POWSD-E3 Series

AC Servo Motor Drivers Manual

POWSD-E3 Series AC Servo Motor Drivers Manual

POWMAX TECHNOLOGY CO., LTD.

Address: 30 Lingjiang Road, Longwan District, Wenzhou City, Zhejiang Province, China
About This Manual

Thanks for choosing our product.

This instruction manual contains limited information. To ensure proper use, please be sure to consult other technical
documentation provided by our company.
Please be sure to read it carefully before installing and using the product. Keep this manual at an easily accessible
place so as to be referred anytime as necessary.

1
Safety Precautions

This section clarifies important issues that must be noticed by users, such as storage and handling, installation, wiring,
operation, maintenance, inspection and disposal of the product. Observe the following precautions in order to avoid
injuries of operators and other persons, and mechanical damages.

△
! DANGER

• Do not touch the rotating part of the motor (e.g. the rotor of the motor) in motion.
Failure to observe this instruction could result in injuries.
• Ensure you can shut off the power in any emergency cases before running.
Failure to observe this instruction could result in injuries, electric shocks, fire, malfunction and/or mechanical
damages.
• Never touch the inside of the servo motor driver.
Failure to observe this instruction could result in electric shocks.
• Ensure the cover of the power terminal block is installed before running.
Failure to observe this instruction could result in electric shocks.
• After powering off or performing a voltage withstand test, do not touch the terminals while the
CHARGE indicator is lit.
Failure to observe this instruction could result in electric shocks.
• Please follow the steps and instructions described in this manual and conduct trial run.
Failure to observe this instruction could result in injuries, malfunction and/or mechanical damages.
• Do not detach the front cover, cables, connectors and optional components while power is on.
Failure to observe this instruction could result in electric shocks.
• The cables should not be damaged, stressed, loaded, or pinched.
Failure to observe this instruction could result in electric shocks, fire and power-down.
• Never modify the product.
Failure to observe this instruction could result in malfunction and/or mechanical damages, fire and injuries.
• Please install a brake on your machine to ensure safety.
The built-in brake of the servo motor is not a braking device used to ensure safety.
Failure to observe this instruction could result in injuries.
• After recovery from the power failure, the equipment may suddenly restart, so please do not approach
the equipment. Provide appropriate settings as a preparedness against the accidental restart of the
machine in order to ensure the safety of personnel.
Failure to observe this instruction could result in injuries.
• Ground the servo motor driver securely. Connect the ground terminal of the servo driver to the ground
plate (ground resistance: 200V power input: <100Ω, 400V power input: <10Ω).
Failure to observe this instruction could result in electric shocks and fire.
• Non-Professionals are not allowed to install, dismantle and repair the product.
Failure to observe this instruction could result in electric shocks and injuries.

2
Table of Contents
About This Manual .......................................................................................................................................................... 1
Safety Precautions ........................................................................................................................................................... 2
Chapter 1 Overview ......................................................................................................................................................... 5
1.1 The Model of the products ................................................................................................................................. 5
1.1.1 Nameplate ............................................................................................................................................... 5
1.1.2 Type ........................................................................................................................................................ 6
1.2 Name of each part .............................................................................................................................................. 8
1.3 Servo system specification and configuration table........................................................................................... 9
Chapter 2 Wiring ........................................................................................................................................................... 11
2.1 Main circuit connection ................................................................................................................................... 11
2.1.1 Main circuit terminal ............................................................................................................................ 11
2.1.2 Wiring example..................................................................................................................................... 12
2.2 Connections of inputs and outputs ................................................................................................................... 15
2.2.1 Input and output signals (CN1) and their names and functions ............................................................ 15
2.2.2 Interface circuit ..................................................................................................................................... 16
2.2.3 Wiring example..................................................................................................................................... 21
2.3 Connections of encoder ................................................................................................................................... 22
2.3.1 Encoder signals (CN2) and their names and functions ......................................................................... 22
2.3.2 Wiring example..................................................................................................................................... 22
2.4 Servo motor driver terminal pinout ................................................................................................................. 23
Chapter 3 Display & Operation Panel ........................................................................................................................... 24
3.1 Overview ......................................................................................................................................................... 24
3.2 Switch display mode ........................................................................................................................................ 24
3.3 Status display ................................................................................................................................................... 25
3.3.1 No fault ................................................................................................................................................. 25
3.3.2 Fault ...................................................................................................................................................... 27
3.4 Parameter setting ............................................................................................................................................. 28
3.4.1 Parameter display.................................................................................................................................. 28
3.4.2 Parameter setting .................................................................................................................................. 29
3.5 Monitoring display........................................................................................................................................... 31
3.6 Auxiliary functions .......................................................................................................................................... 33
Chapter 4 Parameter Setting .......................................................................................................................................... 34
4.1 Overview ......................................................................................................................................................... 34
4.2 Parameter list ................................................................................................................................................... 35
3
Chapter 5 Troubleshooting ............................................................................................................................................ 56
5.1 Alarm codes ..................................................................................................................................................... 56
5.2 Warning codes.................................................................................................................................................. 60
Chapter 6 MODBUS Communication ........................................................................................................................... 61
6.1 Modbus communication with examples .......................................................................................................... 61
6.1.1 Read single, multiple registers (0x03) .................................................................................................. 61
6.1.2 Write a single register (0x06)................................................................................................................ 62
6.1.3 Write multiple registers (0x10) ............................................................................................................. 63
6.2 Register Addresses ........................................................................................................................................... 65
Chapter 7 Bluetooth ....................................................................................................................................................... 76
7.1 Bluetooth connection ....................................................................................................................................... 76
7.2 Bluetooth APP instructions .............................................................................................................................. 76
Chapter 8 Running ......................................................................................................................................................... 83
8.1 JOG Run .......................................................................................................................................................... 83
8.2 Position control mode: wiring & running ........................................................................................................ 84
8.2.1 Position control mode wiring ................................................................................................................ 84
8.2.2 External pulse input .............................................................................................................................. 85
8.2.3 Internal preset position commands ....................................................................................................... 86
8.3 Speed control mode: wiring & running ........................................................................................................... 88
8.3.1 Speed control mode wiring ................................................................................................................... 88
8.3.2 External analog input ............................................................................................................................ 89
8.3.3 Internal parameter speed command ...................................................................................................... 90
8.3.4 Internal preset speed commands ........................................................................................................... 91
8.4 Torque control mode: wiring & running .......................................................................................................... 93
8.4.1 Torque control mode wiring.................................................................................................................. 93
8.4.2 External analog input ............................................................................................................................ 94
8.5 Servo motor with the brake.............................................................................................................................. 95

4
 Chapter 1 Overview

1.1 The Model of the products

1.1.1 Nameplate

 Servo Motor Driver

Model number
Input power
Maximum
Serial number applicable motor
capacity

 Servo Motor

Model number
Specifications

Serial number

5
1.1.2 Type

 POWSD-E3 Series Servo Motor Drivers

POWSD - E3 - 30 A S B

Model type
B Basic-featured type
F Full-featured type
Cx Custom-featured type

Encoder interface type

P Incremental
S Serial

Input voltage
A 200V
D 400V

Maximum output current

10 10A
15 15A
20 20A
30 30A
35 35A
50 50A
75 75A
100 100A

Product series
E3 E3 series

Product name
POWSD Servo motor driver

6
 SUPSM-T Series Servo Motor

SUPSM - T - H2 - 130 150 15 A P1 B6 1

Optional component
1 No optional component
2 Oil seal
3 Brake
4 Oil seal & brake

Shaft extension (n=flat key size)

A Plain shaft
Bn Shaft with key
Cn Shaft with key & threaded hole

Encoder type
P1 2500 line incremental
P2 5000 line incremental
S1 17-bit serial absolute
S2 23-bit serial absolute
S3 20-bit serial incremental
S4 17-bit serial magnetic incremental
S5 17-bit serial magnetic absolute

Input voltage
A 200V
D 400V

Rated speed（x100rpm）

Rated torque（x0.1N.m）

Frame size（mm）

Product power
M1 Low inertia, small power
M2 Low inertia, medium power
H1 Medium inertia, small power
H2 Medium inertia, medium power

Product series

T T series

Product name

SUPSM Servo motor

7
1.2 Name of each part

Digital display
Display states, parameters, warnings,
etc. M ▲ ▼
Buttons for display
S ◄
and settings

Input voltage

Front outer cover Product name

CHARGE indicator
POWSD-E3
It is on when main circuit power is on. Pleas e be Nameplate（lateral side）
aware that even if the main power is off, the Mark the model & servo driver
indicator will sti ll be on due to residual charges. model and specif ications.
Please do not touch power terminal when the
indicator is on. L1
Communication ports
Main circuit power terminal（L1、L2、L3） L2 （CN4A、CN4B）
For main circuit power input. Communication si gnal inputs.
L3

NC
Servo bus terminal（B1/ 、PG/ ）
DC bus terminals . PG/

B1/
Regenerative resistor connection terminal Input and output terminals（CN1）
（B1/ 、B2、B3） B2
For input and output signals.
For regenerative resistance connection. B3

Servo motor connection terminal（U、V、W） V

For connecting t o the servo motor. W

PE
Encoder connection terminals（CN2）
Earthing terminal（PE）
To prevent elect ric shock, please be sure to PE
connect the eart hing terminal.（Both PE
earthing termina ls have the same function,）

Note：NC connects to nothing.

8
1.3 Servo system specification and configuration table

Servo driver model Matching servo motor model Motor rated current Motor type code
POWSD-E3-10A SUPSM-T-M1-060-00630-A 1.3A 0220
SUPSM-T-M1-060-01330-A 2.6A 0520
SUPSM-T-M1-060-01930-A 3.1A 0521
POWSD-E3-15A
SUPSM-T-M1-080-01330-A 2.0A 0530
SUPSM-T-M1-110-02030-A 2.5A 0550
SUPSM-T-M1-080-02430-A 3.0A 0830
SUPSM-T-M1-080-03520-A 3.0A 0831
POWSD-E3-20A SUPSM-T-M1-090-02430-A 3.0A 0840
SUPSM-T-M1-090-03520-A 3.0A 0841
SUPSM-T-M1-110-04020-A 3.5A 0850
SUPSM-T-M2-080-03530-A 4.5A 1030
SUPSM-T-M2-080-04025-A 4.4A 1031
SUPSM-T-M2-080-04030-A 4.5A 1032
SUPSM-T-M2-090-04025-A 4.0A 1040
SUPSM-T-M2-110-04030-A 5.0A 1050
SUPSM-T-M2-110-06020-A 4.5A 1051
POWSD-E3-30A SUPSM-T-M2-130-04025-A 4.0A 1060
SUPSM-T-M2-130-10010-A 5.1A 1061
SUPSM-T-M2-110-05030-A 6.0A 1550
SUPSM-T-M2-130-05025-A 5.0A 1560
SUPSM-T-M2-130-06025-A 6.0A 1561
SUPSM-T-M2-130-10015-A 6.0A 1562
SUPSM-T-M2-130-10015-AC 5.0A 1563
SUPSM-T-H2-110-06030-A 6.0A 2050
SUPSM-T-H2-130-07725-A 7.5A 2060
SUPSM-T-H2-130-10020-A 8.0A 2061
POWSD-E3-50A SUPSM-T-H2-130-15015-A 9.5A 2062
SUPSM-T-H2-130-10025-A 10.0A 3060
SUPSM-T-H2-130-15020-A 13.0A 3061
SUPSM-T-H2-130-15025-A 13.5A 3062

9
 Servo driver model Matching servo motor model Motor rated current Motor type code
SUPSM-T-H2-130-18020-A 15.0A 3063
SUPSM-T-H2-180-19015-A 12.0A 3070
SUPSM-T-H2-180-35010-A 16.0A 3071
SUPSM-T-H2-180-21520-A 14.0A 5070
POWSD-E3-75A SUPSM-T-H2-180-27015-A 16.0A 5071
SUPSM-T-H2-180-35015-A 24.0A 5072
Note: This table is only applicable to servo motors with encoder type P1 and P2.

 Encoder type

Confirm or reconfigure the encoder type of the motor.

If the type of the encoder is not compatible with the hardware of the servo driver, the "A.150" alarm will occur.
Fn004 display Meaning Matching servo driver model
0000 2500 line incremental
POWSD-E3-P
0001 5000 line incremental
E.
0002 17-bit serial magnetic incremental
POWSD-E3-S
0003 17-bit serial magnetic absolute
Note: For encoder types, please refer to ” SUPSM-T Series Servo Motor” (Page 7).

10
 Chapter 2 Wiring

2.1 Main circuit connection

2.1.1 Main circuit terminal

POWSD-E3

L1

L2

L3

NC

PG/

B1/

B2

B3

PE

PE
Main circuit
terminal

Mark Name Notes

POWSD-E3-10A
Single-phase 200 ～230VAC +10% ～-15%
L1, L2, L3* POWSD-E3-15A
（50/60Hz）
POWSD-E3-20A
POWSD-E3-30A Three-phase 200 ～ 230VAC +10% ～ -15%
Main circuit power terminal POWSD-E3-50A （50/60Hz）
POWSD-E3-35D
L1, L2, L3
POWSD-E3-50D Three-phase 380 ～ 440VAC +10% ～ -10%
POWSD-E3-75D （50/60Hz）
POWSD-E3-100D
U, V, W Servo motor connection terminal Connects to U, V, W of the servo motor.
B1/ , PG/ Servo bus terminal Servo DC bus terminal.
External regenerative resistors can be installed only when regenerative
Regenerative resistor connection
B1/ , B2, B3 capacity is insufficient. Remove the short wire between B2 and B3 and
terminal
connect external regenerative resistors between B1 and B2.
Earthing terminal Connects to earthing terminals of power supply and motor. Critical!
* Note: L3 main circuit power terminal is not available.
11
2.1.2 Wiring example

 Single-phase 200V

+10%
No fuse breaker L N 1-phase AC 200˜230V -15%（50/60Hz）

Surge protector
1Ry 1PL(For servo alarm indication)

Noise filter
Power OFF Power ON 1KM

Please connect a surge suppressor to the

1KM 1Ry 1SUP coil of the electromagnetic contactor

Electromagnetic
contactor

L1 Servo motor Servo motor

driver
L2 U
L3 V M
W

PG/ Encoder
B1/
PG
B2
B3

ALM+ 1Ry 24V

*
ALM- 1D

0V

*Note: The coil of the 24V relay here must be properly connected in parallel with a diode, otherwise it will cause
damage to the sequential output port of the driver.
The above wiring method is appliable to POWSD-E3-10A/15A/20A driver.

