JASD Series AC Servo Driver

1
 User Manual

Preface

All contents of this manual, copyright owned by Shenzhen Just Motion Control

Electromachics Co.,Ltd., shall not be arbitrarily reproduced, copied, transcribed

without permission. This manual does not contain any forms of garantee, standpoint

statement, or hint. Shenzhen Just Motion Control and its employees will not take any

responsibility for the loss caused by direct or indirect leaking information mentioned

in this Manual. In addition, products information in this manual is for reference only,

we are sorry for not offering update if it is improved.

ADDRESS:Floor2,Building A,Hongwei Industrial Zone

No.6, Liuxian 3rd Road,Shenzhen.China
TEL：0755-26509689 26502268
Fax：0755-26509289
E- mail:info@jmc-motion.com
Http: //www.jmc-motion.com
2
 Content
Chapre1 Safety Precautions.................................................................................... 5
1.1 Installation................................................................................................ 5
1.2 Connection.................................................................................................... 5
1.3 Operation...................................................................................................... 6
1.4 Maintenance & Inspection........................................................................ 6
Chapter2 Introduction.............................................................................................. 7
2.1 JASD Servo Drive........................................................................................ 7
2.1.1 Outline.............................................................................................. 7
2.1.2 Main Features.................................................................................. 7
2.1.3 Electrical Specifications.......................................................... 8
2.1.4 Model & Name Plate........................................................................ 9
2.2 JASM Servo Motor...................................................................................... 10
2.2.1 Outline............................................................................................ 10
2.2.2 Main Features................................................................................ 10
2.2.3 Model & Name Plate...................................................................... 11
Chapter3 Ports & Connection................................................................................ 12
3.1 Drive Ports................................................................................................ 12
3.1.1 CN1 Port.......................................................................................... 12
3.1.2 CN2 Port & Connection................................................................ 14
3.1.3 CN3 Port Definition.................................................................... 15
3.1.4 CN4 Port Definition.................................................................... 15
3.1.5 Power Supply & Motor Power Line Port.................................. 16
Chapter4 Installation instructions.................................................................. 17
4.1 Installation dimensions........................................................................ 17
4.2 Installation environment...................................................................... 20
Chapter5 Panel display and setting.................................................................. 21
5.1 Introduced function of panel.............................................................. 21
5.2 Operating mode switching process...................................................... 21
5.3 Status display.......................................................................................... 22
5.4 Write and save method parameter Settings...................................... 23
Chapter6 control mode and setting.................................................................... 24
6.1 Position control...................................................................................... 24
6.1.1 Position control wiring diagram............................................ 24
6.1.2 Position control command parameter...................................... 25
6.2 Speed control............................................................................................ 26
6.2.1 Speed control wiring diagram.................................................. 26
6.2.2 Speed control command parameters.......................................... 27
6.3 Torque control.......................................................................................... 28
6.3.1 Torque control wiring diagram................................................ 28
6.3.2 The torque control command parameters................................ 29
Chapter7 Trial Running.......................................................................................... 30

3
 7.1 Inspection before running.................................................................... 30
7.2 Trial Running with no load................................................................. 30
Chapter8 Parameter and Function........................................................................ 33
8.1 parameter.................................................................................................... 33
8.2 Parametric analysis................................................................................ 37
8.3 Monitoring projects list...................................................................... 48
8.4 Auxiliary function List........................................................................ 49
Chapter9 Fault Analysis and treatment............................................................ 52
9.1 Failure alarm information list.......................................................... 52
9.2 Causes and Treatment of fault alarm................................................ 54
Chapter 10 Communication Settings..................................59
10.1 Modbus communication parameter setting.....................59
10.2 Modbus communication support read and write parameter
Settings..................................................59
10.3 Modbus communication protocol overview....................61
10.3.1 Introduction........................................61
10.3.2 communication package...............................62
10.3.3 slave address and send request......................62
10.4 function number...........................................62
10.4.1 Function number 03: Read hold register..............62
10.4.2 Function number 06: Adjusts a single register.......63
10.4.3 Function No. 10: Adjust the register................64
10.4.4 Data start address..................................64
10.5 dead time.................................................65
10.6 Exceptional program response..............................65
Chapter 11 Special Function Instructions...........................66
11.1 gantry synchronization function...........................66
11.1.1 Functional description..............................66
11.1.2 Gantry function to achieve connection diagram.......66
11.1.3 Servo basic settings and instructions...............66
11.1.4 Synchronous setting is on...........................67
11.2 origin return function....................................68
11.2.1 Functional description..............................68
11.2.2 Servo basic settings and instructions...............68
11.2.3 Precautions for use of origin return................70
11.3 Absolute encoders are used................................70
11.3.1 Functional description..............................70
11.3.2 Basic settings and instructions based on MODBUS
communication servo.................................70
11.3.3 based on MODBUS communication address...............71
11.3.4 Absolute encoder related alarm processing...........71

4
 Chapter1 Safety Precautions
The following explanations are for things that must be observed in order to prevent
harm to people and damage to property, classified Specially below.

Danger Indicates great possibility of death or serious injury.

Caution Indicates possibility of injury or property damage..

Indicates something that must not be done.

1.1 Installation

Danger:
1. Please connect motor with drive according to assigned methods in case of
damaging machine or fire.
2. Don’t use at places with thick steam, combustible, corrosive gas in case of
electrical shocks, damages or fire etc.

1.2 Connection

Danger:
1. Please don’t connect drive power supply to motor output port U,V,W in case of
damaging drive and even causing injury or fire.
2. Please confirm if power supply cable is connected with motor output connector, in
case of fire caused by sparks.
3. Please select correct power cable and motor power extended cable to avoid fire
caused by overcurrent.
4. Please be sure drive case and motor is connected to ground to avoid possible
electric shock caused by imperfect earth.

Caution:
1. Please don’t bind motor power cable with signal cable, or pass through same tube
in case of signal interference.
2. Please use multistrand shielding power cable, encoder feedback extended cable.
3. Please don’t touch power supply connector, and confirm discharge indicator light is
off before operate again. There is still high voltage inside after drive is powered
off.
4. Please confirm all connection is correct before power on.

5
1.3 Operation

Danger：
1. Please make no-load test before installation to avoid accident.
2. Please don’t be operated by not trained personnel in case of injury or damage
caused by misoperation.
3. Please don’t touch heat sink or inside part of drive while running in case of burn or
electric shock.

Caution：
1. Please set drive parameters first, and then do long-term test in case of not working
properly.
2. Please confirm switches like start, stop, turn off are enable to rerun.
3. Please don’t turn on or off power supply frequently.

1.4 Maintenance & Inspection

:
1. Don’t touch drive or motor inside while running in case of electric shock.
2. Don’t touch power supply or wiring connector of power line in case of electric
shock.
3. Don’t change wires while power is on in case of electric shock or injury.
4. Operation and daily maintenance must be done by trained professionals.
5. Please don’t disassembly or repair except JMC technicians.

6
 Chapter2 Introduction

2.1 JASD Servo Drive

2.1.1 Outline
JASD series general servo drive is high performance AC servo unit researched by
JMC. This series servo drive adopts advanced special DSP motor control chip,
large-scale Field Programmable Gate Array(FPGA), and PIM power module, features
small volume, high integration, stable performance, and reliable protection. Various
digital values and analog I/O interfaces enable matching usage of various PC devices.
It supports MODBUS communication protocol to facilitate networking as well, makes
it possible to have all digital control of position, speed, and torque precision by
optimized PID control algorithm, with the advantages of high precision, quick
response, etc. Besides, this JASD servo drive can be matched with motors which are
2500 lines incremental encoder and 17 bits, 20 bits high precision absolute encoder to
satisfy customers’ various requirement of performance, widely applied in automation
fields of numerical control machine tool, printing and packaging mechanism, textile
machinery, robots, and automatic production line.

2.1.2 Main Features

1. Excellent Position compensation function to have high precision positioning
control.
2. With automatic gain control module, the user can choose according to dema
nd response level.
3. The built-in FIR filter and the multiple sets of notch filter, can automaticall
y recognize and suppress the mechanical vibration.
4. The built-in disturbance torque observer, makes the drive with a strong abili
ty to resist external disturbance.
5. Three control modes. position control, speed control, torque control.
6. Location input pulse frequency up to 4 MHZ, support pulse + direction, ort
hogonal pulse, double pulse position command a variety of ways.
7. Programmable 8-way input and 5-way output port available, users can define
input, output requirements via settings, flexible application.
8. Can be matched with motors which are 17 bits, 20 bits high precision absol
ute encoder.
9. Complete protection functions including overvoltage, undervoltage, overspeedi
ng, overloading, Position deviation too large, encoder errors, etc.
10. Rich monitoring items, users can choose wanted items to test running stat
e.
11. Drive communicates with PC via connecting RS232 port to have easy, qui
ck debug servo drive system.
7
 2.1.3 Electrical Specifications
(1) Single/3 phase 220V servo drive
Model JASD***2-20B 200 400 750 1000
Single Phase Continuous Input Current (A) 1.9 3.2 6.7 8.8
Continuous Output Current (A) 2.1 2.8 5.5 7.6
Max Output Current(A) 5.8 9.6 16.9 17
Main Circuit Power Supply Single Phase AC180V-240V，50/60HZ
Control Circuit Power Supply Single Phase AC180V-240V，50/60HZ
Rengen Resistor no Build-in

(2) 3-phase 220V servo drive

Model JASD***2-20B 750 1000 1500 2000
Three Phase Continuous Input Current (A) 3.6 4.6 7.6 8.7
Continuous Output Current (A) 5.5 7.6 11.6 18.5
Max Output Current(A) 16.9 17 28 42
Main Circuit Power Supply 3-Phase AC180V-240V，50/60HZ
Control Circuit Power Supply Single Phase AC180V-240V，50/60HZ
Rengen Resistor Build-in

8
 2.1.4 Model & Name Plate
1、Model Designation：

JASD 750 2 - 20B - X X

JMC Wattage Special module，

Power Voltage
JASD Symbol Rated Output default is
Series 100 100W standard
1 Single Phase 110V
AC 200 200W
Servo 400 400W 2 Single/3Phase 220V
Drive 750 750W
1000 1000W
1500 1500W
Encoder Lines
2000 2000W
2500
2500 2500W
1250
3000 3000W
1000
17B
20B

2、Name Plate Designation：

SERVO DRIVE

Model MODEL: JASD7502-20B

Rated Input INPUT： 1PH: AC220 6.7A 50/60HZ
3PH: AC220 3.6A 50/60HZ
Rated Output OUTPUT：3PH:AC220 5.5A 750W

Barcode ︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳
&Production Date SER.NO:20150801001
Series Number Http：//www.jmc-motion.com

9
2.2 JASM Servo Motor

2.2.1 Outline
JASM series are high-speed, high-precision servo motors developed by Shenzhen Just
Motion Control Electro mechanics Co. Ltd., designed to meet requirements of modern
automatic motion control. This series motors make it possible to have excellent
precise speed, position control, also can transform voltage signal to torque and speed
to drive controlled members. The rotor of these servo motors is speed-controlled by
input signal, quickly-responded. This series is used as executive component in
automatic motion control system, features small electromechanical time constant,
high linearity, and pick-up voltage, transform electrical signals to angular
displacement or angular speed output, make high precision control by real-time
feedback signals to have adjustment to servo drives.

2.2.2 Main Features

1. High energy magnetic
2. Short time 300％overload
3. Flange size(mm)：60、80、110、130
4. Wattage: 0.1-3KW available
5. Low noise, low heat, high precision, high speed etc.

