................................................................................................................ 3-7
3.5.2 Encoder Digital Output Interface Circuit....................................................................................................................... 3-8
3.6 Position Control Interface................................................................................................................................................... 3-9
3.7 Speed Control Interface....................................................................................................................................................... 3-10
3.8 Torque Control Interface..................................................................................................................................................... 3-11
4.1 Descriptions of YPV Servodrive Input Signals...................................................................................................................... 4-1
4.1.1 SERVO ON Input (CN1-6)............................................................................................................................................ 4-1
4.1.2 RST Servo Reset Input (CN1-7)..................................................................................................................................... 4-1
4.1.3 TLM Torque Limit Input (CN1-13)................................................................................................................................ 4-1
4.1.4 PRIH Forward Rotation Inhibited and NRIH Reverse Rotation Inhibited Inputs (CN1-14~15)............................................ 4-2
4.1.5 Motor Hold or PI/P Control Mode Switch Input (CN1-16)................................................................................................ 4-2
4.1.6 MDO Operation Mode Switch Input (CN1-34)................................................................................................................ 4-3
4.1.7 VCMD+ and TCMD+ Inputs (CN1-1 and CN1-8)............................................................................................................ 4-3
4.1.8 TLCMD+ Torque Limit Analog Command Inputs (CN1-9).............................................................................................. 4-4
4.1.9 +PPCMD PPCMD +NPCMD NPCMD Position Command Inputs (CN1-26~29)................................................................ 4-4
4.1.10 SPD1, SPD2, SPD3 Internal Speed Switching Inputs (CN1-32~35)................................................................................ 4-5
ELGN1, ELGN2, ELGN3 Electronic Gear Numerator Switching Inputs (CN1-32~35)
4.2 Descriptions of YPV Servo drive Output Signals................................................................................................................... 4-6
4.2.1 ALM－Servo Alarm Output (CN1-10)............................................................................................................................ 4-6
4.2.2 BRAKE－Motor Brake Release Output (CN1-17)........................................................................................................... 4-6
4.2.3 ZERO－Servo Speed Zero Output (CN1-37)................................................................................................................... 4-7
4.2.4 TLM－In Torque Limit Output (CN1-36)....................................................................................................................... 4-7
4.2.5 INS/INP－Speed/Position Arrival Output (CN1-18)........................................................................................................ 4-7
4.2.6 MON1, MON2 Analog Monitor Outputs (CN1-11~12).................................................................................................... 4-8
4.2.7 Encoder Output Signals (CN1-19~24)............................................................................................................................ 4-8
5.1 User Parameter Settings and Functions................................................................................................................................. 5-1
5.1.1 Communication Protocol.............................................................................................................................................. 5-1
5.1.2 Execute the Communication Parameter Setting Software of the Servodrive....................................................................... 5-1
5.1.3 Introduction of the Functions........................................................................................................................................ 5-2
5.1.4 Common Parameter Menu............................................................................................................................................. 5-3
5.1.5 Speed Parameter Menu................................................................................................................................................. 5-6
5.1.6 Position Parameter Menu.............................................................................................................................................. 5-9
5.1.7 Torque Parameter Menu................................................................................................................................................ 5-12
5.1.8 Servo Gain Setting....................................................................................................................................................... 5-14
6.1 Alarm Display Table........................................................................................................................................................... 6-1
6.2 Connector Pin Assignments Diagram................................................................................................................................... 6-2
6.3 Servodrive Dimension........................................................................................................................................................ 6-3
6.4Connector Pin Assignments Diagram.................................................................................................................................... 6-4
6.5Encoder motor side driver side articulate foot position........................................................................................................... 6-5
※Supplementary Manual for the Driver Configuration............................................................................................................... 7-1
1.1 Checking YPV Series Products on Delivery
Follow the procedure below to check YPV Series products upon delivery

Check the following items when YPV Series products are delivered:

1.Check the packed products for damages that may have occurred during shipping.
2. Check whether the name and number of the delivered products are the same as those on the delivery
sheet.

3.Check whether the servo motor and servodrive capacity and encoder specification are the same as the

ordered.
4.In the case of special order, please carefully check the delivered products and contact our company
immediately if any item is incorrect.

5.The table below shows the standard set:

A One servo motor

B One servo drive

C One Cn1, 37PIN SR-37LF connector

D One CN2, 15PIN SR-15LF connector

E One connector for servo motor powerline
F One encoder connector

G One copy of wiring description

1.1.1 Servomotor Nameplate Descriptions

Rated Output
Servo motor Model
AC SERVO MOTOR
TYPE
W N.M A

Rpm/min Encoder

S/N:

YE LI E&M CO.,LTD. http://www.yeli.com.tw

Rated Motor Speed
Serial Number Encoder Specification

1-1
 1.1.2 Ser v o m otor M ode l

S t a n dard S ervomotor

YBL13S-75. L Z
Servo mo t o r Ser i a l N umber

Servom o t o r P ole Nu m b e r D e s i g n R evis i o n s :

and En c o d e r Res o l u t i o n K S h a f t l engt h 2 0mm

S S h a f t l engt h 1 5mm
C 8P 10 2 4 P /R
B W i t h b rake
D 8 P 2048 P/ R
Q S p e c i a l sha f t
E 4P 2 5 0 0 P /R
U T e r m i n al bo x t ype
F 4P 5 0 0 0 P /R
V O b l i q u e sha f t
H 4 P 20 4 8 P /R
X C a b l e C onne c t o r t ype
I 8P 50 0 0 P /R
Y M i l i t a ry st a n d a r d c onnec t o r
J 4P 10 2 4 P/R
Z P o w e r c able c o nnector
L 8P 25 0 0 P /R
M W a t e r - proof L model
N W a t e r - proof V model

1.1.3 Ser v o d rive N ame p l a t e D escrip t i o ns

Servo driver Model

AC SERVO DRIVER
MODEL YPV - 075 - B
AC-INPUT AC-OUTPUT
VOLTS 200-230 VOLTS 200-230
HZ 50/60 PHASE 3
PHASE 3 AMPS 3.5
AMPS 3.5 KW/HP 0.75/1

S/N: (VER2)

YE LI E&M CO.,LTD. http://www.y eli.com.tw

Servo driver Specification
Serial Number Version

1-2
1 . 1 .4 S ervod r i v e M o del

St a n d a r d S ervod r i v e

YPV Se ries S ervodrive YPV - 100-B

Ser v o d r i v e C apac i t y

040 0.4 KW 4 50 4. 5 K W
055 0.55 KW 6 30 6. 3 K W
075 0.75 KW 750 7.5 KW

100 1 KW 860 8. 6 KW

150 1.5 KW 1 100 11 KW

200 2 KW 1 5 00 15 K W
300 3 KW 2200 22KW

Typ e

B St a n dard sp e e d / T o r q u e c ommand: 1 0 -bit re s o l u t i o n

V Hi g h r esol u t i o n s peed / Torque co m m and: 12 - b i t r esolut i o n

1-3
 1 . 1 .5 S ervod r i v e P a rt N ames
T h e f igure be l o w s hows th e p art n a m es of t h e s erv o d r i v e .

CN3 Communication Connector

Used to communicate with a personal

computer (RS-232) or a control panel

YPV Series

Charge I n d i c a t o r

Lights w h e n t h e m a i n c i r c u i t p o w e r

supply is O N a n d s ta y s l i t a s l o n g a s
STATUS
the mai n c i r c u i t p o w e r s u p p l y c a p a c i t o r

remains c h a r g e d . T h e r e f o r e , d o n o t C
R N
touch t h e S e r v o d r i v e e v e n a f t e r t h e 3
S
power s u p p l y i s t u r n e d o f f i f t h e

indicat o r i s l i t .
T
E CN1 I/O Signal Connector

U Used to input command

Main Power Supply and Servomotor C
N or sequence I/O signals.
Terminals V 1

(RST) used for AC mains input(3 ,220Vac)

W
(E) Ground Terminal,must be connected
B1
to prevent electrical shock
(UVW) Servomotor Cable Terminal B2
(B1 B2) Brake Resistance Terminal H1
(H1 H2) Servomotor Thermostat Terminal
H2 C
N
2

YE LI E & M CO .

CN2 Encoder Connector

Connects to the encoder

in the servomotor.

1- 4
2 . 1 S e r vodri v e I n s t allati o n P r e cautio n s
The se r v o d rive sh o u l d b e st o r e d i n th e e nviron m e n t w ith am b i e n t t emp e r a t u r e r ange o f
0-55 C (no fr e e z i n g) and r e lative hu m i d i ty und e r 9 0%RH (n o c ondensat i o n ) .

Instal l a t i o n O rienta t i o n a nd Sp a c i n g :

1. Wh e n i nstall i n g t he se r v o d r i v e, ma k e t he fr o n t p anel co n t a i n ing co n n e c t o r s fac e

outwa r d a nd ta k e i nto co n s i d e r a tion th e e asy co n n e c t i on/disconn e c t i o n o f CN 1 a nd CN 2

conne c t o r s f or me a s u r e ment.

2. Fo r m ultiple s e rvodrive in s t a llation in t he co n t r o l c abi n e t , a llow at l east 40 m m

betwe e n e ach. When in s t alling se r v o d rives si d e b y si d e a s sh o w n i n th e f igure be l o w ,
allow a t l east 5 0 mm abo v e a nd be l o w e ach se r v o d r ive or i n stall co o l i n g f ans to

facil i t a t e a ir ci r c u l a tion.

S e rvodrive In s t a llation an d C oolin g M e thod

C oo ling F an

40 m m 40mm
YPV Series YPV Series YPV Series
Ve ntilating hole
w ith f i lt er
STATUS STATUS STATUS

C C C
R N R N R N
3 3 3
S S S
T T T
E E E
U C U C U C
N N N
V 1 V 1 V 1

W W W
B1 B1 B1
B2 B2 B2
H1 H1 H1
H2 C H2 C H2 C
N N N
2 2 2

YE LI E & M CO . YE LI E & M CO . YE LI E & M CO .

Air inlet
Co nt rol Ca bi ne t
P r e v e n t For e i g n O bject In t r u sion
1 . P revent th e d rill i n g a nd cu t t i n g c hips fr o m ent e r i n g t he se r v o d r ive du r i n g

i n s t a llation.