12
 Three-phase 200V
L L L +10%
No fuse breaker 1 2 3 3-phase AC 200˜230V -15%（50/60Hz）

Surge protector
1Ry 1PL(For servo alarm indication)

Noise filter
Power OFF Power ON 1KM

Please connect a surge suppressor to the

1KM 1Ry 1SUP coil of the electromagnetic contactor

Electromagnetic
contactor

L1 Servo motor Servo motor

driver
L2 U
L3 V M
W

PG/ Encoder
B1/
PG
B2
B3

ALM+ 1Ry 24V

*
ALM- 1D

0V

*Note: The coil of the 24V relay here must be properly connected in parallel with a diode, otherwise it will cause
damage to the sequential output port of the driver.
The above wiring method is appliable to POWSD-E3-30A/50A driver.

13
 Three-phase 380V
L L L +10%
No fuse breaker 1 2 3 3-phase AC 380˜440V -15% （50/60Hz）

Surge protector
1Ry 1PL(For servo alarm indication)

Noise filter
Power OFF Power ON 1KM

Please connect a surge suppressor to the

1KM 1Ry 1SUP coil of the electromagnetic contactor

Electromagnetic
contactor
L1 Servo motor
Servo motor
L2 driver
U
L3 V M
24V
W
24+
24-
Encoder
0V
PG
PG/
B1/
B2
B3 1Ry 24V
ALM+
*
ALM- 1D

0V

*Note: The coil of the 24V relay here must be properly connected in parallel with a diode, otherwise it will cause
damage to the sequential output port of the driver.
The above wiring method is appliable to POWSD-E3-35D/50D/75D/100D driver.

14
2.2 Connections of inputs and outputs

The names and functions of the input and output signal (CN1) terminals and wiring examples for each control
mode are shown below.

2.2.1 Input and output signals (CN1) and their names and functions

 Input / output signals

Name Port No. Pin Function

9 DICOM Input power and ground of the input /
Input power & ground
10 XGND output control signal.

6 /S-ON Servo enable

7 /ALM-RST Alarm reset

Input command
21 /CLR Clear position deviation
8 /ZCLAMP Zero clamp

11 /S-RDY Servo ready

23 ALM Servo alarm
Output command
12 /TGON Motor rotation detect
24 /COIN Positioning complete

2 PPI Input common port

3 PULSE
Position command pulse
Command pulse input 14 /PULSE
4 SIGN
Position command direction
5 /SIGN
20 PAO
Encoder A phase signal
19 /PAO
18 PBO
Encoder B phase signal
17 /PBO
Encoder signal output
15 PZO
Encoder C phase signal
16 /PZO
22 CZ Encoder C phase signal open collector output

1 GND Signal ground

25 VREF
Analog input Analog input
13 VGND

15
2.2.2 Interface circuit

1、Connecting to analog command inputs

Analog command signals include speed command and torque command, command input impedance is around
40kΩ.
The maximum allowable voltage of the input signal is ±10V.

Servo driver

470Ω(above 1/2W) 10KΩ ref

3
2 VREF 40KΩ
10V 2KΩ

1 VGND 40KΩ

10KΩ

Note: 470Ω resistor can be left out, adjustable resistors are available from 2kΩ to 10kΩ.

2、Connecting to position command inputs

The output of the command pulse can be generated from either line driver or open collector. These two methods
are listed below.
（1）Line driver

Upper device Servo driver

PULSE+ 3 75Ω
P PULSE- 14 75Ω

SIGN+ 4 75Ω
P SIGN- 5 75Ω

Note: The outputs are linear differential outputs DC 5V.

16
（2）Open collector

 External power + Internal resistor

（NPN）

Upper device Servo driver

+24V

PPI 2 2.2kΩ

PULSE+ 3 75Ω

PULSE- 14 75Ω

2.2kΩ

SIGN+ 4 75Ω

SIGN- 5 75Ω

GND 1

0V GND

 External power + External resistor

（NPN）

Upper device Servo driver

VDC

PPI 2 2.2kΩ

R* PULSE+ 3 75Ω

PULSE- 14 75Ω

2.2kΩ

R* SIGN+ 4 75Ω

SIGN- 5 75Ω

GND 1

0V GND

17
（PNP）

Upper device Servo driver

VDC

PPI 2 2.2kΩ

R* PULSE+ 3 75Ω

PULSE- 14 75Ω

2.2kΩ

R* SIGN+ 4 75Ω

SIGN- 5 75Ω

GND 1

0V GND

To prevent damage to the interface, the external resistor R* must meet the following
requirements.
VDC R* resistance R* power

Important 24V 2KΩ 0.25W

12V 1KΩ 0.25W

18
3、Connecting to sequence input circuit

Connect to a contact of relay, or a transistor of an open collector output. When using relay to connect, please
choose low current relay. If not, it may cause poor contact.
（1）Relay

 External power

Servo driver

+24V

DICOM 9
/S-ON 6
3.3kΩ

XGND 10

0V GND

（2）Open collector
 External power
Servo driver
Servo driver

+24V +24V

DICOM 9 DICOM 9
/S-ON 6 /S-ON 6
3.3kΩ 3.3kΩ

XGND 10 XGND 10

GND GND
0V 0V

Note: External power supply (DC 24V) must have a capacity of 50mA or more.

19
4、Connecting to sequence output circuit

Servo alarm, servo ready and other sequence outputs are generated by the optocoupler output circuit. Please use
a relay or a line receiver to connect.
（1）Relay

Servo driver DC5~24V

11 /S-RDY+ 1Ry
10 XGND
1D

0V

（2）Line receiver

Servo driver DC5~12V

11 /S-RDY+
10 XGND

0V

Note: Specifications of the optocoupler output circuit:

• Maximum voltage: DC 30V
• Operating current range: DC 5mA ~ DC 50mA

5、Connecting to line driver output circuit

Bus driver output circuit provides outputs of encoder signals (A, B and Z phases). A, B phases: PAO, /PAO,
PBO, /PBO, Z phase: PZO, /PZO. This usually used when forming a position control system on the upper device side.
On the upper device, please receive these signals with line receivers.

Servo driver User device

20 PAO
/PAO P
19

18 PBO
/PBO P
17

15 PZO
/PZO P
16

1 GND

GND GND
Appliable for the line receiver
TISN75175 or equivalent

20
2.2.3 Wiring example

This diagram gives a wiring example of input and output signals (CN1).

POWSD-E3
Series Servo Drive
*1
*2
ref 20 PAO+
Speed/Torque command VREF 25 + PG frequency
P
19 PAO-
(±0~10V / Rated Speed/Torque) VGND 13 -
dividing output
18 PBO+
A/D Applicable for
17 PBO-
line receivers
15 PZO+
AM26LS32A or
16 PZO-
equivalent
Open collector output 22 CZ
power 24V PPI 2 1 GND *3

2.2KΩ

75Ω
PULSE / CW / A PULSE+ 3
P

75Ω
Position PULSE- 14
2.2KΩ
command
75Ω
SIGN / CCW / B SIGN+ 4
P

75Ω
SIGN- 5

*4
*5 Signal available:
Signal available: 11 /S-RDY
/S-RDY: Servo ready
/S-ON: Servo enable
ALM: Servo alarm
/ALM-RST: Alarm reset
P-OT: Forward drive disable
12 /TGON /TGON: Motor rotation detect
/COIN: Positioning complete
N-OT: Reverse drive disable
/VCMP: Speed coincidence
/CLR: Clear position deviation *6 24 /COIN /ZSPD: Motor zero speed
/ZCLAMP: Zero clamp
/BK: Brake
/PCL: Forward external torque limit +24V /NEAR: Positioning approaching
/NCL: Reverse external torque limit
/CLT: Torque limit
/P-CON: Speed loop P/PI control switch DICOM
/INHABIT: Position command disable
9 /VLT: Speed limit
3.3KΩ
/S-ON 6 /TCR: Torque detect
/M-SEL1: Control mode select 1
3.3KΩ /WARN: Servo warning
/M-SEL2: Control mode select 2 /ALM-RST 7 /AL1: Fault code 1
/GAIN-SEL: Gain select 3.3KΩ

/GEAR-SEL: Gear ratio select

/CLR 21 /AL2: Fault code 2
3.3KΩ
/ZCLAMP 8 /AL3: Fault code 3
/VLT-SEL: External speed limit select
/P-DIR: Position command direction select XGND 10
/S-DIR: Speed command direction select
/T-DIR: Torque command direction select
/CMD-DIR: Internal command (speed, position) direction select 1Ry +24V
/CMD1: Internal command (speed, position) select 1 23 ALM
/CMD2: Internal command (speed, position) select 2
/CMD3: Internal command (speed, position) select 3
/ORG: Zero position 1D
/SHM: Home start
10 XGND
/CTRL: Control signal modifier

Shield Optocoupler output:

Maximum operating voltage DC30V
Maximum output current DC50mA
indicates twisted pair
P

*1, The diagram demonstrates typical connections for all signals, but in different control modes, the signals need to be selected according
to the requirements.

*2, For frequency dividing output, hardware varies by the model of the drive.
*3, Be sure to use a linear receiver to receive the output signal.

*4, The output signal can be reassigned according to the requirements.

*5, The input signal can be reassigned according to the requirements.

*6, The user need to provide DC24V power supply. The DC24V power supply should be double insulated or reinforced insulated.

21
2.3 Connections of encoder

2.3.1 Encoder signals (CN2) and their names and functions

 Serial encoder

Signal name Pin number Function

P- 1 Serial data（-）
P+ 2 Serial data（+）
PGGND 3 Encoder power 0V
PG5V 4 Encoder power +5V
PG5V 5 Encoder power +5V
NC 6
FG Shield

2.3.2 Wiring example

 Serial communication encoder

Servo driver

*2 CN2
Incremental encoder User device
P- 1 *3 CN1
*1
P P+ 2 A phase 20 PAO
/PAO P
19
B phase 18 PBO
17 /PBO P

PGGND 3 C phase PZO

15
PG P PG5V 4
16 /PZO P

1 GND
PG5V 5
P NC 6
pl ug Applicable for line
FG housing receivers TISN75175
Shield Shield wire plug or equivalent
housing

*1, The connector pin number of the encoder varies depending on the servo motor used.

*2, indicates twisted pair.

*3, Frequency dividing output varies with the driver model.

22
2.4 Servo motor driver terminal pinout

CN4A CN1

NC 1
GND 14
NC
/PULS
GND
PPI
485-
L1 PZO
485+
L2 PULS
GND
L3 /PZO
NC
SIGN
NC
NC /PBO
CN4B
PG/ /SIGN

B1/ NC PBO
B2 NC /S-ON

B3 GND /PAO
/ALM-
485-
RST
U 485+ PAO
/ZCLA
V GND
MP
W NC /CLR
PE NC DICOM

CN2 CZ
2 1 XGND
P+ P- ALM

4 3 /S-RDY
PG5V PGGND
/COIN

6 5 /TGON
NC PG5V
VREF
VGND 25

13

23
 Chapter 3 Display & Operation Panel

3.1 Overview

The panel consists of a digital segment display and operation buttons.

The panel can display the status, perform auxiliary functions, set parameters and monitor the servo system.

Digital segment
display

M ▲ ▼
Operation
S ◄ buttons

The names and functions of the buttons are shown below.

Button symbol Button name Function
Switch display modes.
M MODE
Back to previous menu level.

▲ UP Increase the setting value.

▼ DOWN Decrease the setting value.

◄ DATA Confirm the operation, save the parameter and reset.

Switch the bit of the segment display.
S SHIFT
View the high bit value of data greater than 5 bits in length.

3.2 Switch display mode

By switching the display mode, we can display the status, set the parameter, run the commands, etc.
Display modes include status display, parameter display, monitoring display and auxiliary functions.
• Status display: Displays the current status of the servo drive, such as servo ready, running, fault code, etc.
• Parameter display: Displays the values of the servo drive parameters, in this mode you can switch to the
parameter editing mode.
• Monitoring display: Displays the information about servo driver running.
• Auxiliary functions: Performs various functional operations.

24
You can switch display modes by pressing MODE.
Power ON

Status
display

Monitoring
display

Parameter
display

Auxiliary
functions

3.3 Status display

3.3.1 No fault

Status bits Brevity code

{{
 Status bits

Display Meaning

Lights up when control power is ON.

Control power ON
Lights off when control power is OFF.

Lights up when main circuit power is ON.

Main circuit power ON
Lights off when main circuit power is OFF.

Lights up when the system is on standby.

Standby state
Lights off when servo is ON.

25
Display Meaning
Position mode:
Lights up when the difference between the
position command and the actual motor position is
within the specified value (Pn504).
Lights off if it exceeds.
Speed control or position Speed mode:
control complete Lights up when the difference between the
servo motor speed and the speed command is within
the specified value (Pn500).
Lights off if it exceeds.
Torque mode:
Always on.
Lights up when the speed of the servo motor is
Motor rotates higher than the specified value (Pn501). Lights off
when it is lower than the specified value.
Position mode:
Lights up when there are command pulse
inputs.
Lights off when there is no command pulse
Speed/position command input.
input Speed mode:
Lights up when the input speed command is
greater than the specified value (Pn501).
Lights off when it is lower than the specified
value.
Torque mode:
Lights up when the input torque command is
greater than the specified value (10% of the rated
torque).
Torque command input/
Lights off when it is lower than the specified
CLR signal input
value.
Position mode:
Lights up when there are CLR signal inputs.
Lights off when there is no CLR signal input.

26
 Brevity code

Display 含义

Standby state Servo OFF.

Running Servo ON.

Disable forward drive P-OT input signal is valid.

Disable reverse drive N-OT input signal is valid.

3.3.2 Fault

Fault mark Fault code

{
Display Meaning
Fault mark
The servo drive is malfunctioning.
Fault code
The code of the current fault (alarm or warning).

Regarding the display, please note that:

• When a fault (alarm or warning) occurs, the display mode will be fixed to status display for 1s, and it is not
possible to switch to other display modes.
• When a single fault occurs, the current fault code is displayed immediately. When there are multiple faults, the
fault code with the highest priority is displayed.
• Fault priority order is: the smaller the number, the higher the priority.
• When a resettable fault occurs, please press and hold the DATA key for 1s to reset.

!
Before resetting the servo, please be sure to eliminate the cause of the fault.
For troubleshooting, please refer to Chapter 5 Troubleshooting.

27
3.4 Parameter setting

3.4.1 Parameter display

 Signed numbers with 4 digits or less or unsigned numbers with 5 digits or less

One single page (5 digits) display. For signed numbers, the highest digit “-” is a negative sign.
For examples, -9999:

99999:

 Signed numbers with 4 digits or more or unsigned numbers with 5 digits or more
The display is divided into pages according to the number of digits from low to high, and every 5 digits is a page.
Long press the "SHIFT" key to switch the display page.
For examples, -1073741824:

“-”blinks, indicates current page

Long press Long press

SHIFT SHIFT

Page 3，Upper 2 digits Page 2，Middle 4 digits Page 1，Lower 4 digits

The first "." in the lower 4 and middle 4 digits is lit,

The negative sign "-" is displayed in front of the upper 2 digits，
indicates the current value is negative.