10
 2.2.3 Model & Name Plate

60 JASM 5 04 2 H K - 20B - XX

Flange Dimension（Unit：mm)
60、80、110、130
Power Supply Specs Encoder Lines
JMC JASM AC Servo
Symbol Specification 2500
Motor
1 Single Phase 110V 1250
2 3 Phase 220V 1000
Pole Pairs
17B
4 Four Pairs（default）
Motor inertia 20B
5 Five Pairs
L low（default）
Rated Output Power M Middle inertia Special
Symbol Ratings H High inertia Function
01 100W module，
02 200W Shaft Type default is
04 400W Symbol Shaft standard.
07 750W K Keyway
10 1000W F Flat shaft
15 1500W S Round Shaft
20 2000W G Gearbox
30 3000W P Specially-made
40 4000W
50 5000W

2、Name Plate Designation:

Model
SERVO MOTOR
MODEL:80JASM5072K-20B
Motor Power Leads
MOTOR LEADS
U: RED V：BLACK W:WHITE
Input Voltage、Rated
Pn:750W AC: 220V In:4.2A
Wattage、Rated Speed、
Tn:2.39Nm Nn:3000r/m En: 20bit
Encoder Lines、Rated
Torque、Rated Current ︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳
SER.NO:20150801001
Barcode & Production
Http：//www.jmc-motion.com
Date

11
 Chapter3 Ports & Connection

3.1 Drive Ports

3.1.1 CN1 Port

The port that upper control connects with drive, is used for connection that upper PC
controls drive, and drive feedbacks output.
25 1

50 26
CN1 Port Specifics

Map of SCSI-50P terminal pin in CN1 Port

25 1

50 26

SCSI-50P physical photo

CN1 terminal pins definition：
Pin NO. Symbol Name Descriptions
1 DO4+ Digital Output 4 Positive Custom Output Port
2 DO3- Digital Output 3 Negative Custom Output Port
3 DO3+ Digital Output 3 Positive Custom Output Port
4 DO2- Digital Output 2 Negative Custom Output Port
5 DO2+ Digital Output 2 Positive Custom Output Port
6 DO1- Digital Output 1 Negative Custom Output Port
7 DO1+ Digital Output 1 Positive Custom Output Port
8 DI4- Digital Input 4 Negative Custom Input Port
9 DI1- Digital Input 1 Negative Custom Input Port
10 DI2- Digital Input 2 Negative Custom Input Port
12
11 COM+ Common Input Terminal High Level 24V Input
12 GNDA Analog Ground
13 GNDA Analog Ground
14 NC No Function
15 MON2 Analog Data Monitor Output 2
16 MON1 Analog Data Monitor Output 1
17 +24V +24V Output（For External I/O）
18 T_REF Torque Analog Command
19 GNDA Analog Ground
20 +12V 12V Output((For Analog command)
21 OA+ Phase A Output Positive
22 OA- Phase A Output Negative
23 OB- Phase B Output Negative
24 OZ- Phase Z Output Negative
25 OB+ Phase B Output Positive
26 DO4- Digital Output 4 Negative Custom Output Port
27 DO5- Digital Output 5 Negative Custom Output Port
28 DO5+ Digital Output 5 Positive Custom Output Port
29 HPUL- High-speed Pulse Negative
30 DI8- Digital Input 8 Negative Custom Input Port
31 DI7- Digital Input 7 Negative Custom Input Port
32 DI6- Digital Input 6 Negative Custom Input Port
33 DI5- Digital Input 5 Negative Custom Input Port
34 DI3- Digital Input 3 Negative Custom Input Port
35 24V SIGN+ 24V Direction Positive High Level 24V Input
36 SIGN+ Direction Positive High Level 5V Input
37 SIGN- Direction Negative Low Level 0V Input
38 HPUL+ High-speed Pulse Positive
39 24V PULS+ 24V Pulse Positive High Level 24V Input
40 HSIGN- High-speed Direction Negative
41 PULS- Pulse Negative Low Level 0V Input
42 V_REF Velocity Analog Command
43 PULS+ Pulse Positive High Level 5V Input

13
 44 GND Ground
45 COM +24V Output Ground
46 HSIGN+ High-speed Positive
47 COM +24V Output Ground
48 OCZ Phase Z Open Collector
Output
49 COM +24V Output Ground
50 OZ+ Phase Z Output Positive
Note：
1. As for the custom function settings of Digital Input(DI), Digital Output(DO),
please refer to the parameters instructions in Chapter 8.
2.While CN1 is wiring, 24V PULS+ &PULS+ share PULS-, 24V SIGN+ &SIGN+
share SIGN-, the difference is one is 24V high level input, one is 5V high level input.

3.1.2 CN2 Port & Connection

CN2 is the port that connects drive with motor encoder feedback lead.
10 1

20 11
CN 2 Port Specifics

Map of SCSI-50P terminal pins in CN2 Port

1
10

20 11

SCSI-20P physical photo

CN2 terminal pins definition：
Pin NO. Symbol Name Descriptions
1 NC None
2 EZ- Encoder Phase Z Input Inverted
3 NC None

14
 4 T- Absolute encoder T- For Absolute drive
5 T+ Absolute encoder T+ For Absolute drive
6 EW- Magnet Pole Phase W Output Inverted
7 EB+ Encoder Phase B Input
8 EW+ Magnet Pole Phase W Input
9 EB- Encoder Phase B Input Inverted
10 EZ+ Encoder Phase Z Input
11 EA+ Encoder Phase A Input
12 EA- Encoder Phase A Input Inverted
13 GND Output Power Supply Ground
14 +5V Output 5V Power Supply
15 GND Output Power Supply Ground
16 +5V Output 5V Power Supply
17 EV+ Magnet Pole Phase V Input
18 EV- Magnet Pole Phase V Input Inverted
19 EU- Magnet Pole Phase U Input Inverted
20 EU+ Magnet Pole Phase U Input

3.1.3 CN3 Port Definition

RS232 Communication Interface, & CN3 Crystal Plug Wiring definition

PIN1 PIN8

Pin NO. Symbol Descriptions

PIN1 GND RS232 Ground
PIN2 TX232 RS232 Receive
PIN3 5V RS232 Power Supply 5V
PIN4 RX232 RS232 Send
PIN5 Reserved Connection Banned
PIN6 GND RS485 Ground
PIN7 485-
PIN8 485+

3.1.4 CN4 Port Definition

PIN1 PIN8

Pin NO. Symbol Descriptions

PIN1 Reserved Connection Banned

15
 PIN2 Reserved Connection Banned
PIN3 Reserved Connection Banned
PIN4 Reserved Connection Banned
PIN5 Reserved Connection Banned
PIN6 GND RS485 Ground
PIN7 485-
PIN8 485+

3.1.5 Power Supply & Motor Power Line Port

Discharge Indicator Ground Screw

R S T L1 L2 B3 B2 B1 U V W

Symbol Definition Descriptions

R、S、T Main Circuit Power For Single Phase Wiring,
Supply Input S is not used
Connector
L1、L2 Control Circuit Power Wiring Single Phase
Supply Input AC Current
U、V、W Motor Power Lead Wiring Motor Power Lead
Connector
Short-circuit B1,B2 while using
Regenerative Resistor built-in regenerative resistor.
B1、B2、B3
End Connector Connect resistor to B1,B3 while
using external resistor.
Ground Screw Drive PGND Screw Wiring Power Supply ground Lead
Discharging Drive Discharging Display if fully discharged
Indicator Indication
Note:
1. Please be sure electromagnetic contactor connects the main circuit between power
supply and Servo Drive, so that be able to turn off power supply to avoid fire
caused by overload when servo drive is malfunctioning.
2. 0.4 kw and no built-in regenerative resistor, the following drives when feedback
energy beyond the absorptive capacity of capacitance will be AL.402 over voltage
alarm. At this point to an external regenerative resistor and the P00-30, P00-31,
P00-32 set to the corresponding values, see note 8.2.

16
 Chapter4 Installation instructions

4.1 Installation dimensions

⑴400W AC servo drive（Units: mm）

17
⑵400W ~ 1KW AC servo drive（Units: mm）

18
 ⑶JASD1.5KW ~ 2KW AC servo drive（Units: mm）

NOTE:
1. Normal installation direction of servo drive must be vertical direction, Top up to
facilitate heat dissipation.
2. Drive when installation should guarantee the equipment well ventilated, when the
cabinet has multiple drives tried for use to ensure that the distance between each
other not less than 5 cm.
3. In order to ensure that the use of safe, please be sure to make the drives of terminals
and devices protect good protective grounding.

19
4.2 Installation environment

Using the environment of the product are directly affects the normal work and life, so
must meet the following conditions:
1. Working environment temperature ：0 to 55℃. Work environment humidity：10%
to 90% or less（free from condensation）.
2. Storage environment：-20℃～+85℃；Storage environment humidity：93% or less
（free from condensation）.
3. vibration ：0.5G or less
4. To prevent rain or damp environment.
5. Avoid exposure in the sun.
6. To prevent oil mist, the erosion of salt.
7. To prevent corrosive liquid, gas, etc.
8. To prevent dust, lint and metal fines.
9. Stay away from the radioactive material and fuel.
10. Ark need to reserve space around the drive put the position in the oven for easy
loading and unloading of maintenance.
11. Pay attention to the tank in the air flow, if necessary, add outer fan to enhance the
air flow, reduce drive environmental temperature for heat dissipation; The
long-term working temperature under 55 ℃.
12. Try to avoid near the vibration source, adding damping device such as vibration
absorber or antivibration rubber gasket.
13. If there is electromagnetic interference sources, the power of the drive and control
line Louis interference caused by misoperation, noise filter can be added or used in
a variety of effective anti-interference measures in order to ensure the normal
operation of the drive (noise filter can increase the leakage current, need to load an
isolation transformer on the drive power input end).

20
 Chapter5 Panel display and setting

5.1 Introduced function of panel

LED digital tube display

M ENT

JASD ac servo drive panel adopts six LED digital tube display; Five key input
instructions, specific keys function as follows：

Panel key
definition instructions
label
LEFT Displacement function
Adjustment parameter，add
UP
functionality
Adjustment parameter，reduce
DOWN
functionality
Cancel out and switching
M KEY
function

ENT KEY Identify and save functions

Note：ENT button press 3 seconds long means determine or save function.

5.2 Operating mode switching process

JASD ac servo series four function models，there are State display mode、Monitor
mode、Parameter set up mode、Auxiliary function mode. Switching mode between
them as follow:

21
 star

：run show State display model

Press M button

d00.C.PUshow Monitor mode

showshow Press ENT button
Press M button
Monitoring setting

P00-01show Parameter set up

Press ENT button

Press M button
Parameter setting
Press M button
AF_JoGshow （Auxiliary function mode）

Press ENT button

Auxiliary setting

Note：Press ENT button Enter the mode setting and then you can exit mode selection
by pressing the M key.

5.3 Status display

Display：

Meaning:
display meaning display meaning
Control circuit power on The main circuit power supply
ready
Speed and torque control： Rotation detection
velocity matching
Position control：Position
coincide
ON: Motor is power off Speed and torque control：
OFF: Motor is power on Speed command inputting
Position control：Position
command inputting
22
The meaning of symbol:
Display Meaning
Servo is not ready(Motor is not power on)

Servo is ready(Motor is not power on)

Servo is running(Motor is power on)

Forward drive state is prohibited

Meant positive distance signal input port in a valid state
Reverse drive state is prohibited
Meant reverse distance signal input port in a valid state
Servo fault status

5.4 Write and save method parameter Settings

start

Two M key

P00-01 show

UP key or DOWN key can choose the parameter

P00-02 show

Press ENT to enter parameter

3 show

UP or DOWN key can change the parameter

8 show

Press LIFT can move

08 show
Press ENT save

Press ENT save

P00-02 show

23
 Chapter6 control mode and setting

6.1 Position control

6.1.1 Position control wiring diagram

Three-phase 220V JASD series A-Phase Output

Divider
power supply servo driver
B-Phase Output

Z-Phase Output
Controller
Servo ON input
Encoder Z-Phase
Alarm clear input Open Collector
Output，Maximum
Positive direction Current is 100mA
over-travel inhibition input
Negative direction
over-travel inhibition input

Absolute Encoder
Positive direction
torque limit switching input
Negative direction
torque limit switching input

Control mode switching input

Position deviation
counter clear input

Servo ready output

External brake release output

Servo alarm output

M
Positioning complete output

Torque in-limit signal output

24V Pulse Signal

5V Pulse Signal Ω

Pulse Signal Negative Ω

24V Drection Signal

5V Drection Signal Ω

Direction Signal Negative

Ω
High-speed Pulse Positive
High-speed Pulse Negative
High-speed Direction Positive
High-speed Direction Negative

24
6.1.2 Position control command parameter
1、Position control instruction related to motor and drive parameters
Parameter Setting Factory
Name Instructions
code range setting
0：position mode（Pulse instructions）
1：speed mode（Analog instructions）
2：torque model（Analog instructions）
P01-01 Control model setting 0-6 0 3：position/speed model
4：position/torque model
5：speed/torque model
6：full closed-loop model
Motor pole
P00-05 1-31 4
logarithmic Specific parameter setting depending on the
P0-07 Encoder type 0-3 0 motor
Incremental encoder
P00-10 0-65535 2500
line number
Position command 0：Pulse instruction
P03-00 0-1 0
source 1：Numbers given
0：Quadrature pulse instruction
Command pulse
P03-01 0-3 1 1：Signal + pulse instruction
modes
2 or 3：Double pulse instruction
Command pulse input 0：Low speed pulse
P03-02 0-1 0
terminals 1：High speed pulse
Command pulse
P03-03 0-1 0 Set the motor rotating the initial direction
invert
electronic gear
P03-10 1-65535 1
1 molecule
According to user requirements
electronic gear
P03-11 1-65535 1
1 denominator