2 . A void th e o dd ob j e c t s lik e o i l wat e r a nd me t a l p owder fr o m e nteri n g t he se r v o d r i v e

v i a c oolin g f ans.
3 . I f us i n g f ans fo r c ooling , p l ease in s t a l l t he fi l t e r pro p e r l y a t th e v entilati n g h ole

, a n d c onsi d e r t he su r r o u n d i ng en v i r o n m e n t to ch o o se th e b e st di r e c t i o n f or

v e n t i lation.
4 . P lease in s t all he a t e xchanger or a ir fi l t e ring sy s t e m w hen in s t a lling in l ocations
s u b j e ct to p o isonous ga s o r ex c e s s i ve dus t .

2-1
Extra No t i ces
A. Do n ot in s t a l l t he se r v o drive in l ocations li k ely to b e a ffe c t e d b y oi l a nd du s t . I f

unavo i d a b l e , p lease i n stall th e S ervodriv e i n the a i r tight co n t r o l c abin e t a nd

consi d e r u sing ve n t i l a tion fi l t e r . A lso us e a p r o t e c t ive co v e r o ver th e S ervomot o r .

B. Wh e n i nstall i n g m ultiple se r v odrives in o ne ai r t i g h t con t r o l c abinet, al l ow at l e a st

50mm be t w een, ab o v e a nd be l o w e ach se r v odrive an d l eave 12 0 m m f or ma i n tenance sp a c e .

In ad d i t i on, to e nsure th e r eliabili t y a nd im p r o v e t he pr o d u c t l ife , l eave ce r t a i n

distance be t w e en the s e rvodrive an d t he ca b i n et ce i l i n g s o th e t emperatur e a round
the se r v o drive do e s n ot ex c e e d 5 5 C which mi g h t l ead to p oor ve n t i lation.

C. A frequent us e o f th e r egener a t i v e r esistor m a y lea d t o a t e m p e r ature hi g h e r t han

100 C. D o n ot pu t i nflam m a b l e s o r he a t i n g defo r m a b l e o bject s a r ound. Th e w irings mu s t

also be k ept aw a y f rom th e r esi s t o r o r se v e r e d amage wi l l o ccu r .
D. Wh e n i nstall i n g n ear a source of v ibration, i n stall a vibration is o l ator to p rotect

the Se r v o drive fr o m v ibrati o n .

2-2
2 . 2 S e r vo d rive W ir i n g P r e cauti o n s
W i r ing pr e c a u t i o ns
M a i n wir i n g
A . A pply t h ree-phase 22 0 V A C ma i n s thro u g h t he NF B t o th e m a gnetic co n t a c tor, th e n

c o nnect to t he se r v o d r i v e RST t e rminals. Co n s i der in s t a l l i n g a re a c t or an d l i near

n o ise fi l t e r i f th e l ocal po w e r s upply q u ality is p oor.

B . C onne c t t he UV W t erminals of t he se r v o d rive wi t h t he re d , w hite an d b lack ca b l e
l i nes of t he ser v o m o t o r d irec t l y o r vi a t erminal bo a r d , o n wh i c h the ca b le li n e s b e

s e cured wi t h a t e r m i n a l p lier a n d wrap p e d t ightly to a void in c i dental sh o r t - c ircuit,

p o wer in t e r r u p t ion or e a rth fa u l t s .
C . M ake su r e the ca b le li n e s a re no t d amaged un d e r s tres s . B e cau t i o u s o f th e c able

w i ring to a void as m uch as p ossible be i n g s ubj e c t t o be n d i n g o r te n s i o n .

D . I f th e s ervomo t o r i s mo v i n g w ith th e m echani s m , a rrange th e b ending s e ction of t he

c a ble li n e w ithin th e a llowab l e c urvature wh i c h is de t e rmined fr o m t he ca b l e
s p ecificatio n t o ass u r e n ormal op e r a t ion li f e .

E . M ake su r e the ca b le li n e s a re no t t ouched by s harp pa r t s o f th e m achine o r p res s e d

b y a ny he a vy obj e c t .
F . P rovi d e p roper gr o u n d i ng wi r i n g f or th e g round te r m i n als of t he ser v o d r i v e a nd
s e rvomotor.

G . H 1 an d H 2 ar e t he th e r m o s t at te r m i n a l s f or th e s ervom o t o r . S trictly f o rbid to s hort

c i rcuit th e m w ith th e m achine b e d or fa l s ely co n n e c t w ith U V W E t ermina l s .

H . A fter f a stening th e m ain te r m i nal bo a r d , t he en d s o f th e w iring te r m i n als ca n b e
b e nded up t o be ke p t awa y f r om th e f ront na m e p l a t e a s sh o w n b elo w .

W i r ing fo r t he Co n t r o l l e r a nd th e E ncod e r
A . E ach pi n o f CN 1 a nd CN 2 m ust be s oldered a n d che c k e d c arefully f o r corr e c t p in nu m b e
. C heck th e a djacent pi n s a fte r s oldering to a void be i n g i nci d e n t a l l y s hor t c i rcuited

b y t he so l der or u n used le a d s .

B . W rap th e s olde r e d l eads wi t h s hrinka b l e t ubes to k eep fr o m b eing to u c h ed by e a c h

o t her.
C . I f th e l eads fr o m C N2 mu s t b e ex t e nded, ca r e m ust be t aken in t he co n n e c t i on se c t i o n

a n d pro p e r s hielding m e a sures mu s t b e ad o p t e d t o su p p r e ss EM I n oise.

2-3
D . D o no t s tretch ti g h t t he le a d s of CN 2 t o av o i d w irin g f a ults of t he en c o d e r .
E . P ower ca b l e s a nd si g n al li n e s s hould no t b e ar r a n g e d i n cl o s e para l l e l , a nd th e l eads
f o r c ontrol s i gnals sh o u l d b e tw i s t e d and s h i elded.

N o t e : B e ca u t i o us of t h e l eng t h o f the w i ring an d t he me a s u r e s f or no i s e s hie l d i n g i f YP V

s e r i e s i s us e d i n po s i t i o n c ontro l m ode. If n ot us i n g t he li n e d river ty p e , t he

P U L S E G ND mu s t b e co n n e c t e d t o DG N D , o r th e l ost pu l s e f aul t m ay occ u r .

CAUTION

A . D o no t b undle po w e r a nd si g nal li n e s t ogether in t he sa m e d uct. Le a ve at l e a st 30 c m

( 1 1 .81 in . ) b etween po w e r a nd si g n al li n e s .
B . U se tw i s t e d-pair wi r e s o r mu l t i - core sh i e l d e d - pair wi r e s f or si g n a l a nd en c o der

( P G ) feed b a c k l ines.
C . T he ma x i m u m len g t h f or si g n a l i nput li n e s i s 3m ( 118.11 i n .) and f o r PG fe e d back
l i n es is 20 m ( 787 . 4 0 i n.).

D . D o no t t ouch th e p ower te r m inals fo r 5 m i n u t e s a fter tu r n i ng pow e r o ff be c a u s e h igh

v o l tage ma y s till re m a i n i n th e s ervodr i v e .

E . M ake su r e t he Ch a r g e Ind i c a t o r i s ou t b efore st a r t ing an i nspection.
F . A void fr e q uently tu r n i n g powe r o n and o f f . Do no t t urn po w er on or o ff mo r e t han

o n c e per mi n ute.

G . S ince th e s ervo d r i v e h as ca p a c i t ors in t h e pow e r s upply, a high ch a r g i n g c urr e n t

f l o ws for 0 . 2 sec o n d s w hen po w e r i s tu r n e d o n. Fr e q u ently tu r n i n g p owe r o n a nd of f
w i l l caus e m ain po w e r d evices li k e c apa c i t o r s a nd fu s e s t o de t e r i orate, re s u l t ing

i n u nexpe c t e d p roblems .

2-4
2 . 3 S e r vomot o r I n s t allati o n P r e cautio n s
I n s tallation pr e c autions

T r y t o av o i d w ate r a n d oil e x p osure si n c e t he se r v o m otor co n t a i n s n o wa t e r -proof

s t r ucture. In s t a l l a wa t e r -proof co v e r i f it i s us e d i n a lo cation th a t i s su b j e c t

t o w ater or o il.
A . S ervom o t o r c able li n e f acing d o wnward ca n p revent th e o il an d w ater f r o m ent e r i n g

t h e serv o m o t o r v ia ca b l e l ine.

B . I f th e s ervomo t o r i s in s t a l l e d v ertic a l l y o r wi t h a s l o p e , t he ca b l e l ine sh o u l d b e

b e nded to U -type to a void th e o il an d w ater fr o m e nterin g v ia the c a ble li n e .
C . C arefu l l y a void th e e xposure o f c able l i nes to o i l and w a ter th a t h ave ad v e r s e

e f fects on s ervomotor a n d e nco d e r , a lso ma y c ause ma l f u nctions of t he se r v o d r i ve.

Wate r - p r o o f C over

Water a n d Oil

C o nnect th e s ervomot o r w ith lo a d

P r ecautions

A . T o mo u n t a be l t w heel , u s e the s e t scre w t o sec u r e i t on t h e s haf t e nd if th e m oto r

s haft ha s a k ey w a y ; U se a friction co u p l ing if t h e mot o r s haft ha s n o ke y w ay.
B . U se a special t o ol to d i s mantle th e b elt wh e e l , a voi d i n g i mpact to t he sh a f t .

C . S tri c t l y f orbid to e xert fo r c e on th e b ack co v e r of th e e ncod e r b y han d s o r ro p e s

w hen mo v i n g t he se r v o m o tor.
D . S tri c t l y f orbid th e u se of h ammer to s trike t h e s haf t ( l ikely to d amage th e e ncoder )

2-5
 Avoid violent collision and vibration of servomotor when mounting
a belt wheel or a clutch! The encoder connecting with the shaft is
vulnerable under intense vibration which may adversely affect the
resolution and service life of the servomotor.

C. Do n ot ch a n g e the en c oder wi r i n g d irecti o n .

D. Us e a f l e x i b le con n e c t o r . T he ro u n d -off mu s t m eet wi t h t he al l o w a ble ra d i a l l oad.
E. Ch o o se a pr o per pu l l e y , c hain wh e e l o r ti m i ng bel t t hat ca n m eet wi t h t he

re q u i r e m e n t of th e a llow a b l e r adial lo a d .

H. If t he se r v o motor is a ttached wi t h a m a g n e t ic bra k e , e ither ho r i z ontal or v ertical

in s t a l l a t i on is al l owed. Wh e n t he sh a f t i s up w a r d i nsta l l e d , t he br a k e m ay no r m a l ly
ma k e s ome no i s e .