Long press SHIFT

1073741824:
“-”blinks, indicates current page

Long press Long press

SHIFT SHIFT

Page 3, Upper 2 digits Page 2, Middle 4 digits Page 1, Lower 4 digits

Long press SHIFT

28
 Decimal point

Support 1- and 2-digit decimal point display. The "." of the digital tube for ones place or tens place indicates the
decimal point. The decimal point does not blink.
For examples, -100.0:

100.00:

3.4.2 Parameter setting

In the parameter display mode, press the SHIFT key to enter the parameter editing mode. The following section
explains how to set (edit) the parameters.
 Signed numbers with 4 digits or less or unsigned numbers with 5 digits or less
For example, to change the setting value of Pn100 from 40.0 to 100.0, the setting method is as follows.
Step Display Operation

1 Press MODE key to select the parameter display mode.

2 Press the UP or DOWN key to select the parameter number.

3 Press the DATA key to display the parameter data selected in step 2.

Press SHIFT key to enter the parameter editing mode, at this time the
4 digits to be edited blinks on the segment display. Press SHIFT to select
the digits to be edited.
Pressing the UP or DOWN key changes the data to 100.0. Pressing the
key continuously accelerates the value change. When the data reaches
5
the maximum (or minimum) value, pressing UP (or DOWN) will not
increase (or decrease) the data.
Press and hold DATA for about 1s, data is changed, the segment
6
display blinks about 1s.
It will return to parameter display mode automatically, showing current
7
parameter values.

8 Press MODE to return to displaying the parameter number.

29
 Signed numbers with 4 digits or more or unsigned numbers with 5 digits or more

For example, the method to change the value of Pn504 from 50 to 1073741824 is as follows.
Step Display Operation

1 Press MODE key to select the parameter display mode.

2 Press the UP or DOWN key to select the parameter number.

3 Press the DATA key to display the parameter data selected in step 2.

Press SHIFT key to enter the parameter editing mode, then the digits to
4
be edited blinks.
Press SHIFT, select the data bit to be edited, and press UP or DOWN to
5
change the lower 4 digits to "1824".
Press SHIFT to switch to page 2, press UP or DOWN to change the
6
middle 4 digits to "7374"
Press SHIFT to switch to page 3, press UP or DOWN to change the
7
upper 2 digits to "10"
Press and hold DATA for about 1s, data is changed, the segment
8
display blinks about 1s.
It will return to parameter display mode automatically, showing current
9
parameter values.

10 Press MODE to return to displaying the parameter number.

30
3.5 Monitoring display

Monitoring display mode allows to monitor the input command value, the status of input/output signals, and the
internal status of the servo drive. You can change your monitored objects even when the servo motor is running.
There are 2 types of monitored objects:
• Value: Displays values of various internal data.
• Status: Displays status of the input and output signals.
Monitored objects are listed:
Un number Monitored objects Unit Type
Un000 Rotating speed rpm Value
Un001 Speed command rpm Value
Un002 Internal torque command % Value
Un003 Input signal status - Status
Un004 Output signal status - Status
Un005 Mechanical angle pulse (encoder unit) Value
Un006 Electrical angle ° Value
Un011 Position command speed rpm Value
Un012 Position command counter pulse (command unit) Value
Un013 Actual position counter pulse (command unit) Value
Un014 Position deviation counter pulse (command unit) Value
Un015 Feedback pulse counter pulse (encoder unit) Value
Un020 Drive internal temperature ℃ Value
Un021 Analog speed command voltage V Value
Un022 Analog torque command voltage V Value
Un023 Bus voltage V Value
Un024 Phase current RMS value A Value
Un025 Average motor loading rate % Value
Un026 Motor overload ratio % Value
Un027 Regenerative resistor load ratio % Value
Un028 Total power-up time s Value
Un029 Effective gain - Value
Un030 Speed/Position presets - Value
Un036 Absolute encoder single-turn position pulse (encoder unit) Value

31
Un number Monitored objects Unit Type
Un037 Absolute zero position pulse (encoder unit) Value
Un038 Absolute encoder temperature ℃ Value
Un039 Absolute encoder absolute position pulse (encoder unit) Value
(Higher 32 bits)
Un040 Motor absolute position (Lower 32 bits) pulse (encoder unit) Value
Un041 Motor absolute position (Higher 32 bits) pulse (encoder unit) Value
Un042 Mechanical absolute position pulse (command unit) Value
(Lower 32 bits)
Un043 Mechanical absolute position pulse (command unit) Value
(Higher 32 bits)
Un044 Rotating load single-turn position pulse (encoder unit) Value
(Lower 32 bits)
Un045 Rotating load single-turn position pulse (encoder unit) Value
(Higher 32 bits)
Un046 Rotating load single-turn position pulse (command unit) Value

32
3.6 Auxiliary functions

Auxiliary functions are used to perform functions related to the setting and adjustment of the servo driver.
Auxiliary functions are listed below:
Fn number Function
Fn000 Display alarm logs
Fn001 Parameter initialization (Pn parameter initialization)
Fn002 JOG Run
Fn003 Drive information display
Fn004 Motor model display and setting
Fn005 Clear alarm logs
Fn008 Automatic adjustment of analog command (speed-torque) offset
Fn009 Internal use
Fn010 Internal use
Fn013 Automatic adjustment of motor current detection offset
Fn014 Manual adjustment of motor current detection offset
Fn016 Absolute encoder alarm reset
Fn017 Absolute encoder data initialization
Fn018 Internal use
Fn019 System initialization (Fn parameter initialization)
Fn020 Inertia and friction detection
Fn030 Software reset
Fn040 Internal use
Fn042 Internal use

33
 Chapter 4 Parameter Setting

4.1 Overview

 Parameter group

Pn000~Pn099: Function selection.

Pn100~Pn199: Servo adjustment.
Pn200~Pn299: Position control.
Pn300~Pn399: Speed control.
Pn400~Pn499: Torque control.
Pn500~Pn599: Input / output, alert, warning, etc.
Pn600~Pn699: Extended control functions.
Pn700~Pn799: Communication.
Pn800~Pn899: Servo driver, servo motor related.

 Modes

P: Position control mode.

S: Speed control mode.
T: Torque control mode.

 Enable time

Re-powered: After the parameter is changed, the system needs to be re-powered to take effect.
Immediate (IMMED): Parameter changes can be effective immediately.
Shutdown: After the parameter is changed, the motor needs to be stopped and non-energized to take effect.

34
4.2 Parameter list

No. Name Range Unit Default Enable time Related modes Ref. Chapter
Function selection switch 0 0000~00F1 - 0000 Re-powered PST -
Bit 3 Bit 2 Bit 1 Bit 0

H.

Rotation direction Ref. Chapter

0 CCW direction as the forward direction
-
1 CW direction as the forward direction
Control mode selection Ref. Chapter
0 Position mode
1 Speed mode
Pn000 2 Torque mode
3 Position mode←→Speed mode
-
4 Speed mode←→Torque mode
5 Position mode←→Torque mode
6 Position mode←→Speed mode←→Torque mode
7~F Reserved

Reserved
Self-learning motor direction Ref. Chapter
0 Motor self-learning (forward and reverse)
-
1 Motor self-learning (forward)

No. Name Range Unit Default Enable time Related modes Ref. Chapter
Function selection switch 1 0000~0021 - 0000 Re-powered PST -
Bit 3 Bit 2 Bit 1 Bit 0

H.

Servo OFF stop method Ref. Chapter

0 Free stop
-
1 Reverse braking
Pn001
Overtravel stop method Ref. Chapter
0 Free stop
1 Reverse braking, servo off after stop -
2 Reverse braking, zero clamp after stop

Reserved

Reserved

35
 No. Name Range Unit Default Enable time Related modes Ref. Chapter
Function selection switch 2 0000~0011 - 0000 Re-powered PST -
Bit 3 Bit 2 Bit 1 Bit 0

H.

Alarm group Gr.1 stop mode

0 Free stop
Pn002 1 DB Braking

Alarm group Gr.2 stop mode

0 Free stop
1 Reverse braking

Reserved

Reserved

No. Name Range Unit Default Enable time Related modes Ref. Chapter
Function selection switch 3 0000~0002 - 0000 Re-powered PST -
Bit 3 Bit 2 Bit 1 Bit 0

H.

Absolute encoder usage

0 Incremental position mode
Pn003
1 Absolute position linear mode
2 Absolute position rotation mode

Reserved

Reserved

Reserved

36
 No. Name Range Unit Default Enable time Related modes Ref. Chapter
Function selection switch 4 0000~1111 - 0110 Re-powered PST -
Bit 3 Bit 2 Bit 1 Bit 0

H.

Internal servo ON Ref. Chapter

0 External S-ON is valid
1 External S-ON is invalid, motor excitation
-
signal is automatically turned on after S-RDY
output.
Pn004
Disable P-OT Ref. Chapter
0 P-OT input is valid
-
1 P-OT input is invalid
Disable N-OT Ref. Chapter
0 N-OT input is valid
-
1 N-OT input is invalid
Overtravel warning Ref. Chapter
0 Disable
-
1 Enable

No. Name Range Unit Default Enable time Related modes Ref. Chapter
Function selection switch 5 0000~1211 - 0011 Re-powered PST -
Bit 3 Bit 2 Bit 1 Bit 0

H.

Over-voltage protection action

0 No alarm
1 Alarm

Undervoltage protection action

Pn005 0 No alarm
1 Alarm

Out-of-phase protection action

0 No alarm and warning
1 Warning
2 Alarm

Instantaneous stop protection action

0 No alarm
1 Alarm

37
 No. Name Range Unit Default Enable time Related modes Ref. Chapter
Function selection switch 6 0000~0111 - 0111 Re-powered PST -
Bit 3 Bit 2 Bit 1 Bit 0

H.

Motor blocking alarm

0 Disable
1 Enable
Pn006 Motor runaway alarm
0 Disable
1 Enable

Encoder interference alarm

0 Disable
1 Enable

Reserved

No. Name Range Unit Default Enable time Related modes Ref. Chapter
Pn010 Display Un parameters 0~999 - 999 Re-powered PST
-
when power up

38
 No. Name Range Unit Default Enable time Related modes Ref. Chapter
Pn100 Speed loop gain 1.0~2000.0 Hz 200.0 IMMED PST -
Pn101 Speed loop integration time 1.5~512.0 ms 20.0 IMMED PST -
Pn102 Position loop gain 1.0~2000.0 1/s 40.0 IMMED PST -
Pn103 Percentage of load inertia 0~2000.0 % 0 IMMED PST -
Pn104 2nd speed loop gain 1.0~2000.0 Hz 200.0 IMMED PST -
Pn105 2nd Speed loop integration time 1.5~512.0 ms 20.0 IMMED PST -
Pn106 2nd position loop gain 1.0~2000.0 1/s 40.0 IMMED PST -
Pn107 Internal speed feed forward 0~100.0 % 0 IMMED PST -
Pn108 Speed feed forward filter time 0~64.0 ms 2.0 IMMED PST -
Pn109 Internal torque feed forward 0~100.0 % 0 IMMED PST -
Pn110 Torque feed forward filter time 0~64.0 ms 2.0 IMMED PST -
P/PI switching condition 0~5 - 0 IMMED PST -
Value Meaning
0 Fixed to PI
1 Use /P-CON to switch
Pn111
2 Internal torque command
3 Speed command
4 Acceleration command
5 Position deviation
Pn112 Torque command switch threshold 0~800 % 200 IMMED PST -
Pn113 Speed command switch threshold 0~10000 rpm 0 IMMED PST -
Pn114 Acceleration command switch threshold 0~30000 rpm/s 0 IMMED PST -
Position deviation switching threshold 0~
Pn115 pulse 0 IMMED PST -
(command unit) 1073741824
Gain switching condition 0~9 - 0 IMMED PST -
Value Meaning
0 Fixed as 1st gain
1 Use /GAIN-SEL to switch
2 Internal torque command
3 Speed command
Pn116
4 Acceleration command
5 Deviation counter
6 Position command input
7 Positioning complete
8 Positioning approaching
9 Actual motor speed
Pn117 Gain switching waiting time 1 0~65535 ms 0 IMMED PST -
Pn118 Gain switching waiting time 2 0~65535 ms 0 IMMED PST -
Pn119 Gain switching time 1 0~65535 ms 0 IMMED PST -
Pn120 Gain switching time 2 0~65535 ms 0 IMMED PST -
39
 No. Name Range Unit Default Enable time Related modes Ref. Chapter
Pn121 Gain switching level condition 0~60000 - 50 IMMED PST -
Maximum inertia and friction
Pn122 1~6553.5 r 100.0 IMMED PST -
detection running stroke
Maximum inertia and friction
Pn123 1~2000 rpm 2000 IMMED PST -
detection running speed
Pn125 Static friction torque -300.0~300.0 % 0 IMMED PST -
%/
Negative dynamic friction
Pn126 0~300.0 1000 0 IMMED PST -
torque coefficient
rpm
%/
Positive dynamic friction
Pn127 0~300.0 1000 0 IMMED PST -
torque coefficient
rpm
Static friction compensated
Pn128 1~6000 rpm 10 IMMED PST -
hysteresis loop speed
Friction compensation
Pn129 0~150.0 % 100.0 IMMED PST -
percentage

40
 No. Name Range Unit Default Enable time Related modes Ref. Chapter
Position command source 0~2 - 0 Re-powered P -
Value Meaning
Pn200 0 External pulse input
1 Reserved
2 Internal contact command
Command pulse format selection 0000~0112 - 0000 Re-powered P -
Bit 3 Bit 2 Bit 1 Bit 0

H.