25
6.2 Speed control

6.2.1 Speed control wiring diagram

Three-phase 220V JASD series A-Phase Output

Divider
power supply servo driver
B-Phase Output

Z-Phase Output
Controller
Servo ON input
Encoder Z-Phase
Alarm clear input Open Collector
Output，Maximum
Positive direction Current is 100mA
over-travel inhibition input
Negative direction
over-travel inhibition input

Absolute Encoder
Positive direction
torque limit switching input
Negative direction
torque limit switching input

Control mode switching input

Position deviation
counter clear input

Servo ready output

External brake release output

Servo alarm output

M
Positioning complete output

Torque in-limit signal output

Velocity command input

-10V~+10V Ω

26
6.2.2 Speed control command parameters
1、Speed control instruction related to motor and drive parameters
Parameter Factory
Name Setting range Instructions
code setting
0：position mode（Pulse instructions）
1：speed mode（Analog instructions）
2：torque mode（Analog instructions）
P01-01 Control mode setting 0-6 1 3：position/speed model
4：position/torque model
5：speed/torque model
6：full closed-loop model
P00-05 Motor pole logarithmic 1-31 ---

P00-07 encoder type 0-3 --- Specific parameter setting depending

Incremental encoder on the motor

P00-10 0-65535 ---
line number
0：External analog instruction
1：Digital command (parameters)
Source of rotational 2：Digital instruction
P04-00 0-3 0
speed (communication)
3：Internal multiple sets of
instructions
Speed analog command Set the motor rotating the initial
P04-01 0-1 0
inverting direction
Digital speed command
P04-02 0-Max.Speed 0 Set the speed reference
value
P04-06 Forward speed limit 0-Max.Speed Positive direction speed limit
0-Max.Speed Reverse rotation speed limit
P04-07 Reverse speed limit

2、speed control instruction related gain parameters

Please refer to the 6.1 Position control of the position control instructions relevant
adjusted gain parameter

27
6.3 Torque control

6.3.1 Torque control wiring diagram

Three-phase 220V JASD series A-Phase Output

Divider
power supply servo driver
B-Phase Output

Z-Phase Output
Controller
Servo ON input
Encoder Z-Phase
Alarm clear input Open Collector
Output，Maximum
Positive direction Current is 100mA
over-travel inhibition input
Negative direction
over-travel inhibition input

Absolute Encoder
Positive direction
torque limit switching input
Negative direction
torque limit switching input

Control mode switching input

Position deviation
counter clear input

Servo ready output

External brake release output

Servo alarm output

M
Positioning complete output

Torque in-limit signal output

Torque Command input

-10V~+10V
Ω

28
6.3.2 The torque control command parameters
1、Torque control instruction related to motor and drive parameters
Parameter Factory
Name Setting range Instructions
code setting
0：position mode（Pulse instructions）
1：speed mode（Analog instructions）
2：torque model（Analog instructions）
P01-01 Control mode setting 0-6 2 3：position/speed model
4：position/torque model
5：speed/torque model
6：full closed-loop model
P00-05 Motor pole logarithmic 1-31 4
P00-07 encoder type 0-3 0 Specific parameter setting depending
Incremental encoder on the motor
P00-10 0-65535 2500
line number
0：External analog instruction
Torque command 1：Digital command (parameters)
P05-00 0-3 0
source 2：Digital instruction (communication)
3：Internal multiple sets of instructions
Torque analog Set the motor rotating the initial
P05-01 0-1 0
command inverting direction
Torque mode speed Set the highest speed
P05-02 0-highest speed 1000
limiting value
Internal positive
P05-10 0-300.0 200.0 Limit Positive direction torque
direction torque limit

Internal negative
P05-11 0-300.0 200.0 Limit reverse direction torque
direction torque limit

2、Torque control instruction related to gain parameters

Please refer to the 6.1 Position control of the position control instructions relevant
adjusted gain parameter

29
 Chapter7 Trial Running

7.1 Inspection before running

In order to avoid damage to the servo drive or mechanism, please remove all the load
of the servo motor before running and check the attentions. Then do the no load test.
If normal, connect the servo motor’s load and do the next test.

Attentions:
Inspection 1. Check whether the appearance of the servo drive is damaged.
before power 2. Insulating the wiring terminal.
on 3. Check the drive, whether there is a foreign body inside
4. Don’t put the servo drive and motor on the Combustion object.
5. To avoid the failure of magnetic brake, pls inspect whether the
‘immediately stop’ and ‘cut off the power circuit’ can work
properly.
6. Confirm the servo drive’s voltage of external power supply is
meet the requirement.
7. Confirm the connection of U, V, W, （motor’s power
wiring）,encoder and signal wiring .(according to the motor’s label
and manual)
Inspection 1. When power on(servo drive),whether can hear the sound of
when power on relay.
2. Check whether the display of “power light” and “LED” is
normal
3. Whether the shaft of servo motor is self-locking.
4. During the running, if the servo motor is vibrate and sound is
too large .pls contact the manufacture.

7.2 Trial Running with no load.

1.Trial Running with no load in JOG mode, user do not need to connect the additional
wiring. For safe, before the test, pls fix the motor’s frame .To prevent the danger
caused by the counterforce which produced by the change of motor’s rotational
speed.

30
Wiring diagram of JOG mode:

Three-phase 220V JASD series

power supply servo driver

Absolute Encoder
M

31
2. Select the JOG mode according to the following flow chart .

start

Automatically enter the status display model

：run/rdy display （display mode）

Press “M” three times

AF_JoG display （Auxiliary function mode）

Long press “ENT:

Trial running mode：0display

UP key DOWN key

Motor forward rotation Motor reverse rotation

Press M

Exit

32
 Chapter8 Parameter and Function

8.1 parameter

P00-xx: motor and drive’s parameter

P01-xx: Main Control parameter
P02-xx: Gain parameter
P03-xx: Position parameter
P04-xx: Velocity parameter
P05-xx: Torque parameter
P06-xx: I/O parameter
P08-xx: Advanced Function parameter
Parameter
Title Range Default Unit Effective Time
No.
P00-00 Motor SN --- Power-On again
P00-01 Motor rated speed 1-6000 --- rpm Power-On again
P00-02 Motor rated torque 0.01-655.35 --- n.m Power-On again
P00-03 Motor rated current 0.01-655.35 --- Arms Power-On again
P00-04 Motor rotary inertia 0.01-655.35 --- kg.cm² Power-On again
P00-05 Motor pole numbers 1-31 --- pole pair Power-On again
P00-07 Encoder type 0-3 --- --- Power-On again
P00-08 Incremental encoder type 0-1 --- --- Power-On again
P00-09 Absolute encoder type 0-1 --- --- Power-On again
P00-10 Incremental encoder PPR 0-65535 --- Power-On again
Incremental encoder Z pulse electric Power-On again
P00-11 0-65535 ---
angel
P00-12 Rotor initial angel 1 0-360 --- 1degree Power-On again
P00-13 Rotor initial angel 2 0-360 --- 1degree Power-On again
P00-14 Rotor initial angel 3 0-360 --- 1degree Power-On again
P00-15 Rotor initial angel 4 0-360 --- 1degree Power-On again
P00-16 Rotor initial angel 5 0-360 --- 1degree Power-On again
P00-17 Rotor initial angel 6 0-360 --- 1degree Power-On again
P00-20 Drive SN --- --- --- Read only
P00-21 RS232 baud rate setup 0-3 0 --- Power-On again
P00-30 Regenerative resistor setup 0-2 2 --- Power-On again
P00-31 External regenerative resistor power 0-65535 0 1W Power-On again
External regenerative resistor’s Power-On again
P00-32 0-1000 0 1ohm
resistance value
P01-00 Rotational direction setup 0-1 0 --- Immediate
P01-01 Control mode setup 0-6 0 --- Immediate
Real-time auto-gain tuning mode Immediate
P01-02 0-3 1 ---
setup

33
 Real-time auto-gain tuning level Immediate
P01-03 0-31 13 ---
setup
P01-04 Inertia ratio 0-100.00 100 1.00％ Immediate
Brake-command-servo off, delay Immediate
P01-30 0-255 100 1ms
time(brake open delay)
P01-31 Brake release speed setup 0-Max.Speed 30 1rpm Immediate
Mechanical brake action at running Immediate
P01-32 0-255 100 1ms
setup
P01-40 Lose control alarm Enable 0-1 1 --- Immediate
P02-00 1st gain of position loop 0-3000.0 80.0 1/S Immediate
P02-01 2nd gain of position loop 0-3000.0 80.0 1/S Immediate
P02-03 Velocity feed forward gain 0-100.0 30.0 1.0％ Immediate
P02-04 Velocity feed forward filter 0-64.00 0.5 1ms Immediate
P02-10 1st gain of velocity loop 1.0-2000.0 40.0 1Hz Immediate
P02-11 1st Velocity integral constant 1.0-1000.0 10.0 1ms Immediate
P02-12 1st PDFF gain of velocity loop 0-100.0 100.0 1.0％ Immediate
P02-13 2nd gain of velocity loop 1.0-2000.0 45.0 1Hz Immediate
P02-14 2nd Velocity integral constant 1.0-1000.0 1000.0 1ms Immediate
P02-15 2nd PDFF gain of velocity loop 0-100.0 100.0 1.0％ Immediate
P02-19 Torque feed forward gain 0-30000 0 1.0％ Immediate
P02-20 Torque feed forward filter 0-64.00 0.8 1ms Immediate
P02-30 Mode of gain switching 0-10 7 --- Immediate
P02-31 Level of gain switching 0-20000 800 --- Immediate
P02-32 Hysteresis at gain switching 0-20000 100 --- Immediate
P02-33 Delay time of gain switching 0-1000.0 10.0 1ms Immediate
P02-34 Position gain switching time 0-1000.0 10.0 1ms Immediate
P02-40 Mode switch setup 0-4 0 --- Immediate
P02-41 Level of mode switch 0-20000 10000 --- Immediate
P02-50 Torque command additional value -100.0-100.0 0 1.0％ Immediate
Positive direction torque Immediate
P02-51 -100.0-100.0 0 1.0％
compensation value
Negative direction torque Immediate
P02-52 -100.0-100.0 0 1.0％
compensation value
P03-00 Position command source 0-1 0 --- Immediate
P03-01 Command pulse format 0-3 1 --- Immediate
P03-02 Command pulse input terminal 0-1 0 --- Immediate
Command pulse rotational direction Immediate
P03-03 0-1 0 ---
setup
Positioning complete(In-Position) Immediate
P03-05 0-65535 1 ---
setup
Positioning complete(In-Position) Encoder Immediate
P03-06 0-65535 100
range unit
P03-10 1st numerator of electronic gear 0-65535 8192 --- Power-On again
P03-11 1st Denominator of electronic gear 0-65535 625 --- Power-On again
P03-15 Position deviation excess setup 0-65535 30000 Encoder Immediate
34
 unit *256
P03-16 Position command smoothing filter 0-1000.0 0 1ms Immediate
P03-17 Position command FIR filter 0-1000.0 0 1ms Immediate
P03-20 Position feedback source 0-1 0 --- Immediate
P03-21 Pulse output division enable 0-1 1 --- Immediate
P03-22 Numerator of Pulse output division 0-65535 1 --- Immediate
Denominator of Pulse output Immediate
P03-23 0-65535 1 ---
division
Output pulse counts per one motor Immediate
P03-25 0-65535 2048 ---
revolution(Absolute Encoder)
P03-30 Linear encoder phase setup 0-1 0 --- Immediate
P03-31 Linear encoder polarity of Z pulse 0-1 1 --- Immediate
P03-40 Pulse output source 0-1 0 --- Immediate
P03-41 Output pulse phase 0-1 0 --- Immediate
P03-42 Output polarity of Z pulse 0-1 1 --- Immediate
P04-00 Selection of speed command 0-3 0 --- Immediate
P04-01 Speed analog command inverting 0-1 0 --- Immediate
P04-02 Digital speed command value ±Max.Speed 0 1rpm Immediate
P04-03 Speed zero-clamp function setup 0-1 0 --- Immediate
P04-04 Speed zero clamp level 0-Max.Speed 30 1rpm Immediate
P04-05 Over-speed level setup 0-Max.Speed 6200 1rpm Immediate
P04-06 Positive speed limit value 0-Max.Speed 5000 1rpm Immediate
P04-07 Negative speed limit value 0-Max.Speed 5000 1rpm Immediate
P04-10 Zero-speed 0-200.0 2 1rpm Immediate
P04-11 Motor speed threshold 0-200.0 30 1rpm Immediate
P04-12 Speed coincidence range 0-200.0 30 1rpm Immediate
P04-14 Acceleration time setup 0-10000 0 1ms/1000r Immediate
P04-15 Deceleration time setup 0-10000 0 pm Immediate
P04-30 1st speed of speed setup ±Max.Speed 0 1rpm Immediate
P04-31 2nd speed of speed setup ±Max.Speed 0 1rpm Immediate
P04-32 3rd speed of speed setup ±Max.Speed 0 1rpm Immediate
P04-33 4th speed of speed setup ±Max.Speed 0 1rpm Immediate
P04-34 5th speed of speed setup ±Max.Speed 0 1rpm Immediate
P04-35 6th speed of speed setup ±Max.Speed 0 1rpm Immediate
P04-36 7th speed of speed setup ±Max.Speed 0 1rpm Immediate
P04-37 8th speed of speed setup ±Max.Speed 0 1rpm Immediate
P05-00 Selection of torque command 0-3 0 --- Immediate
P05-01 Torque analog command inverting 0-1 0 --- Immediate
P05-02 Speed limit in torque control 0-Max.Speed 1000 1rpm Immediate
P05-10 Internal forward torque limit 0-300.0 200.0 1.0％ Immediate
P05-11 Internal reverse torque limit 0-300.0 200.0 1.0％ Immediate
P05-12 External forward torque limit 0-300.0 100.0 1.0％ Immediate
P05-13 External reverse torque limit 0-300.0 100.0 1.0％ Immediate