Ali gn me nt
Al i gn th e s h a f t of t he s erv om o tor with the sh aft of th e a p p a ratus , a nd t hen c oupl e

th e s ha f t s . In stall the servom o tor so t h a t a li g n ment a ccur a cy fa l l s wi thin the

fo l lowing rang e .
Measure this distance at four different positions around.
The difference between the maximum and minimum measurements must
be below 0.03mm (0.0012 in). (Turn together with the coupling.)
.

. Measure this distance at four different positions around.

The difference between the maximum and minimum measurements must
be below 0.03mm (0.0012 in). (Turn together with the coupling.)

2-6
H a n dling O il a n d W a t e r
Install a p rotec t i v e c over ov e r t he se r v o m otor if i t is us e d in

a lo c a t i o n s ubje c t t o wat e r o r oil m i st.

Also us e a s e r v o m o t o r wit h a n oil se a l to se a l t he th r ough sh a f t

section .
Through shaft section

C a b le S tress
M a k e s ure th e r e are n o b ends o r t ens i o n o n th e p ower li n e s .
B e e specia l l y c areful to s ignal li n e w iri n g t o avo i d s tress be c a u s e t he di a meter
o f t he co r e w ires is o nly 0. 2 t o 0. 3 m m ( 0.007 9 t o 0.01 2 i n).

2 -7
2 . 3 I / O S i gnal D efi n i t ions a nd C N1 P in A s s i g n ments

I n p ut s ignal s
Signal Name Pin No Function

Common +15V 3 +15V voltage output ±15V voltage with alowable 50mA output , spare for external analog
use.
-15V 4 -15V Voltage output

24G 5 Common Analog ground for user control interface .

SON 6 Sevo on Digital signal for activating the servodrive when connected with 24G . 4.1.1

RST 7 Alarm reset Digital signal for releasing the servodrive when connected with 24G . 4.1.2

TLM 13 Torque Limit Digital signal for torque limit when connected 24G 4.1.3

PRIH 14 Forward Rotation Digital signal for inhibiting the forward rotation when connected with 4.1.3
Inhibited 24G .

NRIH 15 Reverse Rotation Digital signal for inhibiting the reverse rotation when connected with 4.1.4
Inhibited 24G .

HOLD 16 Motor HOLD (forward Digital signal for inhibting the forward and reverse rotations when 4.1.5
and reverse rotation connected with 24G ; or switching between PI / P control modes
inhibited) under the speed operation mode .
OR
Speed Loop Control (The function of this pin is selected in the "common
Parameter" menu .)
PI / P

+5V 30 +5V volotage output

DGND 31 5V ground output Command singal ground

MDO 34 Operation Mode switch Digital signal for enabling the switching of operation modes when 4.1.6
connected with 24G .
S / P Speed mode < - > Position mode
P / T Position mode < - > Torque mode
S / T Speed mode < - > Torque mode

SPEED VCMD+ 1 Speed command Enable the motor to run at speed proportional to the speed command 4.1.7

8 voltage . At ±10V input , the motor runs ±3000rpm , or ± 2000rpm . Note 1

Positive voltage corresponds to forward rotation , while negative
voltage corresponds to reverse rotation .

AGND 2 Analog ground Analog signal ground

TORQUE TCMD+ 9 Torque command Enables the motor to output torque proportional to the torque 4.1.7
command voltage . At ± 10V , the motor outputs 300% rated torque . Note 1

AGND 2 Analog ground Analog signal ground

3-1
I n p ut s ignal s
Signal Name Pin No. Function

Position EPI 25 External power input External power input : Input form : 4.1.9

Command Forward rotation pulse Forward rotation pulse input + PLS/DIR

+PPCMD 26 input + CW/CCW

Forward rotation pulse Forward rotation pulse input - A/B

-PPCMD 27 input -

Reverse rotation pulse Reverse rotation pulse input +

+NPCMD 28 input +

Reverse rotation pulse Reverse rotation pulse input -

-NPCMD 29 input -

Common EG1/SPD 32 Electronic gear 1 Input signal as electronic gear selection 1 in postition operation 4.1.10

Sinal for Speed selection 1 mode or as speed selection 1 in speed operation mode .

Position and

Speed

Command EG2/ SPD2 33 Electronic gear 2 Input signal as electronic gear selection 2 in postition operation
Speed selection 2 mode or as speed selection 2 in speed operation mode .

EG3/ SPD3 35 Electronic gear 3 Input signal as electronic gear selection 3 in postition operation
Speed selection 3 mode or as speed selection 3 in speed operation mode .

3 -2
O u t put s igna l s
Signal Name Pin No. Function

Common ALM 10 Servo Alarm Digital signal for alarm 4.2.1

BRAKE 17 Motor Brake Release Signal Digital signal for releasing the motor brake 4.2.2

Speed ZERO 37 Motor Low Speed Output Digital signal output indicating the servomotor is 4.2.3
running at speed lower than the user setting .

In Torque Limit ITLM 36 Output In Torque Limit Digital signal output for indicating the output torque 4.2.4
is saturated at the torque limit value in torque
operation mode .
4.2.5

Speed/Position

Common Signal INP/INS 18 Position/Speed Arrival Digital signal output for indicating the value of
position error counter is smaller than the user setting
in position operation mode , or the motor speed is
smaller than the user setting in speed operation
mode .
Analog Output MO1 11 Analog output 1 Analog output 4.2.6

MO2 12 Analog output 2 Analog output 4.2.6

Encoder Signal A 19 Encoder A phase Differential , line driver digital output signal A 4.2.7

Output phase .
A 20

B 21 Encoder B phase Differential , line driver digital output signal B 4.2.7

phase .
B 22

C 23 Encoder C phase Differential , line driver digital output signal C 4.2.7

phase .
C 24

3-3
3 . 2 E n c oder W ir i n g a n d C N 2 P i n A ssignm e n t s o f t h e S e rvodr i v e

Motor RSO Connector Motor Side Cable Color Name of the Signal Servodrive Side Pin No.
1 Green A 1
2 White Green A 2
3 Grey B 3
4 White Grey B 4
5 Yellow C 5
6 White Yellow C 6
9 Brown U 7
10 White Brown U 8
11 Orange W 9
12 White Orange W 10
13 Blue V 11
14 White Blue V 12
7 Red +5V 13
8 Black 0V 14 15
15 Silver braided wire Shielding Case

S i g n al w avefo r m o f f e e d back E nco d e r

T h e f igure be l o w s hows th e f orwa r d r otation (C C W ) w ave f o r m o f th e e ncoder

Front view of the shaft

360 一 rotate
T=360/2500
T
R T
X1 X2 X3 X4
H

U phase U
A phase
quadrature signals
phase difference is 90

L
V
A\ phase U\ phase W
p hase co mmuta tio n si gna ls

V phase
B phase

B\ phase V\ phase
Index signal

Z phase W phase
C

Z\ phase W\ phase

Z phase center

Rising edge of phase U

3-4
3 . 3 P o s i tion C ommand I nput C ircuit

From differential type line driver

CN1- 2 6
CN1- 2 8 330 Oh m

CN1- 2 7
CN1- 2 9

F r o m o p e n - c o l l e c t o r o u t p u t : E x a m p l e 1: Using an external power supply provided by the user

Note: YPV Servodrive can be only connected with 24V external power supply.

1 . 5 K O hm
CN1- 2 5

24V 330 Oh m
CN1- 2 6
CN1- 2 8

CN1- 2 7
CN1- 2 9

3-5
 F r o m o p e n - co l l e c t o r o u t p u t : E x a m p l e 2: Using power supply built in the servodrive

C N 1 -30
5V

330 Oh m

C N 1 -26
C N 1 -28

C N 1 -27
C N 1 -29

C N 1 -31

3 . 4 I n p u t I nterface C ircuits

3 . 4 . 1 Analog C ommand I nput Circuit

5K 1/ 4 W (1)
(8)
(9)

15V 10K

CN1-2
CN1-31
DGND DGND

3-6
 3 . 4 . 2 Digital I nput C ircuit Interface
24 V

SON

CN1-6

CN1-5 24G

3 . 5 O u t p ut I nterface C ircuits

3 . 5 . 1 Digital O utput I nterface

E x a m p l e 1: C o n n e c t i n g t o a r e l a y output circuit

Relay

ALM CN1-10

24G CN1-5
Output Cu r r e n t 1 00m A

3 -7
Example 2: Connecting to a photocoupler output circuit
24 V

3.3K

A LM CN1 - 1 0

Outp u t 1 00mA

CN1-5

3 . 5 . 2 Encoder D igital O utput Interface Circuit Encoder signal receivers in the host controller

CN1-19
P
CN1-20

CN1-21
P
CN1-22

CN1-23
P
C N 1 -24

C N 1 -31

DGND

Be sure to connect the shielding Note：

FG P

represents twisted-pair wires

3-8
3 . 6 P o s i tion C ontrol I nterfa ce
R S T

1MCCB Regenerative brake resistor

B1 B2
Noise filter
1MC
U
R
V
W
M
S

CN2 PG
T

H1
※ Be sure to ground to the earth Thermostat Protection
E H2

PLS (26) (19) ※ Be sure to properly prepare

A the connecting end for the
CW
A phase P shielding
(27) /A (20)

PG Feedback Output
SIGN (28) B (21)
CCW
B phase /B Applicable line receivers:
P (22) SN75175 (TI) or MC3486 or the
(29)
C equivalent
24V (23)
/C
(24)
(6) 2K Ohm
Servo on signal input /SON
24V
(10)
/ALM Alarm output
(7)
2K Ohm
Alarm reset input /RST (5)
24V
(17)
/BRAKE Motor brake release output
(13)
Torque limit input /ILM 2K Ohm
(5)
24V
(18)
/INP Position Arriavl output
(14)
Forward rotation /PRIH 2K Ohm
(5)
Inhibited input
24V
(37)
/ZERO Speed Zero output
(15)
Reverse rotation /NRIH 2K Ohm
(5)
Inhibited input
24V
(36)
/ITL In torque limit output
(32)
Electronic Gear /EG1 2K Ohm
(5)
selection 1 input
24V

(33) 2K Ohm
Electronic Gear /EG2
selection 2 input
24V

(35) 2K Ohm
Electronic Gear /EG3
selection 3 input
24V

(34)
2K Ohm
Mode Switch input /MDO *1 P represents twisted-pair wires
*2 The time constant for the primary
(5) filter is 47S
24G

FG
※ Connect the shielding to the connector shell

3-9
 3 . 7 S p e e d C ontrol I nterface
R S T

R e generative brake resistor

1MCCB

Noise filter 1MC B1 B2

R U
V M
W
S

CN2 PG
T
E H1
※ Be sure to ground to the earth Thermostat Protection
H2
(1)