Command pulse format

0 PULSE+SIGN
1 CW+CCW
2 A+B
Pn201
Pulse counting edge
0 Count rising edges
1 Count falling edges

Pulse counting direction

0 Forward counting
1 Reverse counting
Reserved
Pn202 Position command low-pass filtering time 0~6553.5 ms 0 Shutdown P -
Pn203 Position command moving average filtering time 0~1000.0 ms 0 Shutdown P -
External speed feedforward selection 0~1 - 0 Re-powered P -
Value Meaning
Pn204
0 No external speed feedforward
1 V-FF input
Electronic gear ratio 1~
Pn205 - 1 Shutdown P -
(numerator) 1073741824
Electronic gear ratio 1~
Pn206 - 1 Shutdown P -
(denominator) 1073741824
2nd electronic gear ratio 1~
Pn207 - 1 Shutdown P -
(numerator) 1073741824
2nd electronic gear ratio 1~
Pn208 - 1 Shutdown P -
(denominator) 1073741824
Electronic gear ratio switching method 0~1 - 0 IMMED P -
Value Meaning
Pn209
0 After the position command is 0 and lasts for 2.5ms, switch via /GEAR-SEL
1 Real-time switching via /GEAR-SEL

41
 No. Name Range Unit Default Enable time Related modes Ref. Chapter
/CLR signal format selection 0~3 - 0 IMMED P -
Value Meaning
0 Effective when logical high
Pn210
1 Effective when logical rising edge
2 Effective when logical low
3 Effective when logical falling edge
Position deviation clearing method 0~2 - 0 IMMED P -
Value Meaning
Pn211 0 Clear position deviation when servo OFF and alarm
1 Clear position deviation only by /CLR
2 Position deviation is not cleared by servo OFF, but is cleared by alarm
1~
Pn212 Number of pulses per turn - 131072 Shutdown P -
1073741824
Pn213 Number of PG divided pulses 1~131072 - 2048 Re-powered P -

42
 No. Name Range Unit Default Enable time Related modes Ref. Chapter
Speed command selection 0~3 - 0 Re-powered S -
Value Meaning
0 V-REF input
Pn300
1 Parameter speed command
2 Preset speed command
3 Given by communication
Pn301 Forward speed limit 0~6000 rpm 3000 IMMED S -
Pn302 Reverse speed limit 0~6000 rpm 3000 IMMED S -
Pn303 Ramp acceleration time constant 0~10000 ms 100 IMMED S -
Pn304 Ramp deceleration time constant 0~10000 ms 100 IMMED S -
Pn305 Braking deceleration stop time 0~10000 ms 100 IMMED S -
Pn310 Analog speed input gain 1~600 rpm/v 100 IMMED S -
External torque feedforward selection 0~1 - 0 IMMED PS -
Value Meaning
Pn311
0 No external torque feedforward
1 T-FF input
Pn319 JOG speed 0~6000 rpm 500 IMMED S -
Parameter speed running method 0~1 - 0 IMMED S -
Value Meaning
Pn320
0 Run immediately after servo enable
1 After servo enable, if /CTRL is enabled, start running
Pn321 Parameter speed -6000~6000 rpm 100 IMMED S -
Pn322 Preset speed 1 -6000~6000 rpm 100 IMMED S -
Pn323 Preset speed 2 -6000~6000 rpm 100 IMMED S -
Pn324 Preset speed 3 -6000~6000 rpm 100 IMMED S -
Pn325 Preset speed 4 -6000~6000 rpm 100 IMMED S -
Pn326 Preset speed 5 -6000~6000 rpm 100 IMMED S -
Pn327 Preset speed 6 -6000~6000 rpm 100 IMMED S -
Pn328 Preset speed 7 -6000~6000 rpm 100 IMMED S -

43
 No. Name Range Unit Default Enable time Related modes Ref. Chapter
Torque command source 0~1 - 0 Re-powered T -
Value Meaning
Pn400
0 T-REF input
1 Given by communication
Pn401 Torque command filtering time 0~6000.0 ms 0.4 IMMED PST -
0.1v/
Pn402 Analog torque input gain 10~100 33 IMMED T -
100%
Torque limiting type 0~2 - 0 IMMED PST -
Value Meaning
Pn403 0 Internal limiting
1 External limiting
2 Analog input T-LMT limiting
Torque mode speed limiting method 0~2 - 0 IMMED PST -
Value Meaning
Pn404 0 Internal limiting
1 External limiting
2 Analog input V-LMT limiting
Pn405 Torque mode internal speed limit 0~6000 rpm 1000 IMMED T -
Pn406 Torque mode external speed limit 1 0~6000 rpm 1000 IMMED T -
Pn407 Torque mode external speed limit 2 0~6000 rpm 1000 IMMED T -
Pn408 Forward torque internal limit 0~500.0 % 300.0 IMMED PST -
Pn409 Reverse torque internal limit 0~500.0 % 300.0 IMMED PST -
Pn410 Forward torque external limit 0~500.0 % 300.0 IMMED PST -
Pn411 Reverse torque external limit 0~500.0 % 300.0 IMMED PST -
Pn412 Reverse braking torque limit 0~500.0 % 300.0 IMMED PST -
2nd torque command
Pn413 0~6000.0 ms 0.4 IMMED PST -
filtering time

44
 No. Name Range Unit Default Enable time Related modes Ref. Chapter
Simultaneous speed signal
Pn500 0~1000 rpm 10 IMMED S -
window width
Pn501 Rotation detection speed 0~1000 rpm 20 IMMED S -
Pn502 Zero speed detection speed 0~6000 rpm 10 IMMED S -
Pn503 Zero-clamp speed 0~6000 rpm 20 IMMED S -
1~
Pn504 Positioning complete window width pulse 50 IMMED P -
1073741824
0~
Pn505 Positioning approaching window width pulse 10000 IMMED P -
1073741824
Positioning complete output conditions 0~2 - 0 IMMED P -
Value Meaning
0 Output when the absolute value of position deviation is less than the
positioning complete window width.
Pn506
1 Output when the absolute value of position deviation is less than the positioning
completion window width and the command after position command filtering is 0
2 Output when the absolute value of position deviation is less than the positioning
completion window width and the command before position command filtering is 0
Pn507 Positioning complete window time 0~1000.0 ms 0 IMMED P -
Pn508 Torque detection benchmark value 0~500.0 % 100.0 IMMED PST -
Pn509 Torque detection valid offset 0~500.0 % 0 IMMED PST -
Pn510 Torque detection invalid offset 0~500.0 % 0 IMMED PST -
Pn511 Torque mode speed limit window width 0~1000 rpm 10 IMMED T -
Pn512 Torque mode speed limit window time 0~1000.0 ms 0 IMMED T -
Delay time from brake output
Pn516 0~60000 ms 0 IMMED PST -
OFF to servo OFF
Pn517 Brake output OFF speed 0~6000 rpm 50 IMMED PST -
Waiting time from servo OFF to
Pn518 0~60000 ms 0 IMMED PST -
brake output OFF
Pn519 Overload alarm threshold 50~300 % 100 IMMED PST -
Excessive position
1~
Pn520 deviation alarm value pulse 100000 IMMED P -
1073741824
(command unit)
Excessive position
Pn521 10~100 % 100 IMMED P -
deviation warning value
Excessive position deviation
1~
Pn522 alarm value when servo is ON pulse 536870912 IMMED P -
1073741824
(command unit)
Pn523 Motor stall detection time 1~1500 ms 300 IMMED PST -
Pn524 Motor stall detection torque 0~300 % 120 IMMED PST -
Pn535 Pulse input port filtering time 0~100.0 ms 0 IMMED P -

45
 No. Name Range Unit Default Enable time Related modes Ref. Chapter
Analog speed command
0~5 - 1 IMMED PST -
input port signal assignment
Value Meaning
0 No signal assignment
Pn536 1 V-REF
2 V-FF
3 V-LMT
4 Reserved
5 Reserved
Analog speed command
Pn537 0~1000.0 ms 0 IMMED PST -
input port filtering time
Analog speed command
Pn538 0~5000 mv 0 IMMED PST -
input port positive deadband
Analog speed command
Pn539 0~5000 mv 0 IMMED PST -
input port negative deadband
Analog torque command
0~5 - 1 IMMED PST -
input port signal assignment
Value Meaning
0 No signal assignment
Pn540 1 T-REF
2 T-FF
3 T-LMT
4 Reserved
5 Reserved
Analog torque command
Pn541 0~1000.0 ms 0 IMMED PST -
input port filtering time
Analog torque command
Pn542 0~5000 mv 0 IMMED PST -
input port positive deadband
Analog torque command
Pn543 0~5000 mv 0 IMMED PST -
input port negative deadband
Sequential input port
Pn544 0~1000.0 ms 0 IMMED PST -
filtering time

46
 No. Name Range Unit Default Enable time Related modes Ref. Chapter
Sequential input port 1 signal assignment 0~25 - 1 IMMED PST -
Value Meaning
0 No signal assignment
1 /S-ON
2 /ALM-RST
3 P-OT
4 N-OT
5 /CLR
6 /ZCLAMP
7 /PCL
8 /NCL
9 /P-CON
10 /INHIBIT
11 /M-SEL1
Pn545
12 /M-SEL2
13 /GAIN-SEL
14 /GEAR-SEL
15 /VLT-SEL
16 /P-DIR
17 /S-DIR
18 /T-DIR
19 /CMD-DIR
20 /CMD1
21 /CMD2
22 /CMD3
23 /ORG
24 /SHM
25 /CTRL
Sequential input port 1 polarity setting 0~3 - 0 IMMED PST -
Value Meaning
0 Input original signal
Pn546
1 Input inverted original signal
2 Enable signal clamping
3 Disable signal clamping
Pn547 Sequential input port 2 signal assignment 0~25 - 2 IMMED PST -
Pn548 Sequential input port 2 polarity setting 0~3 - 0 IMMED PST -
Pn549 Sequential input port 3 signal assignment 0~25 - 3 IMMED PST -
Pn550 Sequential input port 3 polarity setting 0~3 - 0 IMMED PST -
Pn551 Sequential input port 4 signal assignment 0~25 - 4 IMMED PST -
Pn552 Sequential input port 4 polarity setting 0~3 - 0 IMMED PST -
47
 No. Name Range Unit Default Enable time Related modes Ref. Chapter
Pn553 Sequential input port 5 signal assignment 0~25 - 5 IMMED PST -
Pn554 Sequential input port 5 polarity setting 0~3 - 0 IMMED PST -
Pn555 Sequential input port 6 signal assignment 0~25 - 6 IMMED PST -
Pn556 Sequential input port 6 polarity setting 0~3 - 0 IMMED PST -
Pn557 Sequential input port 7 signal assignment 0~25 - 7 IMMED PST -
Pn558 Sequential input port 7 polarity setting 0~3 - 0 IMMED PST -
Pn559 Sequential input port 8 signal assignment 0~25 - 8 IMMED PST -
Pn560 Sequential input port 8 polarity setting 0~3 - 0 IMMED PST -

48
 No. Name Range Unit Default Enable time Related modes Ref. Chapter
Sequential output port 1 signal assignment 0~19 - 1 IMMED PST -
Value Meaning
0 No signal assignment
1 /S-RDY
2 ALM
3 /TGON
4 /COIN
5 /VCMP
6 /ZSPD
7 /BK
8 /NEAR
Pn561
9 /CLT
10 /VLT
11 /TCR
12 /WARN
13 /AL01
14 /AL02
15 /AL03
16 /HMA
17 /PGC
18 /RD
19 OT
Sequential output port 1 polarity setting 0~3 - 0 IMMED PST -
Value Meaning
0 Input original signal
Pn562
1 Input inverted original signal
2 Enable signal clamping
3 Disable signal clamping
Pn563 Sequential output port 2 signal assignment 0~19 - 2 IMMED PST -
Pn564 Sequential output port 2 polarity setting 0~3 - 0 IMMED PST -
Pn565 Sequential output port 3 signal assignment 0~19 - 3 IMMED PST -
Pn566 Sequential output port 3 polarity setting 0~3 - 0 IMMED PST -
Pn567 Sequential output port 4 signal assignment 0~19 - 4 IMMED PST -
Pn568 Sequential output port 4 polarity setting 0~3 - 0 IMMED PST -

49
 No. Name Range Unit Default Enable time Related modes Ref. Chapter
Homing method selection 0~14 - 0 IMMED P -
Value Meaning
0 Negative limit switch and C pulse
1 Positive limit switch and C pulse
2 Positive origin switch and C pulse (zero point is outside the switch)
3 Positive origin switch and C pulse (zero point is inside the switch)
4 Negative origin switch and C pulse (zero point is outside the switch)
5 Negative origin switch and C pulse (zero point is inside the switch)
Pn600 6 Negative limit switch (zero point is outside the switch)
7 Positive limit switch (zero point is outside the switch)
8 Positive origin switch (zero point is outside the switch)
9 Positive origin switch (zero point is inside the switch)
10 Negative origin switch (zero point is outside the switch)
11 Negative origin switch (zero point is inside the switch)
12 Start from the current position, find the first C pulse in the negative direction
13 Start from the current position, find the first C pulse in the positive direction
14 The current position is the zero point
Pn601 Parameter searching velocity 1~6000 rpm 500 IMMED P -
Pn602 Homing velocity 1~1000 rpm 50 IMMED P -
Homing acceleration and
Pn603 1~60000 ms 100 IMMED P -
deceleration time
-1073741824
Pn604 Zero-point offset pulse 0 IMMED P -
~1073741824
Pn605 Homing timeout time 0~60000 ms 0 IMMED P -
Abort homing 0~1 - 0 IMMED P -
Value Meaning
Pn606
0 Disable
1 Enable
Homing function selection 0000~0002 - 0000 IMMED P -
Bit 3 Bit 2 Bit 1 Bit 0

H.

Homing function activating control

0 Disable homing function
Pn607
1 Activate homing function by SHM signal
2 Activate homing function immediately after power-up

Reserved

Reserved

Reserved
50
 No. Name Range Unit Default Enable time Related modes Ref. Chapter
Preset position running method 0000~1113 - 0000 IMMED P -
Bit 3 Bit 2 Bit 1 Bit 0

H.