35
P06-00 DI1 logic selection 0-4 0 --- Power-On again
P06-01 DI1 function selection 0-18 1 --- Power-On again
P06-02 DI2 logic selection 0-4 0 --- Power-On again
P06-03 DI2 function selection 0-18 2 --- Power-On again
P06-04 DI3 logic selection 0-4 0 --- Power-On again
P06-05 DI3 function selection 0-18 3 --- Power-On again
P06-06 DI4 logic selection 0-4 0 --- Power-On again
P06-07 DI4 function selection 0-18 4 --- Power-On again
P06-08 DI5 logic selection 0-4 0 --- Power-On again
P06-09 DI5 function selection 0-18 7 --- Power-On again
P06-10 DI6 logic selection 0-4 0 --- Power-On again
P06-11 DI6 function selection 0-18 8 --- Power-On again
P06-12 DI7 logic selection 0-4 0 --- Power-On again
P06-13 DI7 function selection 0-18 5 --- Power-On again
P06-16 DI8 logic selection 0-4 0 --- Power-On again
P06-17 DI8 function selection 0-18 16 --- Power-On again
P06-20 DO1 logic selection 0-1 1 --- Power-On again
P06-21 DO1 function selection 0-11 3 --- Power-On again
P06-22 DO2 logic selection 0/1 1 --- Power-On again
P06-23 DO2 function selection 0-11 2 --- Power-On again
P06-24 DO3 logic selection 0/1 1 --- Power-On again
P06-25 DO3 function selection 0-11 1 --- Power-On again
P06-26 DO4 logic selection 0/1 1 --- Power-On again
P06-27 DO4 function selection 0-11 4 --- Power-On again
P06-28 DO5 logic selection 0/1 1 --- Power-On again
P06-29 DO5 function selection 0-11 8 --- Power-On again
P06-40 Input gain of speed command 10-2000 500 1rpm/V Immediate
P06-41 Filter of speed command input 0-64.00 0.8 1ms Immediate
-10.000 Immediate
P06-42 Offset of speed command 0 1V
-10.000
P06-43 Input gain of torque command 0.0-100.0 30 % Immediate
P06-44 Filter of torque command input 0-64.00 0.8 1ms Immediate
-10.000 Immediate
P06-45 Offset of torque command 0 1V
-10.000
Offline inertia auto-tuning mode Immediate
P08-01 0-1 0
selection
Maximum speed for inertia Immediate
P08-02 100-2000 800 1rpm
auto-tuning
Time constant of acceleration to max Immediate
P08-03 20-800 100 1ms
speed for inertia auto-tuning
P08-04 Interval after an inertia auto-tuning 50-10000 1000 1ms Immediate

Motor revolution for an inertia

P08-05 turns Read only
auto-tuning
P08-11 Adaptive filter mode setup 0-4 0 --- Immediate

36
 P08-20 Time constant of torque filter 0-25.00 0.8 1ms Immediate
Disturbance torque compensating Immediate
P08-25 0-100.0 0 ％
gain
P08-26 Disturbance observer filter 0-25.00 0.8 1ms Immediate
P08-30 1st notch frequency 50-5000 5000 Hz Immediate
P08-31 1st notch width selection 0-20 2 --- Immediate
P08-32 1st notch depth selection 0-99 0 --- Immediate
P08-33 2nd notch frequency 50-5000 5000 Hz Immediate
P08-34 2nd notch width selection 0-20 2 --- Immediate
P08-35 2nd notch depth selection 0-99 0 --- Immediate
P08-36 3rd notch frequency 50-5000 5000 Hz Immediate
P08-37 3rd notch width selection 0-20 2 --- Immediate
P08-38 3rd notch depth selection 0-99 0 --- Immediate
P08-39 4th notch frequency 50-5000 5000 Hz Immediate
P08-40 4th notch width selection 0-20 2 --- Immediate
P08-41 4th notch depth selection 0-99 0 --- Immediate

8.2 Parametric analysis

P00-xx: motor and drive’s parameter
Parameter
Designation Introductions
Code
P00-00 Motor No Factory has been set, no need to set
P00-01 Motor rated speed Factory has been set, no need to set
P00-02 Motor rated torque Set according to the motor, the factory has set up
P00-03 Motor rated current Set according to the motor, the factory has set up
P00-04 Motor moment of inertia Set according to the motor, the factory has set up
P00-05 Motor pole pairs Set according to the motor, the factory has set up
0，1：Incremental encoder
P00-07 Encoder selection 2：Single cycle absolute encoder
3：Multi ring absolute encoder
Linear incremental 0：Non provincial line type
P00-08
encoder 1：Provincial line type
Absolute value encoder 0：Tamagawa encoder
P00-09
type 1：Nikon encoder
P00-10 Incremental encoder PPR Set according to the motor, the factory has set up
Incremental encoder Z
P00-11
pulse electric angel
P00-12 Rotor initial angel 1 1degrees
P00-13 Rotor initial angel 2 1degrees
P00-14 Rotor initial angel 3 1degrees
P00-15 Rotor initial angel 4 1degrees
P00-16 Rotor initial angel 5 1degrees
P00-17 Rotor initial angel 6 1degrees

37
 P00-20 Drive’s SN
0：9600bps
RS232 baud rate 1：19200bps
P00-21
selection 2：57600bps
3：115200bps
0：Use built-in resistance
P00-30 Brake resistor setting 1：Using external resistors
2：Do not use the brake resistance
External braking resistor
P00-31 1W
power
External braking
P00-32 1ohm
resistor’s resistance value

P01-xx: Main Control parameter

Parameter
Designation Introductions
Code
0：Forward direction
P01-00 Rotation direction setting
1：Reverse direction
0：Position control mode (pulse sequence)
1：Speed control mode (analog command)
2：Torque control mode (analog command)
P01-01 Control mode setting 3：Position and speed control mode
4：Position and torque control mode
5：Speed and torque control mode
6：Full closed loop control mode
0：Manual adjustment of rigidity
1：Automatic adjustment of the standard model. This mode, the
parameter P02-00, P02-01, P02-10, P02-11, P02-13, P02-14,P08-20
will automatically according to the rigid hierarchy of P01-03 set,
does not make sense to manually adjust these parameters
Real time automatic 2：Positioning mode automatically adjust rigidity. This mode, the
P01-02
adjustment mode parameter P02-00, P02-01, P02-10, P02-11, P02-13, P02-14, P08-20
will automatically according to the rigid hierarchy of P01-03 set,
does not make sense to manually adjust these parameters. The
following parameters will be for a fixed value.
P02-03：30.0%
P02-04：0.50
Real time automatic Built in 32 kinds of gain parameters, customers can directly call
P01-03 adjustment of rigid according to the actual situation, the greater the value, the stronger
setting the rigidity. When P01-02 set to 1, or 2 time
P01-04 Rotary inertia ratio 1.00%
Brake-command-servo Range:0-255 Unit:1ms
P01-30 off, delay time(brake Servo On: when drive can make instruction, after P01-30 time, drive
open delay) will receive position command.

38
 Servo off: Motor in the stationary state, perform clearance after
enabling instruction, motor into the current state of actual time.
Range:0-Max.speed Unit:1rpm
Motor in rotating condition, the motor speed threshold of the brake
brake command output
P01-31 output is valid. Instructions below this threshold, the brake
the speed limit value
effectively, otherwise will wait P01-32 time, brake output instruction
is effective.
Range:0-255 Unit:1ms
Servo off-waiting time of
P01-32 Motor in rotating condition, The longest waiting time of the brake
brake command
output.
0：Enable
P01-40 Out of control error
1：Disable

P02-xx: Gain parameter

Parameter
Designation Introductions
Code
Range:0-3000.0 Unit:1/s
Position loop proportional gain parameter value is greater, the
1st gain of Position gain ratio is higher, the greater stiffness, the position tracking error is
P02-00
control smaller, quicker response. But the parameters too easily lead to
vibration and overshoot.
This parameter is aimed at the static response
Range:0-3000.0 Unit:1/s
Proportion gain of position loop controller, the greater the
2nd gain of Position parameter value, the higher the gain ratio, the greater the stiffness,
P02-01
control the smaller the position tracking error, and the faster response. But
the parameters are too large to cause vibration and overshoot.
This parameter is aimed at dynamic response
Range:0-100.0 Unit:1.0%
The greater the feed forward gain of the position loop, the greater
the parameter value is, the smaller the tracking error of the system is,
the faster the response is. When set to 100%, indicates that any
Velocity feed forward
P02-03 frequency of the instruction pulse, the location of the hysteresis is
gain
always 0.
The feed forward gain ratio of position loop is too large, so that
the position loop of the system is unstable and prone to shock, and
the feed forward gain ratio of position loop is usually 0.
Range:0-64.00 Unit:1ms
Velocity feed forward
P02-04 This parameter is used to set up the feed forward filter time constant
smoothing constant
of velocity loop。
Range:0-2000.0 Unit:1Hz
The greater the speed ratio gain, the greater the servo stiffness, the
P02-10 1st gain of velocity loop
faster the speed response, but it is too easy to produce vibration and
noise.

39
 In the system does not produce shock conditions, as far as
possible to increase the value of this parameter.
This parameter is aimed at the static response
Range:0-1000.0 Unit:1ms
Speed regulator integral time constant, set the value of the
smaller, faster integration, the greater the stiffness, too small to
1st Velocity integral
P02-11 produce vibration, noise.
constant
In the case of the system does not appear in the shock, as far as
possible to reduce the value of this parameter.
This parameter is aimed at the static response
Range:0-100.0 Unit:1.0%
Set to 100.0%, the speed loop PI control, fast dynamic response;
Set to zero, the speed loop integral action, can filter the low
1st PDFF gain of velocity
P02-12 frequency disturbance, but slow dynamic response.
loop
By adjusting the parameter, can make the speed loop has a better
dynamic response, at the same time can increase the low frequency
interference resistance ability
Range:0-2000.0 Unit:1Hz
The greater the speed ratio gain, the greater the servo stiffness, the
faster the speed response, but it is too easy to produce vibration and
P02-13 2nd gain of velocity loop noise.
In the system does not produce shock conditions, as far as
possible to increase the value of this parameter.
This parameter is aimed at dynamic response
Range:0-1000.0 Unit:1ms
Speed regulator integral time constant, set the value of the
smaller, faster integration, the greater the stiffness, too small to
2nd Velocity integral
P02-14 produce vibration, noise.
constant
In the case of the system does not appear in the shock, as far as
possible to reduce the value of this parameter.
This parameter is aimed at dynamic response
Range:0-100.0 Unit:1.0%
Set to 100.0%, the speed loop PI control, fast dynamic response;
Set to zero, the speed loop integral action, can filter the low
2nd PDFF gain of
P02-15 frequency disturbance, but slow dynamic response.
velocity loop
By adjusting the parameter, can make the speed loop has a better
dynamic response, at the same time can increase the low frequency
interference resistance ability
Set current loop feed forward weighted value. The parameter is
P02-19 Torque feed forward gain weighted by the differential of the speed command, and the current
loop is added.
Torque feed forward This parameter is used to set the time constant of the torque feed
P02-20
smoothing constant forward filter.
P02-30 Gain switching mode