12 bit Speed command input P LPF

A (19) ※ Be sure to properly prepare
(8) the connecting end for the
AD shielding
LPF /A (20)
10bit Speed command input

PG Feedback Output
P
B
(9) (21)
LPF /B Applicable line receivers:
10bit Torque command limit input P (22) SN75175 (TI) or MC3486 or the
(2) C
DGND equivalent
(23)
24V /C
(24)
(6) 2K Ohm
Servo on signal input /SON
24V (10)
/ALM Alarm output
(7) 2K Ohm
Alarm reset input /RST (5)

24V (17)
/BRAKE Motor brake release output
(13) 2K Ohm
Torque limit input /ILM (5)

24V (18)
/INS Speed Arriavl output
(14)
Forward rotation 2K Ohm
Inhibited input /PRIH (5)

24V (37)
/ZERO Speed Zero output
(15)
Reverse rotation 2K Ohm
Inhibited input /NRIH (5)

24V (36)
/ITL
(16) In torque limit output
2K Ohm
Motor HOLD input /HOLD (5)

24V

(32) 2K Ohm
Internal Speed 1 input /SPD1
24V

(33)
2K Ohm
Internal Speed 2 input /SPD2
24V

(35) 2K Ohm
Internal Speed 3 input /SPD3
*1 P represents twisted-pair wires
24V
*2 The time constant for the primary
filter is 47S
(34) 2K Ohm

Mode Switch input /MDO *3 VCO is an optional module with a

fixed scale between the motor rated
24G speed and the input voltage which
(5) must be specified when ordered .
FG
※ Connect the shielding to the connector shell

3-1 0
 3 . 8 T o r q ue C ontrol I nterface
R S T

R e generative brake resistor

1MCCB

Noise filter 1MC B1 B2

R U
V M
W
S

CN2 PG
T
E H1
※ Be sure to ground to the earth Thermostat Protection
H2
(1)
12 bit Torque command input LPF
P
A (19) ※ Be sure to properly prepare
(8) the connecting end for the
AD shielding
10bit Torque command input LPF /A (20)

PG Feedback Output
P
B
(9) (21)
LPF /B Applicable line receivers:
10bit Speed command limit input P (22) SN75175 (TI) or MC3486 or the
(2) C
DGND equivalent
(23)
24V /C
(24)
(6) 2K Ohm
Servo on signal input
/SON
24V (10)
/ALM Alarm output
(7) 2K Ohm
Alarm reset input /RST (5)

24V (17)
/BRAKE Motor brake release output
(13) 2K Ohm
Torque limit input /ILM (5)

24V (18)
/INS Speed Arriavl output
(14)
2K Ohm
Forward rotation (5)
Inhibited input /PRIH
24V (37)
/ZERO Speed Zero output
(15) 2K Ohm
Reverse rotation (5)
Inhibited input /NRIH
24V (36)
/ITL In torque limit output
(16) 2K Ohm
Motor HOLD input /HOLD (5)

24V
(32) 2K Ohm
Internal Speed 1 input /SPD1
24V

Internal Speed 2 input /SPD2 (33) 2K Ohm

24V

(35) 2K Ohm
Internal Speed 3 input/SPD3
*1 P represents twisted-pair wires
24V
*2 The time constant for the primary
(34) filter is 47S
2K Ohm
Mode Switch input /MDO
*3 VCO is an optional module with a
fixed scale between the motor rated
24G speed and the input voltage which
(5) must be specified when ordered .
FG
※ Connect the shielding to the connector shell

3-1 1
4.1 Descriptions of YPV Servodrive Input Signals

4.1.1 SERVO ON I nput ( CN1-6)

This s i gnal is u sed to t u rn on a n d o ff th e p ower t o t he se r v o mot o r .
24V

SON CN1-6

24G
Do no t u se SE R V O O N (S O N ) s igna l t o s tar t o r stop t h e ser v o m otor, us e a n in p u t
comma n d s ignal in s t e a d .
4.1.2 RST Servo R eset I nput ( CN1-7)
This s i gnal is u sed to r e set th e s ervo dr i v e a fter cl e a r ing th e s ervo al a r m .
24V

RST CN1-7

24G

4.1.3 TLM TLM T orque L imit I nput ( CN1-13)

This signal, together with the TLCMD+ analog voltage input (CN1-9) torque
limit signal, is to protect the apparatus or work piece. If the input torque
limit exceeds the maximum motor rated torque, then the maximum motor rated
torque is the maximum torque limit.
Motor Speed
Torque Limit

+-1 0 V c orrespond s t o r ate d m o tor to r q u e

Torque

A to o l ow to r q u e l imi t m i ght ca u s e t he pr o b l e m o f in s u f f icient to r q u e d uri n g

acce l e r a t i o n /decelerat i o n .

4-1
4.1.4 PRIH Forward R otat ion I nhibited a nd N RIH R everse Rotation
Inhibited Inputs (CN1-14~15)
Thes e t wo sig n a l s f orce th e m oving pa r t of th e a ppar a t u s t o st o p i f th e y t ravel
over t h e allo w a b l e r ange of m otion. C o n n e c t t he ov e r t ravel li m i t - s witch si g n a l s
to th e c orrec t p ins (P R I H f or fo r w a r d o vert r a v e l , N RIH fo r r everse o v ertravel)

of th e s ervod r i v e C N1 co n n e c t or. (a s s hown be l o w )

Reverse end Forward end

Serv o m o t o r Limit switch Limit switch

PRIH
CN1 14
NRIH
CN1 15

4.1.5 Motor Hold o r P I/P C ontrol M ode S witch Input (CN1-16)

I f M otor Ho l d f unct i o n i s se l e c t e d , t he se r v omotor wi l l b e st o p p e d a nd he l d
s t i l l w hen C N 1-16 is c onnected wi t h 2 4G. Th e s erv o m o t o r i s de c e l e r ated

a c c o r ding to t he pr o g r a m m e d p rof i l e .

HOLD HOLD
SPEED

Linear or S-type decelerating profile

TIME
Linear or S-type decelerating
profile

I f P I/P Co n t r ol Mod e S witch fu n c t i o n is se l e cted, th e s peed lo o p w ill be c hanged

f r o m P I mo d e t o P mode wh e n C N1-16 is c onnect e d w ith 24 G a nd. Th e m ode sw i t c h i n g

f u n c t ion is d escribed be l o w :

A p p l i cations:
1 . To s uppress th e o versh o o t d uring ac c e l e ration/dec e l e r a t i o n unde r t he sp e e d

o perati o n m ode.

2 . To s uppress th e u nders h o o t o r de c r e a s e t he se t t l ing ti m e u nder th e p osition

o perati o n m ode.

4-2
 P I control
P control
Motor speed Overshoot Motor speed

undershoot Time time

4.1.6 MDO Operation M ode
If th e C NTL pa r a meter is s et in t h e “Co m m on Par a m e t e r” m e n u a s S/ P

(spe e d / P o s i t ion), P/ T ( Position / T o r q u e ) , or S/ T ( Spee d / T o r q u e ) mod e , t his

inpu t s ignal en a b l e s t he sw i t c hing be t w e e n o pera t i o n m odes.

If th e C NTL pa r a meter is s et in t h e “Co m m on Par a m e t e r” m e n u a s S/ P

(spe e d / P o s i t ion), P/ T ( Position / T o r q u e ) , or S/ T ( Spee d / T o r q u e ) mod e , t his

inpu t s ignal en a b l e s t he sw i t c hing be t w e e n o pera t i o n m odes.

If th e C NTL pa r a meter is s et in t h e “Co m m on Par a m e t e r” m e n u a s S/ P

(spe e d / P o s i t ion), P/ T ( Position / T o r q u e ) , or S/ T ( Spee d / T o r q u e ) mod e , t his

inpu t s ignal en a b l e s t he sw i t c hing be t w e e n o pera t i o n m odes.

If th e C NTL pa r a meter is s et in t h e “Co m m on Par a m e t e r” m e n u a s S/ P

(spe e d / P o s i t ion), P/ T ( Position / T o r q u e ) , or S/ T ( Spee d / T o r q u e ) mod e , t his

inpu t s ignal en a b l e s t he sw i t c hing be t w e e n o pera t i o n m odes.

For ex a mple: If C NTL is s et as S / P m ode , w hen CN - 3 4 a nd 24 G i s no t c onnected,

the se r vodrive is i n Sp e e d o peratio n m ode, wh e n c onnected ; t he ser v o d r i v e i s

swit c h e d t o Po s i t i o n o pera t i o n m ode.

4.1.7 VCMD+ and T CMD+ I nputs ( CN1-1 a nd C N1-8)
VCMD+: Wh e n t he se r v o drive is i n S Mo d e o r is s witche d t o S mo d e , t his s i g nal is

used as a nalog sp e e d c omman d i nput. Th e i nput vo l t a g e scal e c an be m o d ified at

the VM D L p arameter c o ntained in t he “Speed Pa r a m e t e r” me n u . T he va l u e of th e
VMDL pa r a m e t e r def i n e s t he in p u t v oltage w h i ch co r r e s p o n d s to th e r ated s p eed,

with po s i t i v e v olt a g e f or fo r w a r d r otati o n , a nd ne g a t i v e v olta g e f or re v e r s e

rotation.
TCMD+: Wh e n t he se r v o drive is i n T Mo d e o r is s witche d t o Torq u e o peration mo d e,
this si g n a l i s us e d a s an a l o g t orqu e c o mmand in p u t . I f th e i nput vo l t a ge is 1 0 V,

the mo t o r o utputs 30 0 % of th e r ated t o r que.

Speed command
Torque command

CN1-1
VCMD+ CN1-8
TCMD+

CN1-2
AGND

4-3
 No t e : C N1-1 is f or hi g h - r e s o lution an a l o g s ign a l i nput (1 2 B IT). Pl e a s e p urch a s e

YP V - X X X - V s erie s s e rvodrive if h igh-re s o l u t i o n a nal o g i nput is n eeded. Th e i nput

pi n o f the st a ndard an a l o g i nput (r e solution 10 B IT) is C N1-8.

4.1.8 TLCMD+ Torque L imi t A nalog C ommand I nput ( CN1-9)

This si g n a l i s us e d a s an a l o g t orqu e l i mit co m m a n d i nput wh e n C N1- 1 3 i s

connected w i t h 24G . I f the in p ut vo l t a g e i s -1 0 V , t h e l imit r a nge co r r e s p o n ds to

300% of t he ra t e d t orque of t he mo t o r .