Preset position switch method

0 Single Step
1 Single time
2 Loop
3 Input signal CMD1, CMD2, CMD3
Pn610 Preset position command type
0 Relative location positioning
1 Absolute location positioning

Start-up method after positioning abort

0 Continue running from the current preset
1 Continue running from the starting preset

Positioning abort stopping method

0 Immediate stop
1 Stop when current preset running is complete
Pn611 Positioning timeout 0~60000 ms 0 IMMED P -
Pn612 Starting preset number 1~8 - 1 IMMED P -
Pn613 Ending preset number 1~8 - 2 IMMED P -
Preset 1 target position -1073741824
Pn614 pulse 10000 IMMED P -
(command unit) ~1073741824
Pn615 Preset 1 running speed 1~6000 rpm 100 IMMED P -
Pn616 Preset 1 acceleration time 0~60000 ms 100 IMMED P -
Pn617 Preset 1 deceleration time 0~60000 ms 100 IMMED P -
Pn618 Preset 1 positioning complete waiting time 0~60000 ms 0 IMMED P -
Preset 2 target position -1073741824
Pn619 pulse 10000 IMMED P -
(command unit) ~1073741824
Pn620 Preset 2 running speed 1~6000 rpm 100 IMMED P -
Pn621 Preset 2 acceleration time 0~60000 ms 100 IMMED P -
Pn622 Preset 2 deceleration time 0~60000 ms 100 IMMED P -
Pn623 Preset 2 positioning complete waiting time 0~60000 ms 0 IMMED P -
Preset 3 target position -1073741824
Pn624 pulse 10000 IMMED P -
(command unit) ~1073741824
Pn625 Preset 3 running speed 1~6000 rpm 100 IMMED P -
Pn626 Preset 3 acceleration time 0~60000 ms 100 IMMED P -
Pn627 Preset 3 deceleration time 0~60000 ms 100 IMMED P -
Pn628 Preset 3 positioning complete waiting time 0~60000 ms 0 IMMED P -

51
 No. Name Range Unit Default Enable time Related modes Ref. Chapter
Preset 4 target position -1073741824
Pn629 pulse 10000 IMMED P -
(command unit) ~1073741824
Pn630 Preset 4 running speed 1~6000 rpm 100 IMMED P -
Pn631 Preset 4 acceleration time 0~60000 ms 100 IMMED P -
Pn632 Preset 4 deceleration time 0~60000 ms 100 IMMED P -
Pn633 Preset 4 positioning complete waiting time 0~60000 ms 0 IMMED P -
Preset 5 target position -1073741824
Pn634 pulse 10000 IMMED P -
(command unit) ~1073741824
Pn635 Preset 5 running speed 1~6000 rpm 100 IMMED P -
Pn636 Preset 5 acceleration time 0~60000 ms 100 IMMED P -
Pn637 Preset 5 deceleration time 0~60000 ms 100 IMMED P -
Pn638 Preset 5 positioning complete waiting time 0~60000 ms 0 IMMED P -
Preset 6 target position -1073741824
Pn639 pulse 10000 IMMED P -
(command unit) ~1073741824
Pn640 Preset 6 running speed 1~6000 rpm 100 IMMED P -
Pn641 Preset 6 acceleration time 0~60000 ms 100 IMMED P -
Pn642 Preset 6 deceleration time 0~60000 ms 100 IMMED P -
Pn643 Preset 6 positioning complete waiting time 0~60000 ms 0 IMMED P -
Preset 7 target position -1073741824
Pn644 pulse 10000 IMMED P -
(command unit) ~1073741824
Pn645 Preset 7 running speed 1~6000 rpm 100 IMMED P -
Pn646 Preset 7 acceleration time 0~60000 ms 100 IMMED P -
Pn647 Preset 7 deceleration time 0~60000 ms 100 IMMED P -
Pn648 Preset 7 positioning complete waiting time 0~60000 ms 0 IMMED P -
Preset 8 target position -1073741824
Pn649 pulse 10000 IMMED P -
(command unit) ~1073741824
Pn650 Preset 8 running speed 1~6000 rpm 100 IMMED P -
Pn651 Preset 8 acceleration time 0~60000 ms 100 IMMED P -
Pn652 Preset 8 deceleration time 0~60000 ms 100 IMMED P -
Pn653 Preset 8 positioning complete waiting time 0~60000 ms 0 IMMED P -

52
 No. Name Range Unit Default Enable time Related modes Ref. Chapter
Serial communication rate 0~6 - 2 Re-powered PST -
Value Meaning
0 2400 bit/s
1 4800 bit/s
Pn700 2 9600 bit/s
3 19200 bit/s
4 38400 bit/s
5 57600 bit/s
6 115200 bit/s
Serial communication
0~3 - 1 Re-powered PST -
format
Value Meaning
Pn701 0 8,N,2
1 8,N,1
2 8,E,1
3 8,O,1
Serial communication
0~2 - 0 Re-powered PST -
protocol selection
Value Meaning
Pn702
0 Wired MODBUS control mode
1 Wired + Bluetooth MODBUS control mode
2 Wired + Bluetooth oscilloscope debug mode
Pn703 MODBUS axis address 1~247 - 1 Re-powered PST -

53
 No. Name Range Unit Default Enable time Related modes Ref. Chapter
MDI port 1 signal assignment 0~25 - 0 IMMED PST -
Value Meaning
0 No signal assignment, MDI port disabled
1 /S-ON
2 /ALM-RST
3 P-OT
4 N-OT
5 /CLR
6 /ZCLAMP
7 /PCL
8 /NCL
9 /P-CON
10 /INHIBIT
11 /M-SEL1
Pn706
12 /M-SEL2
13 /GAIN-SEL
14 /GEAR-SEL
15 /VLT-SEL
16 /P-DIR
17 /S-DIR
18 /T-DIR
19 /CMD-DIR
20 /CMD1
21 /CMD2
22 /CMD3
23 /ORG
24 /SHM
25 /CTRL
Pn707 MDI port 2 signal assignment 0~25 - 0 IMMED PST -
Pn708 MDI port 3 signal assignment 0~25 - 0 IMMED PST -
Pn709 MDI port 4 signal assignment 0~25 - 0 IMMED PST -
Pn710 MDI port 5 signal assignment 0~25 - 0 IMMED PST -
Pn711 MDI port 6 signal assignment 0~25 - 0 IMMED PST -
Pn712 MDI port 7 signal assignment 0~25 - 0 IMMED PST -
Pn713 MDI port 8 signal assignment 0~25 - 0 IMMED PST -

54
 No. Name Range Unit Default Enable time Related modes Ref. Chapter
MDO port 1 enable 0~1 - 0 IMMED PST -
Value Meaning
Pn714
0 Disable
1 Enable
Pn715 MDO port 2 enable 0~1 - 0 IMMED PST -
Pn716 MDO port 3 enable 0~1 - 0 IMMED PST -
Pn717 MDO port 4 enable 0~1 - 0 IMMED PST -
Usage of regenerative resistor 0~2 - 2 Re-powered PST -
Value Meaning
Pn812 0 No resistance, capacitor only
1 External regenerative resistor
2 Built-in regenerative resistor
External regenerative
Pn813 1~10000 Ω 50 IMMED PST -
resistor resistance value
External regenerative
Pn814 1~10000 W 100 IMMED PST -
resistor power
Regenerative resistor heat
Pn815 1~100 % 20 IMMED PST -
dissipation efficiency

55
 Chapter 5 Troubleshooting

5.1 Alarm codes

Reset Alarm code output

No. Alarm name Description Group
-able AL01 AL02 AL03
Parameter and Servo internal parameter data
A.101 Gr.1 F
verification exception exceptions
Parameter format Servo internal parameter format
A.102 Gr.1 F H H H
exception exceptions
System and verification
A.103 Servo internal system data exceptions Gr.1 F
exception
Current sampling The current sampling channel loop 1
A.108 Gr.1 F
channel 1 exception is abnormal
Current sampling The current sampling channel loop 1
A.109 Gr.1 F
channel 2 exception is abnormal H H L
A.112 Overcurrent IPM overcurrent or overheat Gr.1 F
Regenerative resistance Built-in or external regenerative
A.113 Gr.1 F
exception resistors are disconnected or damaged

At least one phase between UVW or

Incremental encoder
A.130 ABC of the incremental encoder is Gr.1 F
disconnection
disconnected
Incremental encoder Incremental encoder UVW timing is
A.131 Gr.1 F
timing exception out of order
H L H
Incremental encoder C Incremental encoder fails to detect C
A.132 Gr.1 F
pulse loss pulse
Incremental encoder is disturbed,
Incremental encoder
A.133 resulting in abnormal position Gr.1 F
disturbance
detection
Encoder type selection Selected encoder type not supported
A.150 Gr.1 F
error by hardware
H H H
Motor model matching Driver model and motor model do
A.151 Gr.1 F
error not match
56
 Reset Alarm code output
No. Alarm name Description Group
-able AL01 AL02 AL03
Serial encoder
A.180 communication No reply to serial encoder Gr.1 F
timeout
Serial encoder
Serial encoder communication data
A.181 communication Gr.1 F
verification error
verification exception
Serial encoder and H L H
Mismatch between serial encoder and
A.182 motor model matching Gr.1 F
motor model
error
No phase alignment of Error happens when there is no phase
A.183 serial encoder and alignment of serial encoder and Gr.2 T
motor motor
A.184 Encoder overheat Excessive encoder temperature Gr.1 F

57
 Reset Alarm code output
No. Alarm name Description Group
-able AL01 AL02 AL03
Invalid servo ON After internal servo ON, input
A.301 Gr.2 T
command external servo ON command
Main circuit Main circuit power supply voltage is
A.311 Gr.2 T
overvoltage too high
Main circuit Main circuit power supply voltage is
A.312 Gr.2 T
undervoltage too low
Main circuit
A.313 Main circuit is open-phase Gr.2 T
open-phase
At least one phase of the main circuit
Main circuit power
A.314 R, S, T has a low voltage state lasting Gr.2 T
failure
for at least one utility frequency cycle H L L
Current limiting Main circuit power on frequency is
A.315 Gr.2 T
resistor overload too high
Regenerative resistor Regenerative energy beyond what the
A.320 Gr.2 T
overload regenerative resistor can handle
Excessive duration of running
A.321 Motor overload Gr.2 T
beyond rated torque
A.322 Motor stall Motor stall or UVW disconnection Gr.2 T
Motor is out of control or motor
A.323 Motor runaway Gr.2 T
runaway
A.324 Motor overspeed Rotating speed is too high Gr.2 T
Unreasonable gear
A.330 Gear ratio value is beyond the limit Gr.2 T
ratio
Excessive position Position deviation exceeds the limit
A.331 Gr.2 T
deviation value when servo ON
Excessive position Position deviation exceeds the limit
A.332 deviation when servo when switching from servo OFF to Gr.2 T L H H
ON servo ON
Internal positioning Calculation error or timeout during
A.340 Gr.2 T
abnormal internal positioning
Internal homing Calculation error or timeout during
A.341 Gr.2 T
abnormal internal homing

58
 Reset Alarm code output
No. Alarm name Description Group
-able AL01 AL02 AL03
Absolute encoder
A.350 Absolute encoder detects overspeed Gr.2 T
overspeed
Insufficient single-turn
Insufficient single-turn position
A.351 position resolution for Gr.2 T
resolution for absolute encoder
absolute encoder
Absolute encoder
Absolute encoder multi-turn position
A.352 multi-turn position Gr.2 T
out of count range
overflow
L H L
Absolute encoder
Absolute encoder single-turn position
A.353 single-turn position Gr.2 T
count error
exception
Absolute encoder
Absolute encoder multi-turn position
A.354 multi-turn position Gr.2 T
count error
exception
Absolute encoder Absolute encoder battery voltage
A.355 Gr.2 T
battery voltage too low below 2.5V
A.360 Fan blocking Fan jammed or fan disconnected Gr.2 T

59
 Reset Alarm code output
No. Alarm name Description Group
-able AL01 AL02 AL03
Abnormal PG The number of PG dividing pulses is
A.361 frequency dividing too large, or the motor speed is too Gr.2 T
output high.

5.2 Warning codes

Reset- Warning code output

No. Warning name Description Group
able AL01 AL02 AL03
Main circuit Main circuit power supply is
A.401 Gr.3 T
open-phase open-phase
Valid overtravel signal is detected
A.402 Overtravel Gr.3 T
when servo is ON
L L H
Excessive position Position deviation exceeds the
A.403 Gr.3 T
deviation limit when servo is ON
Absolute encoder Absolute encoder battery voltage
A.410 Gr.3 T
battery voltage too low below 3.1V

60
 Chapter 6 MODBUS Communication

6.1 Modbus communication with examples

6.1.1 Read single, multiple registers (0x03)

 Read 16-bit data

Take reading two "alarm logs" as an example:
Request data: Write function code 03, the starting address of alarm log area 1 is 2000 (hex: 0x07D0), and quantity of
registers is 2 (hex: 0x0002).
Response data: Return function code 03, the byte count is 4. Register 1 is the recent alarm log 1: 180 (hex: 0x00B4)
(Serial encoder communication timeout). Register 2 is the recent alarm log 2: 181 (hex: 0x00B5) (Serial encoder
communication verification exception)
Request Response
Slave Address 01H Slave Address 01H
Function Code 03H Function Code 03H
07H (High) Byte Count 04H
Starting Address
D0H (Low) 00H (High)
Register Data 1
00H (High) B4H (Low)
Quantity of Registers
02H (Low) 00H (High)
Register Data 2
C4H (Low) B5H (Low)
CRC Check
86H (High) 7BH (Low)
CRC Check
A2H (High)

 Read 32-bit data

Take the example of reading two Un parameters "motor speed" and "speed command":
Request data: Write function code 03, Un parameter starting address is 2010 (hex: 0x07DA), quantity of registers to
read is 4 (hex: 0x0004).
Response data: Return function code 03, the byte count is 8. Register data 1 (high 16 bits) and register data 1 (low
16 bits) make up the 32-bit data: motor speed is 0 (hex: 0x00000000). Register data 2 (high 16 bits) and register data
2 (low 16 bits) make up the 32-bit data: speed command is 0 (hex: 0x00000000).

61
 Request Response
Slave Address 01H Slave Address 01H
Function Code 03H Function Code 03H
07H (High) Byte Count 08H
Starting Address
DAH (Low) Register Data 1 00H (High)
00H (High) (Low 16 bits) 00H (Low)
Quantity of Registers
04H (Low) Register Data 1 00H (High)
64H (Low) (High 16 bits) 00H (Low)
CRC Check
86H (High) Register Data 2 00H (High)
(Low 16 bits) 00H (Low)

Register Data 2 00H (High)

(High 16 bits) 00H (Low)
95H (Low)
CRC Check
D7H (High)
Note: POWSD-E3 Series Servo Drives do not support separate operation of the high 16 bits or low 16 bits of 32-bit
data.

6.1.2 Write a single register (0x06)

 Read 16-bit data

The following is an example of write "speed giving command":
Request data: Write function code 06, the starting address of speed giving command is 3000 (hex: 0x0BB8) and
writes a value of 10000 (hex: 0x2710), thus the speed is 1000.0 rpm.
Response data: Return function code 06, the starting address of speed giving command is 3000 (hex: 0x0BB8)
written value is 10000 (hex: 0x2710), thus the speed is 1000.0 rpm.
Request Response
Slave Address 01H Slave Address 01H
Function Code 06H Function Code 06H
0BH (High) 0BH (High)
Starting Address Starting Address
B8H (Low) B8H (Low)
27H (High) 27H (High)
Register Data Register Data
10H (Low) 10H (Low)
11H (Low) 11H (Low)
CRC Check CRC Check
F7H (High) F7H (High)

62
6.1.3 Write multiple registers (0x10)

 Write 16-bit data

The following is an example of write " speed giving command ":
Request data: Write function code 10, the starting address of speed giving command is 3000 (hex: 0x0BB8), the
quantity of registers is 1 (hex: 0x0001), byte count is 2 (hex: 0x0002), and writes a value of 10000 (hex: 0x2710),
thus the speed is 1000.0 rpm.
Response data: Return function code 10, the starting address of speed giving command is 3000 (hex: 0x0BB8), the
quantity of registers is 1 (hex: 0x0001).
Request Response
Slave Address 01H Slave Address 01H
Function Code 10H Function Code 10H
0BH (High) 0BH (High)
Starting Address Starting Address
B8H (Low) B8H (Low)
00H (High) 00H (High)
Quantity of Registers Quantity of Registers
01H (Low) 01H (Low)
Byte Count 02H 83H (Low)
CRC Check
27H (High) C8H (High)
Register Data 1
10H (Low)
1DH (Low)
CRC Check
D4H (High)

63
 Write 32-bit data
Take writing "Pn100 speed loop gain" and "Pn101 speed loop integration time" as an example:
Request data: Write function code 10, the starting address is 200 (hex: 0x00C8), the quantity of registers is 4 (hex:
0x0004), byte count is 8 (hex: 0x0008), Register data 1 (high 16 bits) and register data 1 (low 16 bits) make up the
32-bit data: Pn100: 2400 (hex: 0x00000960), i.e., speed loop gain is 240.0Hz. Register data 2 (high 16 bits) and
register data 2 (low 16 bits) make up the 32-bit data: Pn101: 400 (hex: 0x00000190), i.e., speed loop integration time
is 40.0ms.
Response data: Return function code 10, the starting address of Pn100 is 200 (hex: 0x00C8), the quantity of registers
is 4 (hex: 0x0004).
Request Response
Slave Address 01H Slave Address 01H
Function Code 10H Function Code 10H
00H (High) 00H (High)
Starting Address Starting Address
C8H (Low) C8H (Low)
00H (High) 00H (High)
Quantity of Registers Quantity of Registers
04H (Low) 04H (Low)
Byte Count 08H 40H (Low)
CRC Check
Register Data 1 09H (High) 34H (High)
(Low 16 bits) 60H (Low)

Register Data 1 00H (High)

(High 16 bits) 00H (Low)

Register Data 2 01H (High)

(Low 16 bits) 90H (Low)

Register Data 2 00H (High)

(High 16 bits) 00H (Low)
F5H (Low)
CRC Check
59H (High)
Note: POWSD-E3 Series Servo Drives do not support separate operation of the high 16 bits or low 16 bits of 32-bit
data.