40
 The level of gain
P02-31
switching
P02-32 Gain switching hysteresis
P02-33 Gain switching delay 1ms
Position gain switching
P02-34 1ms
time
P02-40 Model switch selection
P02-41 Model switch class
Range:-100.0-100.0 Unit:1.0%
Torque command
P02-50 Set up the offset load compensation value usually added to the
additional value
torque command in control mode except for the torque control mode
Range:-100.0-100.0 Unit:1.0%
Forward torque
P02-51 Set up the dynamic friction compensation value to be added to the
compensation value
torque command when forward position command is fed
Range:-100.0-100.0 Unit:1.0%
Reverse torque
P02-52 Set up the dynamic friction compensation value to be added to the
compensation value
torque command when negative direction position command is fed

P03-xx: Position parameter

Parameter
Designation Introductions
Code
Location command 0：pulse command
P03-00
source 1：Digital given
0：Quadrature pulse instruction
P03-01 Command pulse mode 1：Signal + pulse instruction
2 or 3：Double pulse instruction
Command pulse input 0:low speed pulse
P03-02
terminal 1:high speed pulse
Used to adjust the counting direction：
P03-03 Command pulse counter 0：Normal.
1：Reverse direction
0：Output when position deviation is less than threshold P03-06
1：The position given, and position deviation when the output is less
Location complete
P03-05 than threshold P03-06
judgment condition
2：The position given complete (filtered), and the position deviation
is less than threshold P03-06
Positioning complete
P03-06 Encoder unit
scope
Molecule of Electronic Calculation formula of electronic gear ratio:
P03-10
gear 1 molecular
G=
denominator
Denominator of N：Motor rotation laps
P03-11 C：encoder line number
Electronic gear 1
P：Each lap input pulse number

41
 case：Encoder line number is 2500；
Each lap input pulse number is 3200；
Electronic gear ratio？
N ×C ×4 1 ×2500 ×4 10000 25
G= = = =
P 3200 3200 8

Range: 0-65535 Unit:256

Position deviation excess
P03-15 Sets the number of pulses that allow the deviation, exceeding the set
setup
value of the alarm.
Range: 0-65535, Unit:1ms
Position command
P03-16 Set up the time constant of 1st delay filter in response to the position
smoothing filter
command.
Position command FIR
P03-17 1ms
filter
Position loop feedback
P03-20
source
Encoder frequency output
P03-21
enable
numerator: incremental
P03-22 encoder output pulse
frequency division ratio
Denominator:
incremental encoder
P03-23
output pulse frequency
division ratio
Output pulse counts per
P03-25 one absolute motor
revolution
P03-30 Linear encoder inverting
Z pulse’s polarity of
P03-31
linear encoder
P03-40 Output pulse resource
P03-41 Output source inverting
P03-42 Output Z pulse’s polarity

P04-xx : Velocity parameter

Parameter
Designation Introductions
Code
0：External analog instruction
1：Digital instruction (parameter setting)
P04-00 Speed command source
2：Digital instruction (Communication)
3：Internal multiple instruction
Speed analog command
P04-01
inverting

42
 Digital speed command
P04-02 1RPM
value
Zero speed position
P04-03
clamping function
Zero speed position
P04-04 clamping velocity 1RPM
threshold
Setting the maximum speed value, exceeding the set value will
P04-05 Alarm value
alarm.
P04-06 Forward speed limit Limit motor forward speed value
P04-07 Reverse speed limit Limiting motor reverse speed value
Zero velocity detection
P04-10 1RPM
value
P04-11 Rotation detection value 1RPM
P04-12 Speed uniform range 1RPM
P04-14 Acceleration time 1ms/1000rpm
P04-15 Deceleration time 1ms/1000rpm
P04-30 Internal velocity setting 1 Set up the internal command speed
P04-31 Internal velocity setting 2 Set up the internal command speed
P04-32 Internal velocity setting 3 Set up the internal command speed
P04-33 Internal velocity setting 4 Set up the internal command speed
P04-34 Internal velocity setting 5 Set up the internal command speed
P04-35 Internal velocity setting 6 Set up the internal command speed
P04-36 Internal velocity setting 7 Set up the internal command speed
P04-37 Internal velocity setting 8 Set up the internal command speed

P05-xx : Torque parameter

Parameter
Designation Introductions
Code
0：External analog instruction
1：Digital instruction (parameter setting)
P05-00 Torque command source
2：digital commands (communication)
3：Internal multiple instruction
Used to adjust the torque direction:
Torque analog command
P05-01 0：Normal.
inverting
1：Reverse direction
Torque mode speed
P05-02 1RPM
limiting value
Range: 0-300.0 Unit:1%
Internal positive direction
P05-10 Limit motor forward torque, 100 means 1 times the rated torque, 300
torque limit
said 3 times the rated torque.
Internal negative Range: 0-300.0 Unit:1%
P05-11
direction torque limit Limit motor reverse torque, 300 means 3 times the rated torque, 300

43
 said 3 times the rated torque.
Range: 0-300.0 Unit:1%
External positive
P05-12 Limit motor forward torque, 100 means 1 times the rated torque, 300
direction torque limit
said 3 times the rated torque.
Range: 0-300.0 Unit:1%
External negative
P05-13 Limiti motor reverse torque, 300 means 3 times the rated torque, 300
direction torque limit
said 3 times the rated torque.

P06-xx: I/O parameter

Parameter
Designation Introductions
Code
0：Low level active
1：High level active
DI1 input port effective
P06-00 2：Rising edge active
level
3：Falling edge active
4：Both rise edge and fall edge active
0：Invalid
1：Servo-ON input
2：Alarm clear input
3：Positive direction over-travel inhibition input
4：Negative direction over-travel inhibition input
5：Control mode switching mode
6：P operation command input
7：Positive direction torque limit switching input
8：Negative direction torque limit switching input
DI1 input port function
P06-01 9：Gain switching input
selection
10：Speed zero clamp input
11：Command pulse inhibition input
12：Encoder absolute value data requirements input
13：Selection 1 input of internal command speed
14：Selection 2 input of internal command speed
15：Selection 3 input of internal command speed
16：Position deviation counter clear input
17：Pole detection input
18：Electronic gear switching input
DI2 input port effective
P06-02 Same with DI1 port active level instructions
level
DI2 input port function
P06-03 Same with DI1 port function instructions.
selection
DI3 input port effective
P06-04 Same with DI1 port active level instructions
level
DI3 input port function
P06-05 Same with DI1 port function instructions.
selection
P06-06 DI4 input port effective Same with DI1 port active level instructions

44
 level
DI4 input port function
P06-07 Same with DI1 port function instructions.
selection
DI5 input port effective
P06-08 Same with DI1 port active level instructions
level
DI5 input port function
P06-09 Same with DI1 port function instructions.
selection
DI6 input port effective
P06-10 Same with DI1 port active level instructions
level
DI6 input port function
P06-11 Same with DI1 port function instructions.
selection
DI7 input port effective
P06-12 Same with DI1 port active level instructions
level
DI7 input port selection
P06-13 Same with DI1 port function instructions.
function
DI8 input port effective
P06-16 Same with DI1 port active level instructions
level
DI8 input port function
P06-17 Same with DI1 port function instructions.
selection
DO1 output port effective 0：Active low
P06-20
level 1：Active high
0：Invalid
1：Servo alarm output
2：External brake release signal
3：Servo ready output
4：Positioning complete output
DO1 output port selection 5：Positioning near output
P06-21
function 6：At-speed output
7：Zero-speed detection output signal
8：Torque in-limit signal output
9：Speed in-limit signal output
10：Warning output
11：Command pulse input magnification switching output
DO2 output port effective 0：Active low
P06-22
level 1：Active high
DO2 output port function
P06-23 Same with DO1 port function instructions.
selection
DO3 output port effective 0：Active low
P06-24
level 1：Active high
DO3 output port function
P06-25 Same with DO1 port function instructions.
selection
DO4 output port effective 0：Active low
P06-26
level 1：Active high
P06-27 DO4output port function Same with DO1 port function instructions.
45
 selection）
DO5 output port effective 0：Active low
P06-28
level 1：Active high
DO5 output port function
P06-29 Same with DO1 port function instructions.
selection
Range: 10-2000, Unit: 1rpm/v
Input gain of speed Based on the voltage applied to the analog speed command, set up
P06-40
command the conversion gain to motor command speed.
Default setup of 500 represents 500rpm/1V
Filter of speed command Range:0-64.00 Unit:1ms
P06-41
input
P06-42 Offset of speed command 1V
Range: 0-100.0, Unit: 1%
Input gain of torque Based on the voltage applied to the analog torque command, set up
P06-43
command the conversion gain to torque command.
Default setup of 30.0 represents 30%/1V
Filter of torque command Range:0-64.00 Unit:1ms
P06-44
input
Offset of torque
P06-45 1V
command

P08-xx : Advanced Function parameter

Parameter
Designation Introductions
Code
Offline inertia
P08-01 auto-tuning mode
selection
Maximum speed for
P08-02 Range: 10-2000, Unit:1rpm
inertia auto-tuning
Time constant of
P08-03 acceleration to max speed Range: 20-800, Unit:1ms
for inertia auto-tuning
Interval after an inertia
P08-04 Range: 50-10000, Unit:1ms
auto-tuning
Motor revolution for an
P08-05 Rev
inertia auto-tuning
0：Third, fourth notch filter parameters are no longer automatically
updated, but allow manual input
1：1 adaptive notch filters are available, and the parameters of the
third notch filters are automatically updated, which can not be
Adaptive filter mode
P08-11 entered manually.
setup
2：2 adaptive notch filters are available, third, four notch filter
parameters are updated automatically, and the manual input is not
available.
3：Only to detect the resonance frequency

46
 4：Clear third, four notch filter parameters, return to the factory
settings
Range: 0-25.00, Unit:1ms
Time constant of torque
P08-20 Set up the time constant of the delay filter inserted in the torque
filter
command portion.
Range: 0-100.0, Unit:1%
Set up 0 to 100% compensating gain against disturbance torque.
After setting up P08-26, increase P08-25. The disturbance
Disturbance torque
P08-25 suppressing capability increases by increasing the gain, but it is
compensating gain
associated with increasing volume of operation noise. This means
that well balanced setup can be obtained by adjusting P08-25 and
P08-26.
Range: 0-25.00, Unit:1ms
Disturbance observer
P08-26 Set up the filter time constant according to the disturbance torque
filter
compensation.
Range: 50-5000, Unit:1Hz
Set the center frequency of the 1st notch filter
P08-30 1st notch frequency
The notch filter function will be invalidated by setting up this
parameter to “5000”.
Range: 0-20
Set the width of notch at the center frequency of the 1st notch filter
P08-31 1st notch width selection
Higher the setup, larger the notch width you can obtain. Use with
default setup in normal operation.
Range: 0-99
Set the depth of notch at the center frequency of the 1st notch filter
P08-32 1st notch depth selection
Higher the setup, shallower the notch depth and smaller the phase
delay you can obtain.
Range: 50-5000, Unit:1Hz
Set the center frequency of the 2nd notch filter
P08-33 2nd notch frequency
The notch filter function will be invalidated by setting up this
parameter to “5000”.
Range: 0-20
Set the width of notch at the center frequency of the 2nd notch filter
P08-34 2nd notch width selection
Higher the setup, larger the notch width you can obtain. Use with
default setup in normal operation.
Range: 0-99
Set the depth of notch at the center frequency of the 2nd notch filter
P08-35 2nd notch depth selection
Higher the setup, shallower the notch depth and smaller the phase
delay you can obtain.
Range: 50-5000, Unit:1Hz
Set the center frequency of the 3rd notch filter
P08-36 3rd notch frequency
The notch filter function will be invalidated by setting up this
parameter to “5000”.
P08-37 3rd notch width selection Range: 0-20

47
 Set the width of notch at the center frequency of the 3rd notch filter
Higher the setup, larger the notch width you can obtain. Use with
default setup in normal operation.
Range: 0-99
Set the depth of notch at the center frequency of the 3rd notch filter
P08-38 3rd notch depth selection
Higher the setup, shallower the notch depth and smaller the phase
delay you can obtain.
Range: 50-5000, Unit:1Hz
Set the center frequency of the 4th notch filter
P08-39 4th notch frequency
The notch filter function will be invalidated by setting up this
parameter to “5000”.
Range: 0-20
Set the width of notch at the center frequency of the 4th notch filter
P08-40 4th notch width selection
Higher the setup, larger the notch width you can obtain. Use with
default setup in normal operation.
Range: 0-99
Set the depth of notch at the center frequency of the 4th notch filter
P08-41 4th notch depth selection
Higher the setup, shallower the notch depth and smaller the phase
delay you can obtain.