Torque limit command

CN1-1
TLCMD+ CN1-8

CN1-2
AGND

4.1.9 +PPCMD -PPCMD + NPC MD - NPCMD P osition C ommand I nputs (CN1-26~29)

When t h e serv o d r i v e i s in P M o d e o r swi t c h e d t o Po s i t i o n o per a t i o n m ode, th e s e

sign a l s a re us e d a s po s i t i o n c omman d i nputs. Th e t ype of t he co m m a n d c an be

chan g e d w ithin th e p aramet e r .

Servodrive

photocoupler
+PPCMD CN1-26

-PPCMD CN1-27

+NPCMD CN1-28
The position command signals can be any of the following
forms (refer to 3.3 Position Command Input Circuit for
P reference):
1.Differential type
-NPCMD CN1-29
2.+24V open-collector type
3.+5V open-collector type
P ：represents twisted-pair wires

4-4
4.1.10 SPD1 SPD2 S PD3 I nternal S peed S witching I nputs (CN1-32~35)
ELGN1 ELGN2 ELGN3 Electronic G ear N umerator S witching I n p u t s
(CN1-32~35)
When t h e serv o d r i v e i s in S M o d e o r swi t c h e d t o Sp e e d o perati o n m ode, an d i f th e

inte r n a l s peed is e nabled, t h e i nte r n a l s peed co m m a n d can b e s elec t e d b y

prop e r l y c onnecti n g o ne am o n g C N1-32 (S P D 1 ) , CN1 - 3 3 ( S P D 2 ) and CN 1 -35(SPD3) to

24G. T h e thre e p ins co r r e s p o n d t o th r e e diff e r e n t i nterna l s peed co m m a n d s w hich

are de f ined by t he pa r a m e t e r s I nter n a l S peed 1, I nternal Sp e ed 2 an d I nter n a l
Spee d 3 ( Unit : R PM) in t h e “Sp e e d P ara m e t e r” m e n u .

When t h e serv o d r i v e i s in P M o d e o r swi t c h e d t o Po s i t i o n o per a t i o n m ode, th e

nume r a t o r o f th e e lectroni c g e ar ra t i o c an be s elected by p roperly c o nnecting

one am o ng CN1 - 3 2 ( ELGN1), CN 1 - 33 (E L G N 2 ) a nd CN 1 - 3 5 ( ELGN 3 ) t o 24G . T he th r e e
pins c o rrespond to t hree di f f e rent nu m e r a t o rs th a t a re de f i n e d b y th e

para m e t e r s N umera t o r 1 , Nu m e r a t o r 2 a n d N umerato r 3 i n th e “P o s i t i o n P ara m e t e r”

menu , w here a co mmon de n o m i n a t or of t h e elec t r o n i c g ear ra t i o is al s o p rog r a m m e d

.

S O N C N1-6
E x a m p le 1: t h e i nte r n a l s peeds
a r e s et as t he fo l l o w i ng in th e
S P D 1 C N1-32 s p e e d P ara m e t e r m enu:
I n t e r nal sp e e d 1 = 1 0 0 0RPM
SPD1 CN 1 - 3 3
I n t e r nal sp e e d 2 = 2 0 0 0RPM
S P D 1 C N1-35
I n t e r nal sp e e d 3 = 8 0 0 RPM

internal speed 2
2000RPM

internal speed 1
1000RPM
internal speed 3
800RPM

4 -5
 4.2 Descriptions of YPV servodrive Output signals

4.2.1 ALM Servo A larm O utput ( CN1-10)

T h i s s igna l i n dicates th a t a n ab n o r m al st a t e o f th e s ervodrive oc c u rs.

I / O power supply
Servodrive 24V 0V

ALM CN1-10

Photocoupler output (each output):

Maximum voltage: 30 VDC
Maximum output current: 30mA
24G CN1-5

4.2.2 BRAKE Motor B rake R elease O utput ( CN1-17)

If CN - 1 7 i s pr o g r ammed as t he br a k e r elease si g n al, wh e n t he dr i v e r i s en a b l e d

throu g h t he co n t a c t o f SO N ( CN 1- 6 ) a nd 24 G , t he br a k e r elease s i gnal wi l l b e

issue d a fter a de lay ti m e d efined by t he MB R p aramete r i n t he “Common Pa r ameter”

menu.
If CN - 1 7 i s pr o g r ammed as t he se r v o r eady si g n a l ( def a u l t ) , a fter th e d rive r i s

enabl e d a nd no a l arm ha s b een de t e c t e d , t he se r v o rea d y s ignal wi l l b e is s u e d

immed i a t e l y .
Servomotor

Holding brake

W h e n t he sy s t em po w e r i s tu r n e d o ff, th e s ervomot o r w ith

b r a k e pre v e n t s t he mo v a b l e p arts f r om dr o p p i n g d ue to
g r a v ity.

The br a k e buil t i n the s e r vomotor is o f pa s s i v e t ype an d i s in t e n ded on l y f or

holdi n g t he mo t o r a nd ca n n o t b e us e d t o ac t u a l l y s top a r otati n g m otor. Be s ure

that th e h oldi n g b rake is a pplied af t e r t he mo t o r is st o p ped. Th e b raking to r q u e

is at l east 12 0 % o f th e r ated mo t o r t orq u e .

4-6
 SERVO OFF
SERVO ON SERVO ON

BRAKE MBR MBR

4.2.3 ZERO Servo S peed Z e ro O utput ( CN1-37)

This s i gnal is u sed to i n dicate th a t t he sp e e d o f th e s ervomo t o r i s lo w e r t han

or eq u a l to th e Z SPD pa r a meter se t i n th e “S pee d P arameter” menu an d i ssued by

conn e c t i n g C N1-36 t o 2 4G.

Speed

ZSPD Value
Time

ZSPD Value

CN1-36

ZERO

4.2.4 ITLM In T orque L imi t O utput ( CN1-36)

When t h e serv o d r i v e C N1-13 ( T L M) is c o nnected wi t h 2 4G or i f th e o utput to r q u e
is sa t u rated at t he li m i t s et by t he dr i v e r , C N1-37 wi l l b e co n n ected wi t h 2 4G

to is s u e the In T orqu e L i mit si g n a l .

4.2.5 INS INP S peed/Position A rrival O utput ( CN1-18)
If th e s ervod r i v e i s se t a s S Mo d e , whe n t he mot o r s peed is e qual to o r hi g h e r
than t h e INS pa r ameter se t i n th e “S pe e d P arameter” menu, CN 1 - 18 wil l b e

conn e c t e d w ith 24 G t o is s u e t he Sp e e d A rriva l s ignal.

If th e S ervod r i v e i s se t a s P Mo d e , whe n t he val u e o f th e p o sition er r o r c ount e r

is eq u a l to or l ower th a n t he IN P p aram e t e r s et in t he “Po s ition Pa r a m e t er”
menu , C N1-18 wi l l b e co n n e c t e d w ith 2 4 G to is s u e the P o s ition Ar r i v a l s ign a l .

4-7
 Speed Position error

INS value

Time

INP value
INS value

CN1-18
OFF
ON ON OFF

ON CN1-18

4.2.6 MON1 MON2 A nalog M o nitor O utputs ( CN1-11~12)

Thes e o utput si g n a l s a re fo r m onito r i n g t he dy n a m i c s tate s o f the se r vodrive

and ca n b e se l e c ted in t h e “Co m m o n Par a m e t e r” m e n u , i n wh i c h t he sc a l e , o ffs e t

and re s olution of t he ou t p u t s ignal s a re als o d efined

MON1 : a s Moni t o r C hannel A defined th e “C o m m o n P ara m e t e r” m e n u ;

MON2 : a s Moni t o r C hannel B defined th e “C o m m o n P ara m e t e r” m e n u

4.2.7 Encoder Output S ignals ( CN1-19~24)

Enc o d e r o utput si g n a ls, de r i v e d f rom th e s ervod r i v e , c an ou t p u t t o an e xternal
Hos t C ontroller. T h e H ost C o n troller th e n u ses th e s e sig n a l s i n it s c ontrol

cir c u i t .
Servodrive Host Controller
Receiver
Phase A CN1-19 A R 2 3 Phase A

CN1-20 A\ P 1

CN1-21 B R 6 5
Phase B Phase B
CN1-22 B\ P 7

Phase C CN1-23 C R 10 11 Phase C

CN1-24 C\ P 9

8 C 16
Choke
+5V
0V +5V
+
CN1-31 -
0V
Filtering capacitor
0V
Shielding

Applicable receiver :
P ：represents twisted-pair wires SN75175 (TI)；MC3486 or the equivalent .

4-8
5 . 1 U s e r P arameter S ettings a nd Functions

5.1.1 Communication Protocol

The figure left shows the menu to adjust the
communication connection setting.

5.1.2 Communication Port t o l ink w ith t he s ervo driver

Start Program Files-> Parameter Setting-> YeLi

The figure left shows the display of ComPort Setting
, please choose the Communication Port used by your
computer.

5-1
5.1.3 Introduction of the Functions

YPV Servodrive h as t he f ollowing f ive menus for parameter setting:

1.Co mmon P arameter
2.S Mode P arameter
3.P Mode P arameter
4.T Mode P arameter

5. Motor Parameter

5-2
5.1.4 Common Parameter

1. Control mode selection (CNTL): YPV Servodrive has six operation modes for selection
T Mode: Torque operation mode, which is a single mode and cannot be switched through CN1-34
S Mode: Speed operation mode, which is a single mode and cannot be switched through CN1-34
P Mode: Position operation mode, which is a single mode and cannot be switched through
CN1-34
S/P Mode: Speed <-> Position operation mode, which can be switched through CN1-34 (MDO)
P/T Mode: Position <-> Torque operation mode, which can be switched through CN1-34 (MDO)
S/T Mode: Speed <-> Torque operation mode, which can be switched through CN1-34 (MDO)

2. Motor brake discharge time (MBR)

MBR is effective only when CN1-17 is programmed as the Motor Brake Release function.
Default value (0), Maximum value (1000), Unit (ms).

S e rv o OFF Servo OFF

Servo ON Servo ON

C n 1- 17( B RAK E \)

Cn1 -17( BRAKE \)

MB R MBR

5-3
3. Monitoring output voltage (MOVL)

Default value (10), Maximum value (10), Unit (V).

This field is used to set the maximum output voltage of the monitoring signals for both

channel A and channel B,

If S Monitoring is selected, the maximum output voltage corresponds to the motor rated speed.

If I Monitoring is selected, the maximum output voltage corresponds to the motor 300% rated

current.

If P Monitoring is selected, the maximum output voltage corresponds to the tracking error

setting set in the “Motor Parameter” menu.