64
6.2 Register Addresses

Name Register address Data format R/W Note

Pn000 0 32bit-Usigned RW Corresponding to parameters, same below
Pn001 2 32bit-Usigned RW -
Pn002 4 32bit-Usigned RW -
Pn003 6 32bit-Usigned RW -
Pn004 8 32bit-Usigned RW -
Pn005 10 32bit-Usigned RW -
Pn006 12 32bit-Usigned RW -
Reserved 14-30 32bit-Usigned RW Reserved terms are not corresponding to parameters
Pn100 200 32bit-Usigned RW -
Pn101 202 32bit-Usigned RW -
Pn102 204 32bit-Usigned RW -
Pn103 206 32bit-Usigned RW -
Pn104 208 32bit-Usigned RW -
Pn105 210 32bit-Usigned RW -
Pn106 212 32bit-Usigned RW -
Pn107 214 32bit-Usigned RW -
Pn108 216 32bit-Usigned RW -
Pn109 218 32bit-Usigned RW -
Pn110 220 32bit-Usigned RW -
Pn111 222 32bit-Usigned RW -
Pn112 224 32bit-Usigned RW -
Pn113 226 32bit-Usigned RW -
Pn114 228 32bit-Usigned RW -
Pn115 230 32bit-Usigned RW -
Pn116 232 32bit-Usigned RW -
Pn117 234 32bit-Usigned RW -
Pn118 236 32bit-Usigned RW -
Pn119 238 32bit-Usigned RW -
Pn120 240 32bit-Usigned RW -
Pn121 242 32bit-Usigned RW -

65
 Name Register address Data format R/W Note
Pn122 244 32bit-Usigned RW Corresponding to parameters, same below
Pn123 246 32bit-Usigned RW -
Reserved 248 32bit-Usigned RW Reserved terms are not corresponding to parameters
Pn125 250 32bit-Usigned RW -
Pn126 252 32bit-Usigned RW -
Pn127 254 32bit-Usigned RW -
Pn128 256 32bit-Usigned RW -
Pn129 258 32bit-Usigned RW -
Reserved 260-278 32bit-Usigned RW -
Pn200 400 32bit-Usigned RW -
Pn201 402 32bit-Usigned RW -
Pn202 404 32bit-Usigned RW -
Pn203 406 32bit-Usigned RW -
Pn204 408 32bit-Usigned RW -
Pn205 410 32bit-Usigned RW -
Pn206 412 32bit-Usigned RW -
Pn207 414 32bit-Usigned RW -
Pn208 416 32bit-Usigned RW -
Pn209 418 32bit-Usigned RW -
Pn210 420 32bit-Usigned RW -
Pn211 422 32bit-Usigned RW -
Reserved 424-458 32bit-Usigned RW -
Pn300 600 32bit-Usigned RW -
Pn301 602 32bit-Usigned RW -
Pn302 604 32bit-Usigned RW -
Pn303 606 32bit-Usigned RW -
Pn304 608 32bit-Usigned RW -
Pn305 610 32bit-Usigned RW -
Reserved 612-618 32bit-Usigned RW -
Pn310 620 32bit-Usigned RW -
Pn311 622 32bit-Usigned RW -
Reserved 624-636 32bit-Usigned RW -

66
 Name Register address Data format R/W Note
Pn319 638 32bit-Usigned RW Corresponding to parameters, same below
Pn320 640 32bit-Usigned RW -
Pn321 642 32bit-Signed RW -
Pn322 644 32bit-Signed RW -
Pn323 646 32bit-Signed RW -
Pn324 648 32bit-Signed RW -
Pn325 650 32bit-Signed RW -
Pn326 652 32bit-Signed RW -
Pn327 654 32bit-Signed RW -
Pn328 656 32bit-Signed RW -
Reserved 658 32bit-Usigned RW Reserved terms are not corresponding to parameters
Pn400 800 32bit-Usigned RW -
Pn401 802 32bit-Usigned RW -
Pn402 804 32bit-Usigned RW -
Pn403 806 32bit-Usigned RW -
Pn404 808 32bit-Usigned RW -
Pn405 810 32bit-Usigned RW -
Pn406 812 32bit-Usigned RW -
Pn407 814 32bit-Usigned RW -
Pn408 816 32bit-Usigned RW -
Pn409 818 32bit-Usigned RW -
Pn410 820 32bit-Usigned RW -
Pn411 822 32bit-Usigned RW -
Pn412 824 32bit-Usigned RW -
Pn413 826 32bit-Usigned RW -
Reserved 828-878 32bit-Usigned RW -
Pn500 1000 32bit-Usigned RW -
Pn501 1002 32bit-Usigned RW -
Pn502 1004 32bit-Usigned RW -
Pn503 1006 32bit-Usigned RW -
Pn504 1008 32bit-Usigned RW -
Pn505 1010 32bit-Usigned RW -

67
 Name Register address Data format R/W Note
Pn506 1012 32bit-Usigned RW Corresponding to parameters, same below
Pn507 1014 32bit-Usigned RW -
Pn508 1016 32bit-Usigned RW -
Pn509 1018 32bit-Usigned RW -
Pn510 1020 32bit-Usigned RW -
Pn511 1022 32bit-Usigned RW -
Pn512 1024 32bit-Usigned RW -
Reserved 1026-1030 32bit-Usigned RW Reserved terms are not corresponding to parameters
Pn516 1032 32bit-Usigned RW -
Pn517 1034 32bit-Usigned RW -
Pn518 1036 32bit-Usigned RW -
Pn519 1038 32bit-Usigned RW -
Pn520 1040 32bit-Usigned RW -
Pn521 1042 32bit-Usigned RW -
Pn522 1044 32bit-Usigned RW -
Pn523 1046 32bit-Usigned RW -
Pn524 1048 32bit-Usigned RW -
Reserved 1050-1068 32bit-Usigned RW -
Pn535 1070 32bit-Usigned RW -
Pn536 1072 32bit-Usigned RW -
Pn537 1074 32bit-Usigned RW -
Pn538 1076 32bit-Usigned RW -
Pn539 1078 32bit-Usigned RW -
Pn540 1080 32bit-Usigned RW -
Pn541 1082 32bit-Usigned RW -
Pn542 1084 32bit-Usigned RW -
Pn543 1086 32bit-Usigned RW -
Pn544 1088 32bit-Usigned RW -
Pn545 1090 32bit-Usigned RW -
Pn546 1092 32bit-Usigned RW -
Pn547 1094 32bit-Usigned RW -
Pn548 1096 32bit-Usigned RW -

68
 Name Register address Data format R/W Note
Pn549 1098 32bit-Usigned RW Corresponding to parameters, same below
Pn550 1100 32bit-Usigned RW -
Pn551 1102 32bit-Usigned RW -
Pn552 1104 32bit-Usigned RW -
Pn553 1106 32bit-Usigned RW -
Pn554 1108 32bit-Usigned RW -
Pn555 1110 32bit-Usigned RW -
Pn556 1112 32bit-Usigned RW -
Pn557 1114 32bit-Usigned RW -
Pn558 1116 32bit-Usigned RW -
Pn559 1118 32bit-Usigned RW -
Pn560 1120 32bit-Usigned RW -
Pn561 1122 32bit-Usigned RW -
Pn562 1124 32bit-Usigned RW -
Pn563 1126 32bit-Usigned RW -
Pn564 1128 32bit-Usigned RW -
Pn565 1130 32bit-Usigned RW -
Pn566 1132 32bit-Usigned RW -
Pn567 1134 32bit-Usigned RW -
Pn568 1136 32bit-Usigned RW -
Pn600 1200 32bit-Usigned RW -
Pn601 1202 32bit-Usigned RW -
Pn602 1204 32bit-Usigned RW -
Pn603 1206 32bit-Usigned RW -
Pn604 1208 32bit-Signed RW -
Pn605 1210 32bit-Usigned RW -
Pn606 1212 32bit-Usigned RW -
Pn607 1214 32bit-Usigned RW -
Reserved 1216-1218 32bit-Usigned RW Reserved terms are not corresponding to parameters
Pn610 1220 32bit-Usigned RW -
Pn611 1222 32bit-Usigned RW -
Pn612 1224 32bit-Usigned RW -

69
Name Register address Data format R/W Note
Pn613 1226 32bit-Usigned RW Corresponding to parameters, same below
Pn614 1228 32bit-Signed RW -
Pn615 1230 32bit-Usigned RW -
Pn616 1232 32bit-Usigned RW -
Pn617 1234 32bit-Usigned RW -
Pn618 1236 32bit-Usigned RW -
Pn619 1238 32bit-Signed RW -
Pn620 1240 32bit-Usigned RW -
Pn621 1242 32bit-Usigned RW -
Pn622 1244 32bit-Usigned RW -
Pn623 1246 32bit-Usigned RW -
Pn624 1248 32bit-Signed RW -
Pn625 1250 32bit-Usigned RW -
Pn626 1252 32bit-Usigned RW -
Pn627 1254 32bit-Usigned RW -
Pn628 1256 32bit-Usigned RW -
Pn629 1258 32bit-Signed RW -
Pn630 1260 32bit-Usigned RW -
Pn631 1262 32bit-Usigned RW -
Pn632 1264 32bit-Usigned RW -
Pn633 1266 32bit-Usigned RW -
Pn634 1268 32bit-Signed RW -
Pn635 1270 32bit-Usigned RW -
Pn636 1272 32bit-Usigned RW -
Pn637 1274 32bit-Usigned RW -
Pn638 1276 32bit-Usigned RW -
Pn639 1278 32bit-Signed RW -
Pn640 1280 32bit-Usigned RW -
Pn641 1282 32bit-Usigned RW -
Pn642 1284 32bit-Usigned RW -
Pn643 1286 32bit-Usigned RW -
Pn644 1288 32bit-Signed RW -

70
 Name Register address Data format R/W Note
Pn645 1290 32bit-Usigned RW Corresponding to parameters, same below
Pn646 1292 32bit-Usigned RW -
Pn647 1294 32bit-Usigned RW -
Pn648 1296 32bit-Usigned RW -
Pn649 1298 32bit-Signed RW -
Pn650 1300 32bit-Usigned RW -
Pn651 1302 32bit-Usigned RW -
Pn652 1304 32bit-Usigned RW -
Pn653 1306 32bit-Usigned RW -
Pn700 1400 32bit-Usigned RW -
Pn701 1402 32bit-Usigned RW -
Pn702 1404 32bit-Usigned RW -
Pn703 1406 32bit-Usigned RW -
Reserved 1408-1410 32bit-Usigned RW Reserved terms are not corresponding to parameters
Pn706 1412 32bit-Usigned RW -
Pn707 1414 32bit-Usigned RW -
Pn708 1416 32bit-Usigned RW -
Pn709 1418 32bit-Usigned RW -
Pn710 1420 32bit-Usigned RW -
Pn711 1422 32bit-Usigned RW -
Pn712 1424 32bit-Usigned RW -
Pn713 1426 32bit-Usigned RW -
Pn714 1428 32bit-Usigned RW -
Pn715 1430 32bit-Usigned RW -
Pn716 1432 32bit-Usigned RW -
Pn717 1434 32bit-Usigned RW -
Pn812 1624 32bit-Usigned RW -
Pn813 1626 32bit-Usigned RW -
Pn814 1628 32bit-Usigned RW -
Pn815 1630 32bit-Usigned RW -

71
 Name Register address Data format R/W Note
Alarm log 2000-2009 16bit-Signed RO Check 10 sets of alarm logs
Motor rotation speed 2010 32bit-Signed RO rpm
Speed command 2012 32bit-Signed RO rpm
Internal torque 2014 32bit-Signed RO 0.1%
bit0: CN1_10
bit1: CN1_11
bit2: CN1_12
bit3: CN1_13
Input port status 2016 32bit-Usigned RO bit4: CN1_14
bit5: CN1_15
bit6: CN1_16
bit7: CN1_17
bit8-bit31: Reserved
bit0: CN1_8&CN1-25
bit1: CN1_26&CN1-27
Output port status 2018 32bit-Usigned RO bit2: CN1_28&CN1-29
bit3: CN1_30&CN1-31
bit4-bit31: Reserved
Mechanical angle 2020 32bit-Usigned RO pulse
Electrical angle 2022 32bit-Usigned RO 0.1°
Position command speed 2032 32bit-Signed RO rpm
Position command counter 2034 32bit-Signed RO pulse
Actual position counter 2036 32bit-Signed RO pulse
Position deviation counter 2038 32bit-Signed RO pulse
Feedback pulse counter 2040 32bit-Signed RO pulse
Analog speed
2052 32bit-Signed RO 0.1V
command voltage
Analog torque
2054 32bit-Signed RO 0.1V
command voltage
Bus voltage 2056 32bit-Signed RO 0.1V
Phase current RMS value 2058 32bit-Signed RO 0.1A
Average motor
2060 32bit-Usigned RO %
loading rate