8.3 Monitoring projects list

Display
Display item Description Unit
number
This parameter can monitor Number of
d00.C.PU Position Command pulse sum pulses sent by the user to the Servo drive, User units
To confirm whether it’s missing pulse
This parameter can monitor Number of
d01.F.PU Position feedback pulse sum User units
pulses Servo drive feedback
This parameter can monitor the number
Position deviation number of
d02.E.PU of pulse delay in the operation of the User units
pulses
Servo drive
This parameter can monitor Number of
d03.C.PE Position given pulse sum pulses sent by the user to the Servo drive, Encoder unit
To confirm whether it’s missing pulse
This parameter can monitor Number of
d04.F.PE Position feedback pulse sum Encoder unit
pulses Servo drive feedback
This parameter can monitor the number
d05.E.PE Position deviation pulse sum of pulse delay in the operation of the Encoder unit
Servo drive
Pulse command input This parameter can monitor the input
d06.C.Fr KPPS
frequency frequency of pulse command
d07.C.SP speed reference rpm

48
 This parameter can monitor the rotational
d08.F.SP Actual motor speed rpm
speed of servo motor
d09. C.tQ Internal torque reference ％
This parameter can monitor the torque of
d10. F.tQ Torque feedback value ％
servo motor’s run-time feedback
This parameter can monitor the Average
d11.AG.L Average torque ％
torque of servo motor
This parameter can monitor the Peak
d12.PE.L Peak torque ％
torque of servo motor
This parameter can monitor the usage of
d13.oL over load rate ％
servo motor’s load
d14.rG Regenerate Load Ratio ％
This parameter can monitor CN1 state of
output port. On the vertical bar represents
d16.I.Io Monitored DI status Binary system
the light coupling cut-off, the vertical bar
represents the light coupling conduction
This parameter can monitor CN1 state of
output port. On the vertical bar represents
d17.o.Io Monitored DO status Binary system
the light coupling conduction, the vertical
bar represents the light coupling cut-off
this parameter can monitor the
Mechanical angle of the
d18.AnG mechanical angle of motor, one circle is 0.1 degree
motor
360 degrees
Motor UVW Hall
d19.HAL
phase-sequence
Absolute encoder Single turn
d20.ASS 0-0xFFFF
values
Absolute encoder multi-turn
d21.ASM
value
d22.J-L Inertia ratio ％
This parameter can monitor the input
d23.dcp Main loop voltage V
voltage of main power supply
This parameter can monitor the
d24.Ath Drive temperature ℃
temperature of the drive
Accumulative Total running This parameter can monitor drive’s
d25.tiE S
time running time
d26.1.Fr Resonance frequency 1 Hz
d28.2.Fr Resonance frequency 2 Hz
Analog command 1 Input This parameter can monitor CN1 analog
d30.Ai1 0.01V
Voltage（V_REF） instruction input voltage value
Analog command 2 Input This parameter can monitor CN1 analog
d31.Ai2 0.01V
Voltage（T_REF） instruction input voltage value

8.4 Auxiliary function List

49
Serial Display
Project function operation
No. No.
1. Press operation panel of the M button, switch to the
auxiliary mode AF_XXX, the Up/Down buttons to AF_JOG,
press the ENT key, enter the JOG mode. The default speed is
300 RPM.
2. Press the Up button, the motor will forward at a speed of
300 r/min. Press the Down button, the motor reversal at a
1 AF_JoG JOG test run
speed of 300 r/min
3. Press ENT button, enter the edit menu. Through the Up
key, the Down and the Left button to edit the speed, long press
ENT button after editing, back into the JOG mode. The set
speed is not saved when exit the JOG mode.
4. Press M button to exit the JOG mode
1.Press operation panel of the M button, switch to the
auxiliary mode AF_XXX, the Up/Down buttons to AF_RUN,
press the ENT key, enter this mode.
2. Press the Up button, the shaft forward, long press the Up
2 AF_run Force enable run
button, the motor speed will continue to improve; Press the
Down button, the shaft reverse, long press the Down button,
motor speed will continue to improve.
3. Press M button to exit this mode
1. Press operation panel of the M button, switch to the
auxiliary mode AF_XXX, the Up/Down buttons to AF_oF1,
Analog input 1 offset
press the ENT key, enter this mode and will display clc.Ai1.
3 AF_oF1 automatic calibration
2. Long press ENT key, until a ＂ Finish ＂ flashing, analog
（VCMD）
input 1 offset automatic calibration is completed
3. Press M button to exit this mode
Analog input 2 offset
4 AF_oF2 automatic calibration Same with AF_oF1
（TCMD）
U，W Current offset
5 AF_oF3 Same with AF_oF1
automatic calibration
1. Press operation panel of the M button, switch to the
auxiliary mode AF_XXX, the Up/Down buttons to AF_ En0,
Absolute encoder fault press the ENT key, enter this mode and will display clc_Err.
6 AF_En0
clearance 2. Long press ENT key, until a ‘Finish’ flashing, absolute
encoder fault clearance is completed
3. Press M button to exit this mode
Absolute encoder
7 AF_En1 multiturn value Same with AF_ En0
clearance
Restore factory
8 AF_ini contact the manufacture
parameters
50
9 AF_Err Error Records display
1.Press operation panel of the M button, switch to the
auxiliary mode AF_XXX, the Up/Down buttons to AF_uEr,
10 AF_uEr Version display
press the ENT key. The Led will display the version.
2. Press M button to exit this mode
1.Press operation panel of the M button, switch to the
auxiliary mode AF_XXX, the Up/Down buttons to AF_unL,
11 AF_unL Relieve lock press the ENT key. Then edit the lock level. 0:All parameter
lock, 1:Lock P00-XX parameter, 2:Donot lock parameter.
2. Press M button to exit this mode
1.Press operation panel of the M button, switch to the
auxiliary mode AF_XXX, the Up/Down buttons to AF_Io,
12 AF_Io Force output port level press the ENT key.
2. Press M button to exit this mode, Output output port to
restore to its original state

51
 Chapter9 Fault Analysis and treatment

9.1 Failure alarm information list

Alarm Type Alarm Code Alarm contents
AL.051 Eeprom parameter abnormal
AL.052 Programmable Logic configuration fault
AL.053 Initialization Failed
AL.054 System abnormal
AL.060 Product model Select fault
AL.061 Product matching fault
AL.062 Parameter storage fault
AL.063 over current checkout
AL.064 Servo power on ，Self-Test find out the output short circuit fault
AL.065 servo unit built-in Fan stop
hardware fault AL.066 servo unit control power supply low voltage
AL.070 AD Sample fault1
AL.071 Current sample fault
AL.100 Parametric combination abnormal
AL.101 AI Setting fault
AL.102 DI distributing fault
AL.103 DO distributing fault
AL.105 Electronic gear Configuration error
AL.106 Frequency splitting pulse output Setting abnormal
AL.110 Need to power-on again after the parameter setting
AL.120 Servo ON Instruction invalid
AL.400 power line lack Phase
AL.401 Under voltage
AL.402 Over voltage
AL.410 Overload(instantaneous Maximum load)
AL.411 Drive overload
AL.412 Motor overload（Continuous maximum load）
AL.420 Over speed
operational AL.421 Lose Control check out
faults AL.422 runaway fault
AL.425 AI collect sample over voltage
AL.430 Regeneration of Abnormal
AL.431 Regeneration of overload
AL.432 Regeneration of Short circuit Open circuit
AL.435 Stroke current Limited overload resistance
AL.436 DB overload
AL.440 Radiator overheat

52
 AL.441 Motor overheat fault
AL.500 Output frequency division over speed
AL.501 Position deviation is too large
AL.502 Full closed loop encoder position and Motor position error are too large
AL.505 Pulse Command input pulse abnormal
AL.550 Inertia identification failure fault
AL.551 back to origin Point timeout fault
AL.552 Angle Identification failure fault
AL.600 Encoder output power short circuit fault
AL.610 Incremental encoder gets out of line
AL.611 Incremental encoder Z signal loss
AL.620 Absolute Encoder gets out of line
AL.621 Read and write motor encoder EEPROM parameter abnormal
AL.622 motor encoder EEPROM data parity error
AL.640 Absolute encoder overspeed
AL.641 Absolute encoder overheat
AL.642 Absolute encoder Battery low voltage alarm
Encoder fault AL.643 Absolute encoder Battery low voltage fault
AL.644 Absolute encoder multi-turn fault
AL.645 Absolute encoder multi-turn overflow fault
AL.646 Absolute encoder communication error 1
AL.647 Absolute encoder count error 2
AL.648 Absolute encoder communication error 3
AL.649 Absolute encoder communication error 4
AL.650 Absolute encoder communication error 5
AL.651 Absolute encoder communication error 6
AL.652 Absolute encoder multi-turn Multiple faults
AL.900 Location deviation is too large
AL.901 When servo ON, Location deviation is too large
AL.910 Motor overload
AL.912 Drive overload
AL.920 Regeneration of overload
AL.921 DB overload
AL.925 External regeneration bleeder resistor is too small
Warning AL.930 Absolute encoder’s battery Fault
AL.941 Need to power-on again after Parameters changing
AL.942 Write EEPROM frequent warnings
AL.950 Over run Warning
AL.951 Absolute encoder angle initialization warning
AL.971 Under voltage warning
AL.990 Radiator overheat warning
AL.991 Input phase loss warning

53
9.2 Causes and Treatment of fault alarm
AL51：EEPROM parameter abnormal
Causes of fault alarm Fault alarm checking Disposal measures
servo unit EEPROM data abnormal Check connection Correct connection，reconnect
power, If always appear, then
change a drive

AL52：Programmable logical configuration fault

Causes of fault alarm Fault alarm checking Disposal measures
Master control MCU power-on Check connections, Check the baud Reduce the baud rate of Serial
initialization exception, Serial port rate of serial communication Communication, If always appear,
baud rate setting is too high parameters P00-21 then change a drive

AL53：Initialization Failed
Causes of fault alarm Fault alarm checking Disposal measures
Master control MCU power-on check connections If always appear, then change a
initialization failed reconnect power drive

AL54：System error
Causes of fault alarm Fault alarm checking Disposal measures
Master control MCU operation check connections If always appear, then change a
abnormal reconnect power drive

AL60：Product model selection fault

Causes of fault alarm Fault alarm checking Disposal measures
Product parameter setting does not Check the product parameters and correct product settings , if it always
match the actual hardware hardware models appears, Contact the manufacturer

AL61：Products matching fault

Causes of fault alarm Fault alarm checking Disposal measures
servo unit and servo motor does not Detect whether the servo unit can Replace the matching motor and
match support the motor servo units

AL63：Overcurrent detection
Causes of fault alarm Fault alarm checking Disposal measures
The servo control unit power U,V,W wiring whether is short Correct connection，If always
current is too high circuit appear, then change a drive

AL66：Servo Unit controls the power supply voltage is low

Causes of fault alarm Fault alarm checking Disposal measures
Control power supply L,N power check connections Measure L, N , Correct connection，If always
voltage is too low whether the voltage is lower than appear, then change a drive
140VAC

AL.71：Current collect sample fault

Causes of fault alarm Fault alarm checking Disposal measures
abnormal collect sample data in check connections whether is Correct connection，If always
54
current sensor correct appear, then change a drive

AL.103：DI allocation Fault

Causes of fault alarm Fault alarm checking Disposal measures
At least have 2 functions of input Check port input function select Set the correct parameters,
port ,parameter selections are the parameters Reconnect power to the drive
same

AL.106：Frequency division pulse output settings abnormal

Causes of fault alarm Fault alarm checking Disposal measures
Frequency division pulse output check frequency division pulse Correct setting frequency division
settings out of range output setting parameters pulse output parameters.
P03-22，P03-23 Incremental encoder
P03-25 P03-22<P03-23
Absolute encoder
P03-25<32768
Reconnect power to the drive

AL.110：Need to reconnect power after set parameters

Causes of fault alarm Fault alarm checking Disposal measures
Need to reconnect power to take Reconnect power to the drive Reconnect power to the drive
effect After Servos Set parameter

AL.120：Servo ON Instruction invalid alert

Causes of fault alarm Fault alarm checking Disposal measures
servo ON instruction executed check connections Correct connection, Reconnect
accessibility function R,S,T Voltage power to the drive
ports do not supply power

AL.400：Power line lose phase

Causes of fault alarm Fault alarm checking Disposal measures
Drive power cord error Check the power cord connected to According to manual’s the wiring
the drive instructions ,reseat the power cord