4. Motor rotation selection (MRO)

Default value: Forward rotation is defined as counterclockwise

0 = Forward rotation is defined as counterclockwise ; forward rotation corresponds to the

counter-clockwise rotation of the motor when observed at the drive end of the shaft.

1 = Forward rotation is defined as clockwise ; forward rotation corresponds to the clockwise

rotation of the motor when observed at the drive end of the shaft.
5. CN1-16 function selection (D1-16)

Default value: Hold (Forward and reverse rotation inhibited)

0 = Hold (Forward and reverse rotation inhibited) function

1 = P Control (PI/P Speed Loop Control Mode Switch) function

6. Digital output logic selection (DOLO)

Default value: Normal Close (0) (positive logic)

Define the logic of CN1-10, CN1-17, CN1-18, CN1-36, CN1-37 output signals

0 = Normal Close (0) (positive logic) ; the secondary side of the photocoupler is closed when

the output signal is issued.

1 = Normal Open (1) (negative logic) ; the secondary side of the photocoupler is open when the

output signal is issued.

7. CN1-17 function selection (DO17)

Default value: Servo Ready

0 = Servo Ready. CN1-17 will be closed immediately when the servodrive is turned on and

an alarm has been detected.

1 = Brake Discharge (BRAKE). When SON (CN1-6) is engaged, CN1-17 will not be closed

until after a delay time set by the MBR parameter; when SON (CN1-6) is disengaged, CN1-17

will not be open until after a delay time set by the MBR parameter.

This output logic function is controlled by DOLO.

8. PRIH NRIH input logic selection (Forward and Reverse Rotations Inhibited Logic) (DILS)

Define the input logic of CN1-14 (forward Rotation Inhibited PRIH) and CN1-15 (Reverse

Rotation Inhibited NRIH).

0 = Normal Close (0) (positive logic), motor forward and reverse rotations are inhibited when

CN1-14, CN1-15 are connected with 24G (CN1-5) respectively.

1 = Normal Open (1) (negative logic) ; motor forward and reverse rotations are inhibited when

CN1-14, CN1-15 are not connected with 24G (CN1-5) respectively.

5-4
9. Display mode (MONT1 Channel A, MONT2 Channel B) Setting.

Default value: Channel A S Monitor, Channel B I Monitor

S Monitor indicates speed monitoring.

I Monitor indicates current monitoring.

P Monitor indicates tracking error monitoring.

10. Output Offset for Monitoring Channel A and B. (MONO1 Channel A , MONO2 Chennal B)

11. Enter

The input parameters will be transmitted and stored in the registers of the servodrive.

(The\ input parameters will not be maintained in the servodrive after the power is turned

off.)

12. Flash update

After entering the parameters, it is necessary to press this button to write these

parameters stored in the registers onto the FLASH ROM in the servodrive. These parameters

will thus be maintained in the servodrive and not disappear after the power is turned off.

5-5
5 . 1 . 5 S peed P arameter M en u

按參數 --> 速度參數設定

1. Speed command reference (VMDL)

Default value (10), Maximum value (10), Unit (V)

Used to scale the input voltage command (CN1-1 or CN1-8). Set the maximum input voltage

of the speed command, and this maximum voltage corresponds to the rated speed of the

servomotor.
2. Command offset (SPDO)

Default value (0), Maximum value (10000), Unit (1mV)

Used to compensate for the offset of the voltage command. Set the offset voltage

according to the actual condition, and the desired speed command is obtained internally

by subtracting this setting from the input voltage (CN1-1 or CN1-8).

command command

Offset
a f t e r c ompens t a e d

3. Command Channel (ADO)

Default value (AD)

Select the speed analog command channel

0 = AD, analog command input from CN1-8, resolution 10 BIT

1 = VCO, analog command input from CN1-1, resolution 12 BI

5-6
4. Speed death band (SDB)

Default value (0), Maximum value (rated motor speed), Unit (RPM)

The servodrive will work only when the speed command is higher than the minimum motor speed

setting. If controlled by the numerical controller, set this value to 0.

Minimum speed command can be set under the following situations:

Anlog Speed command（V）
10 * The servomotor cannot be stopped at zero analog command.

* The analog speed command is jammed by large noise and thus the

servomotor cannot be stopped.

SDB
0 3000
Motor Speed（RPM）

5. Internal Speed Enable Setting (SPO)

Default value (Disable)

Enable or disable the function of CN1-32 (the first internal speed), CN1-33 (the second

internal speed) and CN1-35 (the third internal speed) in the speed operation mode.

6. Three Internal Speed Settings

Default value (0), Maximum value (rated motor speed), Unit (RPM)

If the Internal Speed Enable Setting (SPO) is set as “Enable”, the 1st internal speed (SPD1)

will be executed if CN1-32 is connected with 24G.

If the Internal Speed Enable Setting (SPO) is set as “Enable”, the 2st internal speed (SPD2)

will be executed if CN1-33 is connected with 24G.

If the Internal Speed Enable Setting (SPO) is set as “Enable”, the 3st internal speed (SPD3)

will be executed if CN1-35 is connected with 24G.

7. Acceleration/Deceleration Time Setting. Linear acceleration (LACC), linear deceleration

(LDEC), S-type acceleration (SACC), S-type deceleration (SDEC).

In the figure below, Ta shows the time of LACC, Td shows the time of LDEC, Tsa shows the time of

SACC, and Tsd shows the time of SDEC.

Default value (0), Maximum value (10000), Unit (ms).

If controlled by a host numerical controller, set all the acceleration/deceleration time to 0.

Before setting S-type acceleration/deceleration time, linear acceleration/deceleration time

must be set; otherwise the characteristics of S-type acceleration/deceleration cannot be

performed.

5-7
 Speed

Time

Tsa Tsa Tsd Tsd

Ta Td

8. Speed operation mode Output Setting.

Zero Speed Output (ZSPD), Speed Arrival (INS).

There are two digital outputs in the speed operation mode:

Zero Speed Output (ZSPD): under speed operation mode, when the motor speed is lower than or

equal to the set value of ZSPD, CN1-36 will be conducted.

Default value (10), Maximum value (30000), Unit (RPM).

Speed Arrival (INS): under speed operation mode, when the motor speed is lower than or equal

to the set value of INS, CN1-18 will be conducted.

Default value (2000), Maximum value (30000), Unit (RPM).

RPM RPM

IN S

ZSPD
TIME TIME

Z S PD

INS
C N1 -3 6
CN 1- 18 OF F
ON

9. Enter

The input parameters will be transmitted and stored in the registers of the servodrive.

(The\ input parameters will not be maintained in the servodrive after the power is turned

off.)

10. Flash update

After entering the parameters, it is necessary to press this button to write these

parameters stored in the registers onto the FLASH ROM in the servodrive. These parameters

will thus be maintained in the servodrive and not disappear after the power is turned off.

5-8
5 . 1 . 6 P osition P arameter M enu

1. Command mode (PMOD). Default value (PULSE/DIR)

YPV servodrive can accept the following three types of command

TYPE SIGNAL CCW CW
A A
A-Phase advances
B-Phase by 90 degrees

PLS
A/B B
B-Phase advances
B
A-Phase by 90 degrees

SIGN

PLS
CW / CCW
SIGN

PULSE / DIR PLS

H L
SIGN

2. Position Arrival Setting (INP).

Default value (10), Maximum value (32767), Unit (PLS)

Under the position operation mode, when the value of the position error counter in the

servodrive is lower than or equal to the value set by the Position Arrival parameter,

CN1-18 will be conducted .

5-9
 INP

CN1-18

3. Electronic Gear Ratio Setting.

Gear Denominator (ELGD): set the denominator of the electronic gear ratio.

Default value (10), Maximum value (32767)

Gear Numerator (ELGN0): set the basic numerator of the electronic gear ratio.

Default value (10), Maximum value (32767)

1st Gear Numerator(ELGN1): set the numerator 1 of the electronic gear ratio.

Default value (10), Maximum value (32767). Under the position operation Mode,Numerator

1 will be selected as the numerator of the electronic gear ratio when CN1-32 is connected

with 24G.

2st Gear Numerator(ELGN2): set the numerator 2 of the electronic gear.

Default value (100), Maximum value (32767). Under the position operation Mode,Numerator

2 will be selected as the numerator of the electronic gear ratio when CN1-33 is connected

with 24G.

3st Gear Numerator(ELGN3): set the numerator 3 of the electronic gear.

Default value (1000), Maximum value (32767). Under the position operation Mode,Numerator

3 will be selected as the numerator of the electronic gear ratio when CN1-35 is connected

with 24G.

Example:

If the controller is to send 5000 pulses for one resolution of the servomotor, the

electronic gear ratio is calculated as:

25 0 0（E n c o d e r puls e p er re s o l u t i o n）X 4 = 10 0 0 0（E L G N 0）

5000（co n t r o l l e r p ulse c o mmand fo r o ne re s o l u t i on） 5000（EL G D）

5-1 0
4. Acc/Dec Time (PACC)

Default value (0) Maximum value (10000) Unit (ms)

Set the acceleration/deceleration time under position operation mode.

Under position operation mode this function
HZ
can provide acceleration/deceleration

function for the following situations:

PACC PACC 1. The host controller cannot perform the

acceleration/deceleration function;

2. The electronic ratio is too high (＞10 times)

This function does not affect the positioning

precision.
TIME

5. Enter

The input parameters will be transmitted and stored in the registers of the servodrive.

(The\ input parameters will not be maintained in the servodrive after the power is turned

off.)

6. Flash update

After entering the parameters, it is necessary to press this button to write these

parameters stored in the registers onto the FLASH ROM in the servodrive. These parameters

will thus be maintained in the servodrive and not disappear after the power is turned off.

5-1 1
5 . 1 . 7 T orque P arameter M e nu

1. Torque Filter Time Constant (TQCA)

Default value (25) Maximum value (500) Unit (us)

If the servodrive causes the machine bed to shake, properly tuning the torque filter time

constant may help suppress the shaking.

The smaller the filter time constant is, the more responsive the speed loop is. The

tuning will be dependent on the practical condition of the machine bed.

2. Internal Torque Limit (ITLS)

Default value (300) Maximum value (300) Unit (%)

When CN1-13 is connected with 24G, the Internal Torque Limit is adopted as the torque

limit command and used to limit the motor output torque.

3. Internal Torque Speed Limit (TSLS)

Default value (2000) Maximum value (rated motor speed) Unit (RPM)

Under the torque operation mode, if the Internal Torque Speed Limit is adopted by the

Torque Speed Limit Selection, the set value of which is used to limit the motor speed.
4. Torque Speed Limit Selection (TSLO)

Default value (Internal Torque Speed Limit)

0 = internal torque speed limit command, the TSLS value is used to limit the motor speed.