72
 Name Register address Data format R/W Note
Motor overload ratio 2062 32bit-Usigned RO %
Regenerative
2064 32bit-Usigned RO %
resistor load ratio
Total power-up time 2066 32bit-Usigned RO S
Effective gain 2068 32bit-Usigned RO -
Position/velocity
2070 32bit-Usigned RO -
presets
Absolute encoder
2082 32bit-Usigned RO pulse (encoder unit)
single-turn position
Absolute zero
2084 32bit-Usigned RO pulse (encoder unit)
position
Absolute encoder
2086 32bit-Usigned RO ℃
temperature
Absolute encoder
absolute position 2088 32bit-Usigned RO pulse (encoder unit)
(High 32 bits)
Motor absolute position
2090 32bit-Usigned RO pulse (encoder unit)
(Low 32 bits)
Motor absolute position
2092 32bit-Usigned RO pulse (encoder unit)
(High 32 bits)
Mechanical absolute position
2094 32bit-Usigned RO pulse (command unit)
(Low 32 bits)
Mechanical absolute position
2096 32bit-Usigned RO pulse (command unit)
(High 32 bits)
Rotating load
single-turn position 2098 32bit-Usigned RO pulse (encoder unit)
(Low 32 bits)
Rotating load
single-turn position 2100 32bit-Usigned RO pulse (encoder unit)
(High 32 bits)
Rotating load
2102 32bit-Usigned RO pulse (command unit)
single-turn position

73
 Name Register address Data format R/W Note
bit0: Servo ready
bit1: Servo alarm
bit2: Positioning complete
bit3: Brake output vaild
bit4: Motor rotate
bit5: Same speed
bit6: Motor zero-speed
bit7: Positioning approaching
bit8: Torque limited
bit9: Speed limited
Servo internal status 2110 32bit-Usigned RO
bit10: Torque reached
bit11: Servo warning
bit12: Servo fault code 1
bit13: Servo fault code 2
bit14: Servo fault code 3
bit15: Homing complete
bit16: Encoder C pulse valid
bit17: Motor excitation
bit18: Overtravel
bit19-bit31: Reserved
Speed giving
3000 16bit-Signed RW 0.1rpm
command
Speed giving
3001 16bit-Signed RW 0.1%
command
bit0: MDI_01
bit1: MDI_02
bit2: MDI_03
bit3: MDI_04
MDI Status 3002 16bit-Usigned RW bit4: MDI_05
bit5: MDI_06
bit6: MDI_07
bit7: MDI_08
bit8-bit15: Reserved

74
 Name Register address Data format R/W Note
bit0: MDO_01
bit1: MDO_02
MDO Status 3003 16bit-Usigned RW bit2: MDO_03
bit3: MDO_04
bit4-bit15: Reserved
bit0: Factory reset
bit1: Alarm reset
bit2: Clear alarm logs
bit3: Reserved
bit4: Reserved
Auxiliary operations 3004 16bit-Usigned RW
bit5: JOG Enable
bit6: JOG+
bit7: JOG-
bit8: Change electronic gear ratio
bit9-bit15: Reserved

!
• The starting address of the standard MODBUS command register is 1, while the register address of many
devices starts from 0. For compatibility, PLC/touch screen manufacturers will subtract 1 from the register
address.
• Register addresses of POWSD-E3 Series Servo Motor Drivers start from 0.
• POWSD-E3 Series Servo Drives do not support separate operation of the high 16 bits or low 16 bits of 32-bit
data.
• While changing the parameters, please be aware of the attributes of the parameter, for example, range, unit,
enable time. Please refer to Chapter 4 Parameter Setting for details.

75
 Chapter 7 Bluetooth

7.1 Bluetooth connection

• Supmax Servo Driver mobile APP can be downloaded from the official website.
Important

Parameter Pn702 can enable Bluetooth function.

No. Name Range Unit Default Enable time Related modes
Serial communication protocol
0~2 - 0 Re-powered PST
selection
Value Meaning
Pn702
0 Wired MODBUS control mode
1 Wired + Bluetooth MODBUS control mode
2 Wired + Bluetooth oscilloscope debug mode

7.2 Bluetooth APP instructions

Step Instruction Display

After installing the APP software, find the APP

1 icon on the desktop of your phone, as shown in
the right figure:

76
Step Instruction Display

Run the APP software for the first time, you

may jump to the device management page.

If the following message pops up, please click

the "Always allow" button, otherwise the device
may not be scanned.

After the Servo Drive Bluetooth is powered on,

please let the mobile stay close to the Servo
3 Drive and clicks on the "Scan for Devices"
button to bring up the new devices being
scanned for.

Click the device in the box above, if the

connection is successful, the APP will
automatically jump to the home page.
4 There are 4 buttons on the home page, which
are Control Mode, Servo Monitoring, Pn
Parameter List and Device Management, as
shown in the figure on the right.

77
Step Instruction Display
Control modes are position control mode, speed
control mode, torque control mode and
combined control mode.
These four control modes provide four servo
applications, which can be selected according to
5
the actual needs of customers, and each control
mode provides a setup wizard.
The following is an example of the use of
position control mode. Click "Position Control
Mode" as shown in the figure on the right:

Choose Enable Type, if you need the servo to

enable immediately after power on, select
"Internal Enable", if you need the CN1 port to
6 control servo enable, select "External Enable",
and then click "Next "button, as shown in the
figure on the right:

Choose Command Source, usually choose the

7 default "External Pulse Input", then click the
"Next" button.

78
Step Instruction Display

Select Command Pulse Form and Pulse

Counting Edge, （the default value is OK）then
8 click the "Next" button, as shown in the right
figure.

The position control mode is configured. After

restarting the servo drive, it can work normally.
9
Configurations of other control modes are
similar to this example.

Click the "Servo Monitoring" button to enter

servo monitoring page. This page is used to
display general status information of the servo
drive, such as current rotating speed, operating
10
current, torque percentage, analog speed
command voltage, analog torque command
voltage, DC bus voltage, etc., as shown in the
right figure.

79
Step Instruction Display

Click the “Pn Parameter List” button to start

servo parameter management page. This page
displays all the parameters of the servo driver.
You can load the servo parameters from the
servo driver, set the servo parameters, and save
the parameter recipe, as shown in the right
figure.

11

If it is the first time to open this page, it is

recommended to load the servo parameters
from the servo driver first. Click “Load from
Device” and wait for a short time.

If this following message pops up when you

open the servo parameter management page,
please click the "Allow all the time" button,
otherwise parameter management function may
not work well.

80
Step Instruction Display

After loading the parameters, you can modify

the parameters. Clicking on the parameter list
brings up the modification page that allows you
to modify the parameter value.
12

After modifying the parameter value, click

“OK” to update the parameter value to the
servo driver.

Click "Parameter Recipe Management" to

enter the parameter recipe management page,
as shown on the right handside.

The parameter recipe management page allows

you to save the parameters of a tuned servo
driver. For example, customer A uses 20
identical servo drives, only one of them needs to
be tuned, then save the parameters of the tuned
servo drive as a recipe file (Note: Before saving
13
the recipe file, please load all the parameters of
the servo drive first). The remaining 19 servo
drives can use the receipt file directly. There is
no need to tune all the servo drives.

Parameter recipe management provides Add,

Delete, and Open functions. The recipe name is
recommended to use "factory name + machine
name + serial number", for example, “Supmax
Bag Making Machine 001”.

81
 Click “About” to check the software version
14 number. It is recommended to use the latest
version of the software.

82
 Chapter 8 Running

8.1 JOG Run

Please follow the steps shown below.

Step Operation
Fix the servo motor firmly. Disconnect the motor shaft from the machine. Remove the CN1 plug
1
connection of the servo motor driver.
Power on the servo driver. If there is no fault, the status display is shown below. This status display
means that the servo driver is on standby, the main power is on, and the control power is on.

2
If there are faults, the digital segment displays the fault code. Please conduct troubleshooting.

Press the MODE button to select the auxiliary function mode "jog run (Fn002)".
3

Press the DATA button, the LED segment displays like this:
4

Press the DATA button, servo ON.

5

Press the ▲ button (forward rotation) or ▼ button (reverse rotation), the servo motor rotates
according to the set speed in Pn319.
6

Press the DATA button, servo OFF.

7

Press MODE button to return. The LED segment displays the auxiliary function number.
8

If there is no fault and the servo motor performs as what is set in servo drive parameters, then “Servo
9
motor single trial run” is completed. End “JOG run (Fn002)” and turn of the power.

83
8.2 Position control mode: wiring & running

8.2.1 Position control mode wiring

POWSD-E3
Series Servo Motor Driver

+24V PAO+
20
PG frequency
PPI 2 19 PAO-
dividing output
18 PBO+
Applicable for
17 PBO-
2.2KΩ line receivers
15 PZO+
75Ω AM26LS32A or
PULSE / CW / A PULSE+ 3 16 PZO-
equivalent
P

75Ω
Position PULSE- 14 22 CZ
2.2KΩ
command 1 GND
75Ω
SIGN / CCW / B SIGN+ 4
P

75Ω
SIGN- 5

Signal available: 11 /S-RDY Signal available:

/S-ON: Servo enable /S-RDY: Servo ready
/ALM-RST: Alarm reset ALM: Servo alarm
P-OT: Forward drive disable 12 /TGON /TGON: Motor rotation detect
N-OT: Reverse drive disable /COIN: Positioning complete
/CLR: Clear position deviation /VCMP: Speed coincidence
/ZCLAMP: Zero clamp +24V 24 /COIN /ZSPD: Motor zero speed
/PCL: Forward external torque limit /BK: Brake
/NCL: Reverse external torque limit DICOM /NEAR: Positioning approaching
9
/P-CON: Speed loop P/PI control switch 3.3KΩ /CLT: Torque limit
/INHABIT: Position command disable /S-ON 6 /VLT: Speed limit
3.3KΩ
/M-SEL1: Control mode select 1 /ALM-RST 7 /TCR: Torque detect
/M-SEL2: Control mode select 2 3.3KΩ
/WARN: Servo warning
/CLR 21
/GAIN-SEL: Gain select 3.3KΩ /AL1: Fault code 1
/GEAR-SEL: Gear ratio select /ZCLAMP 8 /AL2: Fault code 2
/VLT-SEL: External speed limit select XGND 10 /AL3: Fault code 3
/P-DIR: Position command direction select
/S-DIR: Speed command direction select
/T-DIR: Torque command direction select
/CMD-DIR: Internal command (speed, position) direction 1Ry +24V
select
/CMD1: Internal command (speed, position) select 1
23 ALM
/CMD2: Internal command (speed, position) select 2
/CMD3: Internal command (speed, position) select 3
10 XGND 1D
/ORG: Zero position
/SHM: Home start
/CTRL: Control signal modifier

Optocoupler output:
Shield Maximum operating voltage DC30V
Maximum output current DC50mA

indicates twisted pair

P

84
8.2.2 External pulse input

The servo driver can input pulse commands in the following 3 forms
• Sign + Pulse (Positive logic or negative logic).
• Forward pulse / Reverse pulse (CW + CCW).
• A-phase + B-phase orthogonal pulses, multiplied by 4.
Please set the pulse form accordingly. Take “Sign + Pulse” as an example.

1. Settings

Power on the servo motor driver and make sure there is no fault.
Restore the motor drive to its original manufacturer settings and set parameters according to the table below:
No. Name Value Default Unit Enable time
Pn000 Function selection switch 0 0000 0000 - Re-powered
Pn004 Function selection switch 4 0111 0110 - Re-powered
Pn200 Position command source 0 0 - Re-powered
Pn201 Command pulse format selection 0000 0000 - Re-powered
Electronic gear ratio
Pn205 User setting 1 - Shutdown
(numerator)
Electronic gear ratio
Pn206 User setting 1 - Shutdown
(denominator)
Please re-power the servo driver after setting the parameters.

2. Results

Method 1:
Input high level signals between pins 4(SIGN) and 5(/SIGN) of the servo CN1 input terminal.
Input 20,000 pulse signals between pins 3 (PULS) and 14 (/PULS) of the servo CN1 input terminal.
Motor rotates in a forward direction; number of turns depends on gear ratio.

Method 2:
Input low level signals between pins 4(SIGN) and 5(/SIGN) of the servo CN1 input terminal.
Input 20,000 pulse signals between pins 3 (PULS) and 14 (/PULS) of the servo CN1 input terminal.
Motor rotates in a reverse direction; number of turns depends on gear ratio.

85
8.2.3 Internal preset position commands

Internal preset is a function that allows the user to preset 8 position commands in servo drive in advance, and use
external input signals to choose those preset commands to control the position. This function is effective for position
control action which is up to 8 positions. The following is an example of setting preset 1 and preset 2.

1. Settings

Power on the servo motor driver and make sure there is no fault.
Restore the motor drive to its original manufacturer settings and set parameters according to the table below:
No. Name Value Default Unit Enable time
Pn000 Function selection switch 0 0000 0000 - Re-powered
Pn004 Function selection switch 4 0111 0110 - Re-powered
Pn200 Position command source 2 0 - Re-powered
Pn610 Preset position running method 0002 0000 - IMMED
Pn612 Starting preset number 1 1 - IMMED
Pn613 Ending preset number 2 2 - IMMED
Preset 1 target position
Pn614 10000 10000 pulse IMMED
(command unit)
Pn615 Preset 1 running speed 200 100 rpm IMMED
Pn618 Preset 1 positioning complete waiting time 1000 0 ms IMMED
Preset 2 target position
Pn619 -10000 10000 pulse IMMED
(command unit)
Pn620 Preset 2 running speed 500 100 rpm IMMED
Pn623 Preset 2 positioning complete waiting time 2000 0 ms IMMED
Please re-power the servo driver after setting the parameters.

2. Signal assignment

/CMD_DIR signal switches the motor rotating direction and /CTRL signal switches the presets running. These are not
assigned by default, please assign them by yourself.
Type Signal name Pin number State Meaning
ON Motor rotates in a reverse direction
Input /CMD_DIR Custom
OFF Motor rotates in a forward direction
ON Preset position control start running
Input /CTRL Custom
OFF Preset position control stop running

86
Set parameters according to the table below:
No. Name Value Default Enable time
Pn553 Sequential input port 5 signal assignment 19 5 IMMED
Pn555 Sequential input port 6 signal assignment 25 6 IMMED

3. Results

Method 1:
Set /CMD_DIR to OFF and /CTRL to ON, preset position control start running. The motor rotates in a forward
direction at 200rpm as preset 1, after completion, it stops for 1 second. Then the motor rotates in a reverse direction at
500rpm as preset 2, after completion, it stops for 2 second. After that, go back to loop start (preset 1), and run the
loop again.

Method 2:
Set /CMD_DIR to ON and /CTRL to OFF, preset position control start running. The motor rotates in a reverse
direction at 200rpm as preset 1, after completion, it stops for 1 second. Then the motor rotates in a forward direction
at 500rpm as preset 2, after completion, it stops for 2 second. After that, go back to loop start (preset 1), and run the
loop again.