AL.401：Undervoltage
Causes of fault alarm Fault alarm checking Disposal measures
The main circuit input voltage Check main circuit of input R,S,T Make sure the wiring is correct,
lower than the rated voltage value Voltage wiring whether is correct Use the correct voltage source or
or No input voltage and what is the value of voltage connect with regulator in Series
volts

AL.402:Overvoltage
Causes of fault alarm Fault alarm checking Disposal measures
Main loop Input voltage is higher Test the input voltage of main loop Use the correct voltage source or
than the rated voltage with a voltmeter is correct Series connection regulator
Drive hardware fault After confirm the correct input Please return back to the dealer or
voltage still overvoltage alarm Original factory service

55
No connection with Regenerative Confirm P00-30 setting is 0or 1 Correct setting and regeneration of
Resistor or connect with wrong external resistors
Regenerative Resistor

AL.412：Motor overload（Continuous maximum load）

Causes of fault alarm Fault alarm checking Disposal measures
Over drive rated load continuous Can monitor Through monitoring Change motor or reduce the load
use mode d13.oL.
Control System parameters are set 1、Mechanical system is installed or 1、Adjust the gain control circuits
improperly not 2、slow down the acceleration and
2、Acceleration setting constants is deceleration setting time
too fast
3、Gain parameters are set correctly
or not
Motor wiring error Check U、V、W wiring Correct wiring

AL.420：Over speed
Causes of fault alarm Fault alarm checking Disposal measures
Input speed Command is too high check input signals whether is Adjust the frequency of the input
working properly or not by signal signal
detection meter
over Speed determine the parameter Check P04-05（over speed alarm Setting P04-05（over speed alarm
setting is incorrect value）Whether it setting reasonable value）correctly

AL.421：Lose Control detected

Causes of fault alarm Fault alarm checking Disposal measures
Motor power line U,V,W wiring Check wiring Correct wiring
error
Motor parameter settings are not Check P00-05 and encoder Set the parameters correctly
correct parameter settings are correct or not

AL.430：regeneration exception AL.431：regeneration overload AL.432：Regeneration short circuit , open loop

Causes of fault alarm Fault alarm checking Disposal measures
select wrong Regenerative resistor Check the connection status of If the connection is correct, Please
or No connect with external regenerative resistor return back the drive to the original
regeneration resistance factory service
parameter setting error Please Confirm P00-30，P00-31， Setting Parameter Values correctly
P00-32 parameter setting

AL.501:Location deviation is too large

Causes of fault alarm Fault alarm checking Disposal measures
Location deviation is too Confirm P03-15（Location increaseP03-15（Position deviation
large ,parameter setting is too small deviation setting is too large） setting is too large）setting value
parameter setting
Gain value setting is too small Confirm the gain parameter setting Properly readjust the gain type
whether is reasonable parameter

56
Internal torque limit value setting is Confirm the internal torque limit Correctly readjust the internal
too small value torque limit value
External load is too large Check the external load Decrease the external load or
change a large power motor

AL.505：P Command input pulse abnormal

Causes of fault alarm Fault alarm checking Disposal measures
Pulse command frequencies higher check input frequency whether is Correctly setting the input pulse
than the rated input frequency higher than rate input frequency by frequency
frequency survey meter

AL.600：Encoder Output power supply fault

Causes of fault alarm Fault alarm checking Disposal measures
Encoder power supply wiring errors Check the encoder power supply Correct wiring
+5V and GND if is Opposite
connecting

AL.610：Incremental Encoder gets out of line

Causes of fault alarm Fault alarm checking Disposal measures
Incremental encoder HallU, HallV, Check the encoder connection Correct wiring
HallW signal abnormal

AL.620：Bus-based Encoder gets out of line

Causes of fault alarm Fault alarm checking Disposal measures
Bus-based Encoder communication Check the encoder connection Correct wiring
failure

AL.640:Bus-based Encoder over speed

Causes of fault alarm Fault alarm checking Disposal measures
Bus-based encoder value more than Check encoder connection, Confirm reduce the speed
6000rpm the encoder shielded cable is
connected properly

AL.642, AL.643：Bus-based Encoder battery fault

Causes of fault alarm Fault alarm checking Disposal measures
when Bus-based Encoder setting is Check the voltage of encoder replace battery
multiturn value, External battery external battery ,Confirm it more
voltage is too low than 3.0V

AL.645：Bus-based Encoder multiturn overflow errors

Causes of fault alarm Fault alarm checking Disposal measures
Set P00-09 to 1 Bus-based Encoder Can use the command AF_En1
Rotation number is out of range Clear up multi - circle values

AL.647：Bus-based encoder Count abnormal

Causes of fault alarm Fault alarm checking Disposal measures
Separate encoder installation Check the encoder Properly install encoders

57
position deviation is too large

Chapter 10 Communication Settings

10.1 Modbus communication parameter setting

Parameter Name Description
Code
P00-21 RS232 communication setting range: 0-3, default 0
baud rate Select the baud rate when communicating with the PC
0: 9600
1: 19200
2: 57600
3: 115200
P00-23 Slave address setting range: 0-255, default 1
Set according to the equipment requirements
P00-24 Modbus communication setting range: 0-7, default 2
baud rate 0: 2400
1: 4800
2: 9600
3: 19200
4: 38400
5: 57600
6: 115200
7: 25600
P00-25 check mode setting range: 0-3, default 1
0: no parity, 2 stop bits
1: even parity, 1 stop bit
2: odd parity, 1 stop bit
3: no parity, 1 stop bit

10.2 Modbus communication support read and write parameter

settings
Supports writing to parameter lists
Address address address address Remark
Parameter No. Decimal Hexadecimal Octanory
P03-09 309 135 465 Number of command
pulses for motor
rotation
P03-10 310 136 466 Electronic gear
molecules
P03-11 311 137 467 The electronic gear
58
 denominator
Eeprom data 2050 802 4002 data to be written
Eeprom control 2051 803 4003 Address: 0-11bit
12 bit for 1 when the
write operation
The first 13 bits are 1
for the read operation

Note: The above parameters are only temporarily modified parameters, not saved after
power failure

Supports reading of parameter lists

address address address address Remark
Parameter No. Decimal Hexadecima Octanory
l
P03-09 309 135 465 Number of command pulses for
motor rotation
P03-10 310 136 466 Electronic gear molecules
P03-11 311 137 467 The electronic gear denominator
P03-12 312 138 470 High position of electronic gears
Eeprom reads 2050 802 4002 read data
data
Eeprom reads 2051 803 4003 data corresponding to address
address
Position 2106/2107 83A / 83B 4072/4073 Address 2106 is 16 bits high
reference Address 2107 is the lower 16 bits
Position 2108/2109 83C / 83D 4074/4075 Address 2108 is the upper 16 bits
feedback value Address 2109 is the lower 16 bits
Position 2110/2111 83E / 83F 4076/4077 Address 2110 is the upper 16 bits
deviation value Address 2111 is the lower 16 bits
Speed 2113 841 4101 Unit: 1rpm / min
​ ​ control
command
Motor running 2114 842 4102 Unit: 1rpm / min
speed
Torque 2115 843 4103 Unit: 0.1%
command
Torque 2116 844 4104 Unit: 0.1%
feedback value
Overload load 2117 845 4105 Unit: 0.1%
rate
Peak Torque 2118 846 4106 Unit: 0.1%
Regeneration 2120 848 4110 Unit: 0.1%

59
overload rate
Port status 2121 849 4111 read into the value, converted to
16-bit binary: low 8 for the input
port state, the middle 5-bit for the
output port state, high 3-bit HAL
state
Motor 2123 84B 4113 Unit: 0.1 degree
mechanical
angle
Position 2125/2126 84D / 84E 4115/4116 Front High Low:
feedback value High for laps
(Absolute Low for lap, 65536BIT per turn
Data)
Main circuit 2128 850 4120 Unit: V
voltage
Resonance 2131 853 4123 Unit: hz
frequency 1
Resonance 2132 854 4124 Unit: hz
frequency 2
Speed 2133 855 4125 Unit: 0.01V
​ ​ loop
analog voltage
value
Torque loop 2134 856 4126 Unit: 0.01V
analog voltage
value

External command digital reference list

Instruction address address address address Remark

Control mode Decimal Hexadecimal Octanory
Position loop 2003/2004 7D3 / 7D4 3723/3724 maximum support 2 ^ 32
digital given digital reference
Decimal value 131072 = 1
turn
Speed ​ ​ loop 2002 7D2 3722 speed (rpm) = 10 decimal
digital reference value / 5
Torque loop digital 2002 7D2 3722 decimal value 4096 = rated
reference torque

10.3 Modbus communication protocol overview

10.3.1 Introduction
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 The Nexus monitor uses the AEG Modicon Modbus protocol RTU transfer mode to
communicate with other devices. This communication is applicable to RS-232 and
RS-485 standards.
• RS-232 communication requires a single connection between a Nexus monitor and
one other device, using only the Nexus monitor's channel 1.
• RS-485 supports multiple Nexus monitors connected to a network, is a two-wire
connection, up to 115200 baud, and ports 1-4 are available.

10.3.2 communication package

Communication occurs between a Modbus master and one and more Nexus
slaves. The host responds by sending a "request packet" to the specified slave to
initialize all communications and the slave with a "reply packet". The communication
packet is sorted by 8-bit bytes, as follows:
• From address, one byte
• Function code, one byte
• data, N bytes, high byte first, low byte afterwards
• CRC (RTC error detection code), 2 bytes
• Dead time, 3.5 bytes transfer time.
A single communication packet can send up to 127 registers.
10.3.3 slave address and send request
Each slave device on the communication bus has its own dedicated address, only
responding to the address addressed by the host. The packets returned to the host have
the same address in the slave address field as the request packet. These addresses are
programmable and range from 0 to 255.
Slave Address 0 is a transfer command that allows the host to immediately send the
same packet to all devices. All slaves follow the instructions of the package, but do
not respond. The transfer request is only useful for functions up to 6 and 10,
respectively, representing the preset single register and presetting multiple registers.
See Tables 1.3 and 1.4.

10.4 function number

The function number of a packet tells the address of the slave to perform what kind of
action. Nexus supports the following Modus function numbers.

Table 1.1 Function numbers

Function Number Description
Hexadecimal System Decimal System
03H 3 Read hold register
06H 6 Preset single register
10H 16 Presets multiple registers

10.4.1 Function number 03: Read hold register

This function allows the host to read one or more parameter values ​ ​ (data
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registers) from a Nexus slave. The data register is a 16-bit value and is sent in the
"Big Endian" format. High byte first read, low byte after reading.
BIG-ENDIAN is the low byte of memory in the low-end memory, high byte in the
memory of the high-end
The host sends a packet to the slave to define a start register and the number of
registers to read. The slave responds with a packet containing the requested parameter
value, which is within the range specified by the original request.
In the following example, the host device requests a slave in the 01 to send the value
of the two registers. The start register is 00001 and the slave uses the values
​ ​ 3031H and 3037H from registers 00001 and 00002.
Host Send Format:
Slave Address Function No. Data Number of data read from the start address of the
CRC
Slave Send Format:
Slave Address Function Number Bytes The value of each data CRC

Table 1.2 Function number 03 Example

The Definition of hexadecimal definition of slave hexadecimal
host package address package address
Slave Address 01H Slave Address 01H
Function number 03H Function number 03H
Data Start Address 00H Bytes 04H
High Byte
Data Start Address 01H Data 1 High Byte 30H
Low Byte
Number of 00H Data 1 Low byte 31H
registers High byte
Number of 02H Data 2 High byte 30H
registers Low byte
CRC Low Byte 95H Data 2 Low Byte 37H
CRC High Byte CBH CRC Low Byte F1H
CRC high byte 2AH

10.4.2 Function number 06: Adjusts a single register

This function allows the host to modify a single register on the Nexus slave, the data
register is a 16-bit value, the high byte is transmitted first, and the low byte is
transferred. In the following example, the host device holds the value 0001H of the
register 1/7346 (E002) in the Nexus slave at address 01H.
Host Send Format:
Slave Address Function No. Data Start Address Data Value CRC
Slave Send Format:
Slave Address Function No. Data Start Address Data Value CRC

Table 1.3 Function number 6 Example

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 The host package hexadecimal slave package hexadecimal
definition address Definition address
Slave Address 01H Slave Address 01H
Function number 06H Function number 06H
Data Start Address E0H Data Start Address E0H
High Byte High Byte
Data start address 01H Data start address 01H
Low byte Low byte
Data High Byte 00H Data High Byte 00H
Data Low Byte 01H Data Low Byte 01H
CRC Low Byte 2EH CRC Low Byte 2EH
CRC High Byte 0AH CRC High Byte 0AH