1 = external torque speed limit command, the speed limit command is input through CN1-9

analog input pin.

5-1 2
5. Torque Limit Command Signal Selection (TLCS)

Default value (external torque limit command)

When CN1-13 is connected with 24G, the torque limit command becomes effective to limit the

motor torque. The torque limit command can be selected from the following:

0 = internal torque limit command, the ITLS value is used to limit the motor torque.

1 = external torque limit command, the torque limit command is input through CN1-9 analog input

pin.

6. Enter

The input parameters will be transmitted and stored in the registers of the servodrive.

(The\ input parameters will not be maintained in the servodrive after the power is turned

off.)

7. Flash update

After entering the parameters, it is necessary to press this button to write these

parameters stored in the registers onto the FLASH ROM in the servodrive. These parameters

will thus be maintained in the servodrive and not disappear after the power is turned off.

5-13
5 . 1 . 8 S ervo G ain S etting

Speed Gain

The following parameters must be set properly for servo gain tuning:

KV1: integral time constant of the speed loop

KVP: proportional gain of the speed loop

KPP: proportional gain of the position loop

Basic Rules of Gain Tuning

The servo system contains three feedback loops (position loop, speed loop and current loop).

The innermost loop must have the fastest response, while the middle loop must have higher
response speed than the outmost loop. If this rule is not followed, vibration or unstable

response will occur.

The design of YPV Servodrive ensures the current loop has good response performance. The

user only needs to tune the position loop gain and the speed loop gain.

5 - 14
To maintain normal operation of the servo system, the response of the position loop cannot be

tuned higher than that of the speed loop. Hence keep in mind to increase the speed loop gain

before to increase the position loop gain. Merely increasing the position loop gain will not make

the response faster, but cause the vibration of the speed, therefore prolong the positioning time

.In other words, if the response time of the position loop is made shorter than the speed loop,

the speed loop, not tuned responsive enough, can never catch up with the speed command generated

by the position loop. This in turn will make impossible a smooth acceleration or deceleration,

and cause more position error, therefore much higher speed command will be generated. Eventually

the improperly high position loop gain will render the motor to oscillate. If this situation

happens, reducing the position loop gain or increasing the speed loop gain can help suppress the

motor vibration. At any case, the bandwidth of the position loop cannot exceed the natural

frequency of the apparatus.

If a fast response is required, not only the servo system (controller, servodrive, servomotor and

encoder) must be selected and tuned properly, but also the mechanical system is to be ensured to

have high rigidity

.
1.KV1: corresponds to the static stiffness of the speed loop, and is the inverse of the integral

time constant of the speed compensator. A higher set value means a shorter integral time, and

consequently a shorter response time is expected. This parameter is interrelated with KPP and

should be tuned to induce no mechanical vibration.

Default value (130) Maximum value (32767)

2.KVP: corresponds to the dynamic response of the speed loop, and is the proportional gain of the

speed compensator. This parameter should be tuned properly according to the load inertia, and the

larger the KVI parameter is tuned, the shorter the rise time of speed response will be.

Default value (3000) Maximum value (32767)

3.KPP: corresponds to the dynamic response of the position loop, and is the proportional gain of

the position compensator under the position operation mode. This parameter should be tuned

properly dependent on the bandwidth of the internal speed loop, and the larger the KPP parameter

is tuned, the shorter the rise time of position response will be.

Default value (300) Maximum value (32767)

The normal sequence for tuning servo gains is: KVP KVI KPP

The following figures show the measured waveform of S-Monitor voltage signal for different tuning

results in the oscilloscope.

5- 1 5
Tuning procedure for the speed loop.

1. Set all the Acceleration/Deceleration Time settings (Ta, Td, Tsa, Tsd) to zeros in the “Speed

Parameter” menu.

2. Set the Torque Filter Time Constant (TQCA) to zero in the “Torque Parameter” menu.

3. Set the initial value of KVI as zero and use the default value (3000) for KVP in the “Speed

Parameter” menu.

4. Measure the I Monitor (torque monitoring signal, which can be selected in the “Common

Parameter” menu) with CH1 in the oscilloscope and adjust the magnitude of the speed command.

The speed command for the tuning procedure is of a step waveform and can be effectively

generated by use of the Motor Hold function (CN1-16).

During the whole tuning procedure, keep watching the I Monitor signal and adjust the magnitude

of the speed command accordingly so that the waveform of the I-Monitor signal is not saturated.

5. Measure the S Monitor (speed monitoring signal, which can be selected in the “Common

Parameter” menu) with CH2 in the oscilloscope and the speed command (CN 1-1 or CN1-8) with CH3

in the oscilloscope. Slowly adjust the KVP parameter in the “Speed Parameter” menu. The

adjustment should not stop until the rising slope of the S Monitor signal is close enough to

the speed command and no oscillation appears along the S Monitor trace.

The steady state error normally appears because the KVI parameter is zero during this step.

6. Slowly adjust the KVI parameter in the “Speed Parameter” menu with the default value (130) as

a first trial guess. The adjustment should not stop until the settling time of the S Monitor

signal is as short as possible while the overshoot of the S Monitor signal is less than 5 % (or

10%) and appears only once. No sustained oscillation is allowed after this adjustment.

Note1. If the servomotor is installed in a ball screw driven machine bed, take caution of the

travel limits so that no collision may occur.

2. A well-tuned speed loop can guarantee the precision of machining and cut the job time as

well. Make sure not to operate a servodrive that causes the machine bed oscillatory due to

de-tuned gains.

T h e overshoot is large due to high KPP or KVP.Try to reduce KVP

o r K PP.

T h e system is oscillatory due to high KVI.Try to reduce KVI.

T h e system is tuned properly.

5-16
6 . 1 A l a r m D isplay T able

Status Display Description Solution

READY Servo system is ready. The main power cable and the encoder cable The servomotor can start a normal
from the servomotor are connected correctly. operation

OC An abnormally big instantaneous current triggers the OC alarm. The Check whether the load exceeds the
machine will stop. rated value, any main circuit
component is damaged, or output is
short-circuited.

OV An abnormally high DC Bus voltage due to too heavy load inertia Check whether the load inertia is over
or frequent dynamic braking triggers the OV alarm. The machine the specification and take into
will stop. consideration an extra regenerative
braking resistor.

OL An over 150% rated load lasting for one minute triggers the OL Check the reason of overload.
alarm. The machine will stop.

OH The temperature over 135° in the servomotor winding or over 85 Check the ambient temperature and the
° in the heat sink of the servodrive triggers the OH alarm. The ventilation condition.
machine will stop.

OS An over 120% of the rated servomotor speed triggers the OS alarm. Check whether the speed command
The machine will stop. exceeds the allowable value or the load
is over the specification.

EE A broken encoder wiring or an incorrect wiring of the UVW Refer to the wiring diagram and check
feedback signals triggers the EE alarm. The machine will stop. the wiring again.

PF A lower than 240V DC Bus triggers the PF alarm. The machine will Check whether the AC Mains voltage is
stop. too low or the filtering capacitor in the
main circuit is damaged.

Use 3φAC power for the servodrive

over 550W.

RESET The servodrive control system is reset. The system will start again after the
alarm is cleared.

OVF An overflow of the position tracking error triggers the OVF alarm. . Check whether the load is over the
The machine will stop. specification or the frequency of
position pulse command is too high.

6- 1
 6 . 2 C o n necto r P i n A s s i gnment s D i a g r am

RS1
RS-1
1 2 3 4 5 6
U V
1 2 U V W E H1 H2
W E H1
3 4 5

H2
6 7

MS3102A24-11P
MS3102A24-11P
A B C D E F G H I
A B C
- + H1 U V W E E H2
D
- +
E
H1
F

U V W
G H I
E E H2

Rs0
R20 and D-15P Pin Table
1 2 3 4
Rs0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
5 6 7 8 9
Cn2 green white grey white yellow white red black brown white orange white blue white
10 11 12 13 green grey yellow Brown Orange Blue shielding
14 15 D-15P NC
16 A A B B C C +5V 0V U U W W V V
1 2 3 4 5 6 13 14 7 8 9 10 11 12 case
15

2E20-29P

A
2E20-29P and D-15P Pin Table
M B
L N C Rs0 A B C D E F G H J K L M N P R S T
T P
K D green white grey white yellow white red black brown white orange white blue white
Cn2
green grey yellow Brown Orange Blue shielding
S R
J E NC NC
D-15P A B C C +5V 0V U U W W V V
H F A B
G
14
1 2 3 4 5 6 13 7 8 9 10 11 12 case
15

6-2
6 . 3 S e r vodri v e D i m e nsion

W
H
C A B

D E

Dimension ( mm )
Model A B C D E W H
YPV -040
YPV -055
30 23 37 212 195 90 168
YPV -075
YPV -100

YPV -150 30 23 53 212 195 106 168

YPV -200
30 23 53 256 239 106 168
YPV -300

6 -3
 6 . 4 C o n nec P in A ssi g n m ents D iag r a m

Encoder connector pin out list

Encoder wire color mark ENCODER CONNECTOR PINOUT LIST
Green A

White green /A RS-0

Gray B

White gray /B 1 2 3 4
5 6 7 8 9
Yellow C
10 11 12 13
White yellow /C
14 15 16
Brown U

White brown /U
Blue V

White blue /V

Orange W
RSO 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
White orange /W

Ora nge
Orange
yellow

Brown
Yellow

Brown
Green

White

White
Green

White

White
White

Black
White

Red +5V

Red

B lue
Gray

Blue

Silver
gray
ENC

NC
Black 0V
A /A B /B C /C +5V 0V U /U W /W V /V
Sliver Isolation wire

Servo Motor connect line list

Servo Motor connect line list Servo Motor plugs pin list
YBL79D YBL9D
200W~750W 1KW
U Red
RS-1 14S-6P
V Whi te
SM 1 2
A
W Bla ck F B
3 4 5
BRAKE E
E Gre en 6 7 C
(OPTION)
D
H1 Yel low
+ RS-1 14S-6P
H2
B -
Yel low １ ２ ３ ４ ５ ６ A B C E D F
U V W E H1 H2 U V W E H1 H2
THERMOSTAT

YBL17
YBL13S
3KW~6KW
1KW~3KW
MS3102A22-23P MS3102A24-10P

G A F A
F H B E
E C G B
D D
C

MS3102A22-23P
MS3102A24-10P
A B C D E F G H A B C D E F G
U V W + E H1 H2 - U V W H1 E H2

6-4
※7.5KW Connect diagram

D TYPE D TYPE
RS232
37PIN 15PIN
CN3 CN1 CN2
ENCODER

Parameter INPUT/OUT PUT Motor Encoder

Setting

H1 H2

Thermostat
Protection
Terminal

R S T P Pr N U V W
Red White Black
BR
3Φ220V
POWER SOURC
PE 300W 30Ω
∣ Dynamic
Earth U V W
Brake Resistor
SERVO MOTOR
6 . 5 E n c oder m ot o r s i d e d r i ver s ide a rt i c u l ate f oot p os i t i on

Power source
Encoder line color Signal name Driver side
attachment side

Green Black one point A 1 1

Green Red one point /A 2 2

Gray Black one point B 3 3

Gray Red one point /B 4 4

Yellow Black one point C 5 5

Yellow Red one point /C 6 6

Pink Black one point 5V 7 13

Pink Red one point 0V 8 14.15

Pink Black two point U 9 7

Pink Red two point /U 10 8

Blue Black one point W 11 11

Blue Red one point /W 12 12

Blue Black two point V 13 9

Blue Red two point /V 14 10

Silver shielding 15 case

※ If the lead wire lengthens, the isolation line also certainly must meet properly, pairs the stranded wire
electric cable to meet adds long-line.