87
8.3 Speed control mode: wiring & running

8.3.1 Speed control mode wiring

POWSD-E3
Series Servo Motor Driver

20 PAO+
19 PAO- PG frequency
dividing output
18 PBO+
Applicable for
ref 17 PBO-
Speed command VREF 25 + line receivers
15 PZO+
P

(±0~10V / Rated speed) VGND 13 -

AM26LS32A or
16 PZO-
A/D
equivalent
22 CZ
1 GND

Signal available:
/S-ON: Servo enable
/ALM-RST: Alarm reset
P-OT: Forward drive disable 11 /S-RDY Signal available:
N-OT: Reverse drive disable /S-RDY: Servo ready
/CLR: Clear position deviation ALM: Servo alarm
/ZCLAMP: Zero clamp 12 /TGON /TGON: Motor rotation detect
/PCL: Forward external torque limit /COIN: Positioning complete
/NCL: Reverse external torque limit /VCMP: Speed coincidence
+24V 24 /COIN /ZSPD: Motor zero speed
/P-CON: Speed loop P/PI control switch
/INHABIT: Position command disable /BK: Brake
/M-SEL1: Control mode select 1 DICOM 9 /NEAR: Positioning approaching
/M-SEL2: Control mode select 2 3.3KΩ /CLT: Torque limit
/S-ON 6 /VLT: Speed limit
/GAIN-SEL: Gain select 3.3KΩ
/GEAR-SEL: Gear ratio select /ALM-RST 7 /TCR: Torque detect
3.3KΩ
/VLT-SEL: External speed limit select /CLR 21 /WARN: Servo warning
/P-DIR: Position command direction select 3.3KΩ /AL1: Fault code 1
/ZCLAMP 8 /AL2: Fault code 2
/S-DIR: Speed command direction select
/T-DIR: Torque command direction select
XGND 10 /AL3: Fault code 3
/CMD-DIR: Internal command (speed, position) direction select
/CMD1: Internal command (speed, position) select 1
/CMD2: Internal command (speed, position) select 2
/CMD3: Internal command (speed, position) select 3 1Ry +24V
/ORG: Zero position 23 ALM
/SHM: Home start
/CTRL: Control signal modifier
1D
10 XGND

Optocoupler output:
Shield Maximum operating voltage DC30V
Maximum output current DC50mA

indicates twisted pair

P

88
8.3.2 External analog input

1. Settings

Power on the servo motor driver and make sure there is no fault.
Restore the motor drive to its original manufacturer settings and set parameters according to the table below:
No. Name Value Default Unit Enable time
Pn000 Function selection switch 0 0010 0000 - Re-powered

Pn004 Function selection switch 4 0111 0110 - Re-powered

Pn300 Speed command selection 0 0 - Re-powered
Pn310 Analog speed input gain 100 100 rpm/v IMMED
Analog speed command
Pn536 1 1 - IMMED
input port signal assignment
Please re-power the servo driver after setting the parameters.

2. Signal assignment

To use the analog input signal for speed control, assign the analog speed command input port signal to VREF.
Type Signal name Pin number Meaning
VREF CN1_25
Input Analog voltage input signal
VGND CN1_13
/S-DIR switches the motor rotating direction. This is not assigned by default, please assign it by yourself.
Type Signal name Pin number State Meaning
The actual speed command direction is opposite to
ON
the set speed command direction
Input /S-DIR Custom
The actual speed command direction is the same as
OFF
the set speed command direction
Input analog voltage values 1V, 2V, 3V, 4V, 5V between pins 25 (VREF) and 13 (VGND) of the servo CN1 input
terminal, respectively.

3. Results

Method 1:
Set /S-DIR to OFF, and the motor rotates in a forward direction at 100rpm, 200rpm, 300rpm, 400rpm, 500rpm
respectively.

Method 2:
Set /S-DIR to ON, and the motor rotates in a reverse direction at 100rpm, 200rpm, 300rpm, 400rpm, 500rpm
respectively.

89
8.3.3 Internal parameter speed command

Internal parameter speed means that the servo driver controls the motor to run at a certain speed according to the
parameter values. Only one target speed value is allowed to be set.

1. Settings

Power on the servo motor driver and make sure there is no fault.
Restore the motor drive to its original manufacturer settings and set parameters according to the table below:
No. Name Value Default Unit Enable time
Pn000 Function selection switch 0 0010 0000 - Re-powered

Pn004 Function selection switch 4 0111 0110 - Re-powered

Pn300 Speed command selection 1 0 - Re-powered
Pn320 Parameter speed running method 0 0 - IMMED
Pn321 Parameter speed 1000 100 rpm IMMED

Please re-power the servo driver after setting the parameters.

2. Signal assignment

/S-DIR switches the motor rotating direction. This is not assigned by default, please assign it by yourself.
Type Signal name Pin number State Meaning
The actual speed command direction is opposite to
ON
the set speed command direction
Input /S-DIR Custom
The actual speed command direction is the same as
OFF
the set speed command direction

3. Results

Method 1:
Set /S-DIR to OFF, and the motor rotates in a forward direction at 1000rpm.

Method 2:
Set /S-DIR to ON, and the motor rotates in a reverse direction at 1000rpm.

90
8.3.4 Internal preset speed commands

Internal preset speed is a function that allows the user to preset 7 motor speeds in servo drive in advance, and use
external input signals to choose those preset speed commands to control the speed. This function is effective for
speed control action which is up to 7 different speeds.

1. Settings

Power on the servo motor driver and make sure there is no fault.
Restore the motor drive to its original manufacturer settings and set parameters according to the table below:
No. Name Value Default Unit Enable time
Pn000 Function selection switch 0 0010 0000 - Re-powered
Pn004 Function selection switch 4 0111 0110 - Re-powered
Pn300 Speed command selection 2 0 - Re-powered
Pn322 Preset speed 1 -50 100 rpm IMMED
Pn323 Preset speed 2 50 100 rpm IMMED
Pn324 Preset speed 3 100 100 rpm IMMED
Pn325 Preset speed 4 200 100 rpm IMMED
Pn326 Preset speed 5 500 100 rpm IMMED
Pn327 Preset speed 6 1000 100 rpm IMMED
Pn328 Preset speed 7 1500 100 rpm IMMED

Please re-power the servo driver after setting the parameters.

2. Signal assignment

The internal preset speed is selected by the /CMD1, /CMD2, /CMD3 signals.
These are not assigned by default, please assign them by yourself.
Type Signal name Pin number Meaning
/CMD1
Input /CMD2 Custom Select internal preset speed
/CMD3

Set parameters according to the table below:

No. Name Value Default Enable time
Pn547 Sequential input port 2 signal assignment 20 2 IMMED
Pn553 Sequential input port 5 signal assignment 21 5 IMMED
Pn555 Sequential input port 6 signal assignment 22 6 IMMED

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3. Results

The motor selects the internal preset speed via CMD1, CMD2, CMD3.
Input signal Speed
/CMD1 /CMD2 /CMD3
OFF OFF OFF 0 (Stop)
OFF OFF ON Pn322 (-50rmp)
OFF ON OFF Pn323 (50rmp)
OFF ON ON Pn324 (100rmp)
ON OFF OFF Pn325 (200rmp)
ON OFF ON Pn326 (500rmp)
ON ON OFF Pn327 (1000rmp)
ON ON ON Pn328 (1500rmp)

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8.4 Torque control mode: wiring & running

8.4.1 Torque control mode wiring

POWSD-E3
Series Servo Motor Driver

20 PAO+
PG frequency
19 PAO-
dividing output
18 PBO+
Applicable for
ref 17 PBO-
Torque command VREF 25 + line receivers
15 PZO+
P

(±0~10V / Rated torque) VGND 13 -

AM26LS32A or
16 PZO-
A/D equivalent
22 CZ
1 GND

Signal available:
/S-ON: Servo enable
/ALM-RST: Alarm reset
11 /S-RDY Signal available:
P-OT: Forward drive disable
N-OT: Reverse drive disable /S-RDY: Servo ready
/CLR: Clear position deviation ALM: Servo alarm
/ZCLAMP: Zero clamp 12 /TGON /TGON: Motor rotation detect
/PCL: Forward external torque limit /COIN: Positioning complete
/VCMP: Speed coincidence
/NCL: Reverse external torque limit 24 /COIN
/P-CON: Speed loop P/PI control switch +24V /ZSPD: Motor zero speed
/INHABIT: Position command disable /BK: Brake
DICOM /NEAR: Positioning approaching
/M-SEL1: Control mode select 1 9
/M-SEL2: Control mode select 2 3.3KΩ /CLT: Torque limit
/S-ON 6 /VLT: Speed limit
/GAIN-SEL: Gain select 3.3KΩ
/GEAR-SEL: Gear ratio select /ALM-RST 7 /TCR: Torque detect
3.3KΩ /WARN: Servo warning
/VLT-SEL: External speed limit select /CLR 21
/P-DIR: Position command direction select 3.3KΩ /AL1: Fault code 1
/ZCLAMP 8 /AL2: Fault code 2
/S-DIR: Speed command direction select
/T-DIR: Torque command direction select
XGND 10 /AL3: Fault code 3
/CMD-DIR: Internal command (speed, position) direction
select
/CMD1: Internal command (speed, position) select 1
/CMD2: Internal command (speed, position) select 2 1Ry +24V
/CMD3: Internal command (speed, position) select 3 23 ALM
/ORG: Zero position
/SHM: Home start
/CTRL: Control signal modifier 1D
10 XGND

Shield Optocoupler output:

Maximum operating voltage DC30V
Maximum output current DC50mA
indicates twisted pair
P

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8.4.2 External analog input

1. Settings

Power on the servo motor driver and make sure there is no fault.
Restore the motor drive to its original manufacturer settings and set parameters according to the table below:
No. Name Value Default Unit Enable time
Pn000 Function selection switch 0 0020 0000 - Re-powered
Pn004 Function selection switch 4 0111 0110 - Re-powered
Pn400 Torque command source 0 0 - Re-powered
0.1v/
Pn402 Analog torque input gain 33 33 IMMED
100%
Pn404 Torque mode speed limiting method 0 0 - IMMED
Pn405 Torque mode internal speed limit 500 1000 rpm- IMMED
Analog torque command
Pn540 1 1 - IMMED
input port signal assignment
Please re-power the servo driver after setting the parameters.

2. Signal assignment

To use the analog input signal for speed control, assign the analog speed command input port signal to VREF.
Type Signal name Pin number Meaning
VREF CN1_25
Input Analog voltage input signal
VGND CN1_13
/T-DIR switches the motor rotating direction. This is not assigned by default, please assign it by yourself.
Type Signal name Pin number State Meaning
The actual torque command direction is opposite
ON
to the set torque command direction
Input /T-DIR Custom
The actual torque command direction is the same
OFF
as the set torque command direction
Input analog voltage values 1V, 2V, 3V, 4V, 5V between pins 25 (VREF) and 13 (VGND) of the servo CN1 input
terminal, respectively.

3. Results

Set /T-DIR to OFF, the motor rotates in a forward direction. the higher the analog voltage, the higher the output
torque. The output torque is measured by the torque tester. The output torque percentage (relative to the rated torque
in %) is 3.3 times the analog voltage value (in V).

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8.5 Servo motor with the brake

A brake is a component that keeps the position fixed when servo drive is power-off, so that the machine does not
move due to self-weight or external forces. The brake is placed inside the servo motor with the brake. Please use it in
the case as shown in the figure below.
Servo motor with brake

Prevents movement due to

gravity when power is OFF Servo motor with brake
External
force

Prevent movement due to external forces

△
! Cautions

• The brake built in the servo motor is non-energized and only for position fixing. It is not for braking purposes
and is not a barking device used to ensure safety. It can be used only when servo motor is stopped.
• The brake coil has no polarity.
• After the servo motor is stopped, the servo enable (S-ON) should be turned off.
• When a motor with a built-in brake is running, the brake may make clicking sounds. It does not affect the
performance of product.
• When the brake coil is energized, magnetic flux leakage may occur at several locations, e.g., shaft end. Please
be careful when using magnetic instruments such as magnetic sensors near the motor.
Brake actions exist delay. For action ON/OFF timing, please refer to the figure below.
OFF ON OFF
Servo ON

Motor OFF ON
OFF
energized 3*

ON
/BK OFF OFF

Brake coil OFF ON OFF

Speed/position 1* 1*
command

Motor speed

2*

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1*. The delay time of the brake varies with the motor model.
2*. When inputting commands to the servo drive, please wait /S-ON signal to be ON, and after that wait for above
50ms after the brake released.
3*. Please use Pn516, Pn517 and Pn518 to set the time of brake action and servo OFF.

1. Wiring

The sequence output signal "/BK" of the servo driver and the brake power supply form the ON/OFF circuit of the
brake. A wiring example is shown below:

Servo drive Servo motor

CN1 with brake
Power
R L1 U
S L2 V
M
T L3 W

CN2 PG
BK-RY /BK+ 24
+24V
* XGND 10
BK

BK-RY Brake power

AC DC

Note: The coil of the 24V relay here must be properly connected in parallel with a diode, otherwise it will cause
damage to the sequential output port of the driver.

2. Brake signal

/BK is the output signal to control the brake. The brake signal is not assigned by default, please assign it by yourself.
Type Signal name Pin number State Meaning
ON Release the brake
Output /BK Custom
OFF Actuate the brake

In the overtravel state, the /BK signal remains ON and the brake remains released.
Important

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3. Brake ON/OFF setting
 Motor stops
When the servo motor stops, the brake (/BK) signal and the servo ON (/S-ON) signal are OFF. By setting Pn516, the
time from when the servo ON (/S-ON) signal is OFF to when the motor is actual non-energized.
If the shaft is vertical, the self-weight of the mechanical moving part or external force may cause slight mechanical
movements. By setting Pn516, it is able to let the motor be non-energized after the brake actuated to eliminate slight
mechanical movement.
No. Name Range Unit Default Enable time Related modes
Delay time from
Pn516 0~60000 ms 0 IMMED PST
brake output OFF to servo OFF

/S-ON ON OFF

ON
OFF
/BK Brake release
Brake actuate
Motor
Energized Energized Non-energized

Pn516

When a fault occurs, independent of Pn516, the servo motor will be non-energized
immediately. In this case, the machine may move before the brake actuation due to
Important the self-weight of the mechanical moving part or external force.

 Motor rotates
When a fault occurs during servo motor rotation or when the servo is OFF, the servo motor stops and the brake signal
(/BK) is OFF. In this case, the brake signal (/BK) output time can be adjusted by setting “brake output OFF speed”
(Pn517) and “waiting time from servo OFF to brake output OFF” (Pn518).
The brake will actuate when any of the following conditions is met.
• After the motor is non-energized, the motor speed is lower than the value of Pn517.
• After the motor is non-energized, the set time of Pn518 is elapsed.
No. Name Range Unit Default Enable time Related modes
Pn517 Brake output OFF speed 0~6000 rpm 50 IMMED PST
Waiting time from servo OFF to
Pn518 0~60000 ms 0 IMMED PST
brake output OFF
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 /S-ON
or fault occurs
ON OFF
or power off

Motor Pn517
speed

Motor Energized Non-energized

energized

ON
OFF
/BK Brake release
Brake actuate

Pn518

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(TBD)

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