10.4.3 Function No. 10: Adjust the register

This function allows the host to modify a set of consecutive registers on the Nexus
slave. The data register is a 16-bit value, the high byte is transmitted first, and the low
byte is transferred.
In the following example, the host device holds the value 0001H of the value 0x1H,
57346 of the Nexus slave register 57345 at address 01H, and 0001H of 57347.
Host Send Format:
Slave Address Function No. Data Start Address Change Data Number First Data ...
CRC
Slave Send Format:
Slave Address Function No. Data Start Address Change the number of data CRC

10.4.4 Data start address

Hexadecimal range: 0000H-FFFFH
Decimal range: 0001-65535
For example, for some Scada software, read the value in the save register, the address
format should be 4 (XXXXX) and XXXXX is the decimal address.
Table 1.4 Function Number 10 Example
Host Package Hexadecimal Slave Package Hexadecimal
Definition Address Definition Address
Slave Address 01H Slave Address 01H
Function number 10H Function number 10H
Data Start Address E0H Data Start Address E0H
High Byte High Byte
Data start address 01H Data start address 01H
Low byte Low byte
Set the number of 00H set the number of 00H
points high byte points high byte
Set the number of 03H Set the number of 03H
points Low byte points Low byte
Bytes 06H CRC low byte E6H
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Data 1 High Byte 00H CRC High Byte 08H
Data 1 Low byte 01H
Data 2 High byte 00H
Data 2 Low byte 01H
Data 3 High byte 00H
Data 3 Low byte 01H
CRC low byte 4DH
CRC high byte 46H

10.5 dead time

If the Nexus slave does not receive data from the host within 3.5 bytes of
transmission time (approximately 7 ms at 4800 baud rate; about 300 ms at 115200
baud), data reception is considered to be complete. If the host in the transmission
process between the two bytes of the delay is greater than the time, the slave that is
dead time. It is concluded from the dead time that all unaddressed slaves are expected
to pay attention to the new packets from the host.

10.6 Exceptional program response

When executing a host instruction, an exception program response packet is sent to
the host if the slave encounters an illegal instruction or other problem. The exception
program response package contains an error code to indicate the type of error.
The following table is the error code and the corresponding error type.
Table 1-5 Error Codes and Types
Error Code Error Type Explanation
01 Illegal The slave function does not support the function
function number in the request packet
number
02 Illegal The slave does not recognize the address of the data
Address area in the transmitted request packet
03 Illegal data transfer request The data mentioned in the package is
not supported by the registers in the Nexus slave
06 busy, refused the slave busy to perform long operation, can not
to pack receive the request packet

In the following example, the host device requests a value in Slave Transmit Register
00256 with address 01H, and the slave sends an error response message indicating
that it is busy.
Table 1.6 Examples of Exceptions Program Response
Host Package Hexadecimal Slave Package Hexadecimal
Definition Address Definition Address
Address 01H Address 01H
Function number 03H Function number 03H

64
Data Start Address 01H Error Code 06H
High Byte
Data Start Address 00H CRC Low Byte C1H
Low Byte
Number of 00H CRC high byte 32H
registers high byte
Number of 01H
registers low byte
CRC low byte 85H
CRC high byte F6H

Chapter 11 Special Function Instructions

11.1 gantry synchronization function
11.1.1 Functional description
Large-span machinery is basically using the gantry beam connection mode, driven by
two motors, in order to improve the synchronization of the two-axis operation, the
need to use
Synchronization mode, pre-synchronization through the host computer to achieve, the
servo only as the implementing agencies, and now is completely completed by the
servo drive gantry with control,
The host computer only to do a simple open-loop position control and logic control
11.1.2 Gantry function to achieve connection diagram

Controller/PLC

Servo Driver A Axis Servo Driver B Axis

使能信号

龙门同动使能

同动信号清除

伺服准备好

故障输出

11.1.3 Servo basic settings and instructions

Parameter Code Name Description
P03-25 Absolute value number of Setting arrange: 0-60000
rotations of the motor Set the absolute value of the motor
rotation, A, B divider pulse the
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 number of their respective output.
Example: Set value 2048, then the
motor for each rotation, A and B
signal output 2048 pulses
P03-50 Gantry function Enable setting range: 0-1, default 0
0: Do not use gantry function
1: Use the gantry function
P03-51 Gantry function input signal setting range: 0-1, default 0
inversion 0: not to reverse
1: negate
P03-52 Gantry function Motor Setting range: 0-65535, default
rotation cycle feedback pulse 10000
number When the gantry function is on,
the drive rotates the number of
feedback pulses
Note: The two axes that need to be
synchronized must set this value
the same
P03-53 Gantry function position Setting range: 0-65535, default
deviation is too large 10000
Set the gantry function position
deviation too large: (P03-53) * 10
command units
When the set value is exceeded,
the drive will alarm AL.510
(gantry deviation is too large)
P03-55 Gantry Function Synchronous Setting Range: 0-200
Position Proportional Gain Increasing the parameter value
increases the position
synchronization of the two axes,
helping to reduce the
synchronization error, but when
the setting is too large, it is prone
to vibration and noise.
P06-01 DI1 input port function DI1 set 1, servo ON
selection
P06-05 DI3 input port function DI3 set 19, gantry function
selection enabled
P06-07 DI4 input port function DI4 set 20, gantry with
selection instructions to clear

11.1.4 Synchronous setting is on

After the above-mentioned gantry synchronization parameter setting is completed, the
feedback pulse quantity of the other axis is observed by d03.C.PE to judge whether
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the wiring of the gantry synchronization is correct, and if the pulse wiring is correct,
enter the synchronization setting opening step.
Synchronous on parameter setting:
P03-50 set up 1: gantry with the enable
This parameter is set to the gantry synchronization enable, in this mechanical system,
through the host computer gives the enable signal, the steps are:
After power on by the homing mode on the bit, or manually on the bit. Upon
completion of the gantry synchronization function enabled, the same deviation is
cleared, and then the servo drive enters
Gantry synchronous running state

11.2 origin return function

11.2.1 Functional description
Origin: the machine origin, can represent the origin switch or motor Z signal position,
selected by the function code P03-61.
Zero point: the positioning target point, can be expressed as the origin + offset
(P03-69 / P03-70 set). When P03-69 / P03-70 is set to 0, the zero point coincides with
the origin.
The home return function refers to the position control mode, the servo enable is ON,
the trigger return function, the servo motor will automatically find the zero, complete
the positioning function.
11.2.2 Servo basic settings and instructions
P03-60 Origin return enable control setting range: 0-6, default 0
Set the origin return mode and
the trigger signal source
0: Turns off the home return
function
1: The home return function is
enabled by inputting the origin
return start signal via DI
2: Enable the electrical return
function by DI input the home
return start signal
3: Start the home immediately
after power-on
4: Immediately return origin
5: Start the electrical return
command
6: the current position as the
origin
P03-61 Origin return mode setting range: 0-9, default 0
Set the return source,
deceleration point, origin control
signal source when the origin
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 return operation is set
0: Positive zero, deceleration
point, origin as the origin switch
1: reverse zero, slow down point,
the origin of the origin switch
2: forward return to zero, slow
down point, the origin of the
motor Z signal
3: reverse return to zero,
slowdown point, the origin of the
motor Z signal
4: positive return to zero, the
slowdown point for the origin
switch, the origin of the motor Z
signal
5: reverse return to zero, the
deceleration point for the origin
switch, the origin of the motor Z
signal
6: forward to zero, slow down,
the origin of the forward
overtravel switch
7: reverse return to zero,
slowdown point, the origin of
reverse overtravel switch
8: positive return to zero, the
deceleration point for the
forward overtravel switch, the
origin of the motor Z signal
9: reverse to zero, the
deceleration point for the reverse
overtravel switch, the origin of
the motor Z signal
P03-65 Search the origin switch speed _ setting range: 0-3000, default
high speed 100
Set the high speed value of the
deceleration point signal when
setting the home return to zero.
When the electrical return to
zero, the motor is always P03-65
high-speed operation.
P03-66 Speed ​ ​ when searching for setting range: 0-1000, default 10
origin switch _ Low speed Set the low speed value when
searching for the origin when the
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 origin returns to zero.
The speed setting should be low
to prevent mechanical shock
from downtime.
P03-67 Search Origin Acceleration / Set the motor to change from 0 to
Deceleration Time 1000rpm at home return. Unit:
MS
P03-68 Search for the longest time limit limit the total return time of the
of the origin origin, and a warning AL.551
(homing timeout error).
P03-69 Machine origin offset H Set the absolute position of the
P03-70 Mechanical origin offset L motor after the home return.
Total offset calculation method:
Offset = (P03-69) * 65535 +
(P03-70)
P06-01 DI1 input port function selection DI1 set 1, servo ON
P06-05 DI3 input port function selection DI3 set 3, forward overtravel
signal input
P06-07 DI4 input port function selection DI4 set 4, reverse overtravel
signal input
P06-09 DI5 input port function selection DI5 set 21, the origin switch
signal
P06-11 DI6 input port function selection DI6 set 22, home return start
signal

11.2.3 Precautions for use of origin return

If the deceleration point signal is valid, it is possible to cause the final positioning to
be unstable if the origin signal is valid in the case of insufficient deceleration. Should
be fully considered minus
Speed ​ ​ the required displacement, and then set the deceleration point and the
origin signal input position. The acceleration / deceleration time (P03-67) at the time
of searching for the origin and the speed of the search for the origin switch (high
speed (P03-65) will also affect the positioning stability, and therefore should be
considered when setting.

11.3 Absolute encoders are used

11.3.1 Functional description
Using the servo motor with absolute encoders, the absolute value detection system
can be built from the host device. With the absolute value detection system, it is not
necessary to perform the home return operation each time the power is turned on. This
function is based on MODBUS communication to read the absolute encoder number
and position data, the upper device for processing control to achieve absolute
encoder-related functions.
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11.3.2 Basic settings and instructions based on MODBUS communication servo
A system using absolute encoders is required to initialize the number of revolutions of
the data (AF-En0 absolute encoders are cleared) when put into use. Therefore, an
alarm related to the absolute encoder is generated when the initial power supply or the
like needs to be initialized. By setting (initializing) the absolute value encoder, the
alarm associated with the absolute encoder will be cleared after the initialization of
the revolution number data is performed.
Parameter Name Description
Code
P00-23 Slave address setting range: 0-255, default 1
Set according to the equipment
requirements
P00-24 Modbus communication baud setting range: 0-7, default 2
rate 0: 2400
1: 4800
2: 9600
3: 19200
4: 38400
5: 57600
6: 115200
7: 25600
P00-25 check mode setting range: 0-3, default 1
0: no parity, 2 stop bits
1: even parity, 1 stop bit
2: odd parity, 1 stop bit
3: no parity, 1 stop bit
P00-07 Encoder selection Setting range: 0-3, default 3
0,1: Incremental encoder;
2: single lap absolute encoder;
3: multi-turn absolute encoder

11.3.3 based on MODBUS communication address

address Address: address address: Remark
Parameter No. Decimal Hexadecimal Octal notes
Position 2125/2126 84D / 84E 4115/4116 Front High
feedback value Low: High
(Absolute Turn
Data) Low for lap,
65536BIT per
turn

11.3.4 Absolute encoder related alarm processing

Alarm Code Fault Alarm Cause Fault Alarm Check Disposal Measures
AL.640 Bus Encoder Initial use occurs by AF-EN0 (see
70
 Overspeed chapter 8.4) Clear
alarm
AL.642 When the bus Check the encoder clear the alarm via
AL.643 encoder is set to external battery AF-EN0 (see chapter
multi-turn absolute voltage, confirm 8.4)
value, the external that the battery is
battery voltage is replaced by more
low than 3.0V
AL.644 Read multi-turn data Check d21.ASH clear the multi-turn
AL.645 abnormality, or (see chapter 8.3) data by AF-EN1 (see
multi-turn data Multi-turn values chapter 8.4)
greater than 32767 ​ ​ If the
multi-turn value is
greater than 32767
AL.930 Absolute Encoder Check Encoder clear the alarm via
Battery Fault External Battery AF-EN0 (see Chapter
Voltage Replace 8.4)
the battery

Manual revision record

1. Added Section 11.3 for absolute encoders
2. Modify 11.1 chapter gantry connection diagram. P03-52 initial value
3. Amend Section 8.4 AF-J L by adding the fourth section
4. Parameter P03-25 initial value from 2048 to 2500 / P03-52 initial value from 0 to
10000

71