6-5
※ Supplementary Manual for the Driver Configuration
1. Please install the operation program to your PC from the attached disk or Ye Li website.
Ye Li icon will appear after the installation process. <Note: If you have installed any Ye
Li program before, please remove it from your system first.>
2. Please connect the CN3 port with the PC RS232 port on the upper right corner of the
driver. Appendix 1 shows how the pins connected.<Note: CN3 port is as same as USB,
but RS232 is designed for internal use.>
3. The lower corner of the front driver displays VER2’s version which is 070501, if you
would like to have new functions, please install VER7501 on your PC.
<Note: Unmarked VER2 version is 031220, operation program is version 031220>
4. VER7501 is able to configure the hardware which is 031220 version installed, but it
does not support any new functions.
5. Before using VER2 driver with version 7501 program and loading saved 031220 file,
please confirm there is your modifications on the internal parameters and modes.
6. We suggest you backup the default settings before you start to modify any parameters for
recovery.
7. VER7501 contains new position parameters and speed settings, filter options and
encoder filter frequency settings and etc. plus, in advanced settings, speed (rpm) and
current values can be monitored.

7-1
※ Supplementary Manual for the Driver Configuration:
1. Please connect the driver CN3 port with PC RS232 port, and plug in the power regulator,
and then click the icon on the screen.

Double click the icon to open the program.

YELI

2. You will see the window as the following.

2.1 File, Parameters, Advanced Parameters and About

2.1.1 Load the configuration file→ Select a file

to load → Load → automatically overwrite the
file → restart the servo pack → Finished
(You can select VER7501)

2.1.2Save as configuration file → Insert a

filename → Save → File saved.

<Note: We suggest you save the default configuration file before modifying any internal parameters, then
proceed the steps to load activities, files and horse power, specifications, and its corresponding
speed. When you save configuration file, it would be convenient if you comment motor’s
specifications and speed on it for the future use.

7-2
2.2 Parameters

2.2.1 Common Parameter Settings

Example: Mode Selection →S/P MODE → Select a driver operation mode→ Enter button → Burn Button.
→ After about 5 sec, the burning process will complete then a dialog window will popup → Reboot
to complete the Mode settings.

7-3
2.2.2 Output Signal logic Definition

Positive logic 0 No feed through first Real-time

Negative logic１ Feed through first Real-time

2.2.3 Input Logic Limitation

Positive logic 0 CN1 14PIN and 24G with feed through Real-time
Negative logic１ CN1 15PIN and 24G without feed through Real-time

7-4
2.3 Speed Mode Settings

2.3.1 Voltage Command

<Range DC±2V⇔DC±10V>
Input voltage Real-time
Setup voltage corresponding with rated speed of motor.
<Range -1024⇔+1024>, speed precision fix. Setup speed command
at the same time. Motor output is constricted by the minimum speed.
Offset voltage (Tip: setup speed minimum as 0 RPM first, then adjust departure to Real-time
motor’s axis minimum drift point, the go back setup speed command
to the lowest speed value.)
VCO(12bit) → From CN1 first pin to insert voltage command
reset
Speed command AD (10bit) → From CN1 eighth pin to insert voltage command
channel <Note: VCO (12bit) notification required before place your order, in normal condition,
there is no need to make change.

7-5
2.3.2 Internal Speed Settings

Disable→ Internal speed is not effective. Real-time

Internal speed
Enable→ Internal speed is effective. Real-time
Priority: SPD3 > SPD2 > SPD1 > External voltage command.

2.3.3 Acceleration/Deceleration Time

Linear acceleration Plus S Acceleration time as total

time acceleration time.
Independent Settings Real-time
Linear deceleration Plus S deceleration time as total
Acceleration/ time deceleration time.
Deceleration S acceleration Plus linear acceleration time as
Set it up with
Time Time total acceleration time.
Acceleration and Real-time
S deceleration Plus linear deceleration time as
Deceleration Time
Time total deceleration time.

2.3.4 Output Settings

Zero speed range Output from CN1(36PIN), Common PIN at CN (5PIN 24G) Real-time
In Speed Output from CN1(18PIN), Common PIN at CN1(5PIN 24G) Real-time

7-6
2.4 Position Mode

2.4.1 Position Command

Select an input accordingly, and refer to standard hardware

Command type reset
connection manual.
According to the degree of interference, click the proper
Filter frequency reset
frequency value.
Upper edge trigger According to peak counts
Pulse command trigger type reset
Lower edge trigger According to trough counts

In position range Select a filter value according to the accuracy. Real-time

7-7
2.4.2 Electronic Gear Settings

Numerator Function is effective when pin32,pin33,pin35 of CN1

Real-time
Denominator port doesn’t feed through 24G
Numerator 1 Function is effective when pin32 of CN1 port feed
Real-time
Denominator through 24G
Numerator 2 Function is effective when pin33 of CN1 port feed
Real-time
Denominator through 24G
Numerator 3 Function is effective when pin35 of CN1 port feed
Real-time
Electronic Gear Denominator through 24G
Note 1: Priority: Numerator 3 > Numerator 2 > Numerator 1> Numerator.
Note 2: When A + B pulse is selected, electronic gear has to be multiplied by 4. Notice
during configuration.
Note 3: When electronic gear setting is too large, it is easy to get noises and jiggles,
please adjust the position, and the acceleration time properly.
Accordingly, if the setting is large, position and acceleration time shall be
extended.
2.4.3 Encoder Output Divider Ratio

1000*4 4000 1000 pulses per rotation; numerator is multiplied by 4

→ as default rotation ratio output value.
Numerator of divider 10000 10000 reset
Denominator of divider <Note: Divider ratio output is as same as Line driver signal, if open collector
signal is needed, plus another transfer circuit board.
<Note: According to response signal of the upper controller, you
Standard can choose phase A > B or phase B > A signal output. Wrong
phase selection could cause the upper controller to disperse.
Divider output phase reset
Inverse ※ Warning<HUST controller is needed to be setup as reverse
output.>

Encoder input filter Select a proper value according to encoder circuit and the environment
frequency reset
disturbance.

7-8
2.4.4 Acceleration/Deceleration Time

Acceleration/ Insert pulse value according to platform’s delicacy. If it is rough, extension is

reset
deceleration time needed.

2.5 Torque Mode Settings

Torque command input

<Range 0μs~100μs> more to eliminate noise caused by the torque
filter time Real-time
pulse wave, but it will lower speed and circuit position width.
(TQCA)
Percentage of torque <Max. 300%> set it up according to internal torque limit. Real-time
limit
Torque speed limit Applied to T Mode when internal torque restriction is used. Real-time
Internal torque
According to selected T MODE Real-time
spend limit
Torque speed limit
External analog According to selected T MODE, from CN1-pin8
option
torque speed input ,DC 0V~DC 10V, according to torque output. Real-time
limit (Max. 100% Torque)
Apply it when CN1-pin13 (ILM\)short with
Internal torque
CN1-pin5 (24G) , it should match internal torque Real-time
limit command
Torque limit limit (%).
command setting External analog Apply it when CN1-pin13 (ILM\)short with
torque limit CN1-pin5 (24G) , according to CN1-pin9 (TLM+)
Real-time
command with analog command voltage DC 0V~DC 10V at
0% ~ 300% torque output.

7-9
2.6 Motor Parameter Settings

2.6.1 Motor Parameter Settings

Pole According to the motor specification. reset

Max speed According to the motor, 120% is not allowed. reset
Encoder type The default value is 2500 PPR. reset
Max current Multiply the labeled value by 3 as standard value, no need to change. reset

7-10
2.6.2 Driver Protection Settings

Discharge Duty Cycle Default as 50% in regular condition. reset

The value is effective speed area of motor. User can lower the value
Over Speed protection reset
according to the default value.
Set up accumulative inaccuracy value, if the value is excessive, error
Position error range reset
code 9 will occur.
<Note: On high friction platform, error code 9 would occur when the KPP value is too small.

2.7 Configuration Variables

2.7.1 Speed Loop Gain 1 Settings

KVI Real-time
KVP1 Set up according to operation manuals. Real-time
KPP1 Real-time

7-11
2.7.2 Speed Loop Gain 2 Settings

KVI2 Same as KVI value Real-time

KVP2 Same as KVP value Real-time
SSPD Default as 300% in normal condition Real-time

2.7.3 Online Monitor

Motor Speed Read button, displays motor’s speed. Real-time

Motor Current Read button, displays motor’s current. Real-time

Warning:
※ Real-time: the value is effective immediately after pressing enter button.
※ Reset: the value is effective after pressing enter button and the restart process.
※ After the configuration, the burning process is needed. Restart to show the default value.

7-12
Appendix 1

YPV RS232-USB接頭
CONNECTOR

9PIN D-TYPE
CONNETER
USB接頭
黑
BLACK 5
VCC 4
1 綠
TX GREEN 8
2 3
7
3 RX 白
WHITE 2
6
4 GND

CONNETER
接頭

7-13
YE LI ELECTRIC & MACHINERY CO., LTD.
NO.32, DAH AN RD., SHIN CHUANG CITY,
TAIPEI HSIEN, TAIWAN, R. O. C.
TEL: 886-2-22022456、22022563、22048806
FAX: 886-2-22047087
E-mail: yeli01@ms15.hinet.net
http://www.yeli.com.tw