User Manual for L7 Servo

User Manual for L7 Servo

1
 User Manual for L7 Servo

Introduction
Thanks for purchasing Leadshine L7-series AC servo drivers, this instruction manual provides
knowledge and attention for using this driver.

Incorrect operation may cause unexpected accident, please read this manual carefully before
using product.

 We reserve the right to modify equipment and documentation without prior notice.
 We won’t undertake any responsibility with customer’s any modification of product, and the warranty of
product will be cancel at the same time.

icates that the error use may damage product and equipment.
Safety Items
EL5 Series servo drive, should be mounted in cover type control box during operating. The mounting of
drive, wiring and motor should be under the regulations of EN 61800-5-1.
Safety items indicate a potential for personal injury or equipment damage if the recommended precautions
and safe operating practices are not followed.
The following safety-alert symbols are used on the drive and in the documentation:

Indicates great possibility of death or serious injury

!
Caution
Indicates something that must be done.

!
Warning
Indicates something that must not be done.

Indicates dangerous voltage.

Indicates do not touch hot heat sink when power on.

Protective Earth

Safety precautions
! Warning
Warning

 The design and manufacture of product doesn’t use in mechanic and system which have a threat to
operator.
 The safety protection must be provided in design and manufacture when using this product to prevent
incorrect operation or abnormal accident.

Acceptance
!
Caution
Caution
 The product which is damaged or have fault is forbidden to use.

Transportation 2
 User Manual for L7 Servo

!
Caution Caution
 The storage and transportation must be in normal condition.
 Don’t stack too high, prevent falling.
 The product should be packaged properly in transportation,
 Don’t hold the product by the cable, motor shaft or encoder while transporting it.
 The product can’t undertake external force and shock.
Installation
!
Caution Caution
Servo Driver and Servo Motor:
 Don’t install them on inflammable substance or near it to preventing fire hazard.
 Avoid vibration, prohibit direct impact.
 Don’t install the product while the product is damaged or incomplete.
Servo Driver:
 Must install in control cabinet with sufficient safeguarding grade.
 Must reserve sufficient gap with the other equipment.
 Must keep good cooling condition.
 Avoid dust, corrosive gas, conducting object, fluid and inflammable ,explosive object from invading.
Servo Motor:
 Installation must be steady, prevent drop from vibrating.
 Prevent fluid from invading to damage motor and encoder.
 Prohibit knocking the motor and shaft, avoid damaging encoder.
 The motor shaft can’t bear the load beyond the limits.

Wiring
!
Warning
Warning
 The workers of participation in wiring or checking must possess sufficient ability do this job.
 The wiring and check must be going with power off after five minutes
 Ground the earth terminal of the motor and driver without fail.
 The wiring should be connected after servo driver and servo motor installed correctly
 After correctly connecting cables, insulate the live parts with insulator.
!
Caution
Caution
 The wiring must be connected correctly and steadily, otherwise servo motor may run incorrectly, or
damage the equipment .
 Servo motor U, V, W terminal should be connected correctly , it is forbidden to connect them directly to
AC power.
 We mustn’t connect capacitors ,inductors or filters between servo motor and servo driver .
 The wire and temperature-resistant object must not be close to radiator of servo driver and motor.
 The freewheel diode which connect in parallel to output signal DC relay mustn’t connect reversely.

Debugging and running

!
Caution
Caution
 Make sure the servo driver and servo motor installed properly before power on, fixed steadily, power
voltage and wiring correctly.
 The first time of debugging should be run without loaded, debugging with load can be done after
confirming parameter setting correctly, to prevent mechanical damage because of error operation.
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 User Manual for L7 Servo

Using
!
Caution Caution
 Install a emergency stop protection circuit externally, the protection can stop running immediately to
prevent accident happened and the power can be cut off immediately.
 The run signal must be cut off before resetting alarm signal, just to prevent restarting suddenly.
 The servo driver must be matched with specified motor.
 Don’t power on and off servo system frequently, just to prevent equipment damaged.
 Forbidden to modify servo system.

Fault Processing
!
Warning
Warning
 T he high voltage also will contain in several minutes even if the servo driver is powered off, please
don’t touch terminal strip or separate the wiring.
 The workers of participation in wiring or checking must possess sufficient ability do this job.
!
Caution
Caution
 The reason of fault must be figured out after alarm occurs, reset alarm signal before restart.
 Keep away from machine, because of restart suddenly if the driver is powered on again after momentary
interruption(the design of the machine should be assured to avoid danger when restart occurs)

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 User Manual for L7 Servo

Table of Contents
Introduction ..................................................................................................................................................... 2
Chapter 1 Introduction..................................................................................................................................... 7
1.1 Product Introduction .......................................................................................................................... 7
1.2 Inspection of product ......................................................................................................................... 7
Chapter 2 Product Specification ...................................................................................................................... 8
2.1 Driver Technical Specification .......................................................................................................... 8
2.2 Accessory selection ........................................................................................................................... 8
Chapter 3 Installation ...................................................................................................................................... 9
3.1 Storage and Installation Circumstance .............................................................................................. 9
3.2 Servo Driver Installation ................................................................................................................... 9
3.3 Servo Motor Installation .................................................................................................................. 10
Chapter 4 Wiring ............................................................................................................................................11
4.1 Wiring ...............................................................................................................................................11
4.1.1 Wire Gauge ............................................................................................................................11
4.1.2 Position Control Mode ......................................................................................................... 13
4.1.3 Torque /Velocity Control Mode ............................................................................................ 14
4.2 Driver Terminals Function .............................................................................................................. 15
4.2.1 Control Signal Port-CN1 Terminal ....................................................................................... 15
4.2.2 Encoder Input Port-CN2 Terminal........................................................................................ 16
4.2.3 RS232/RS48 Communication Port ....................................................................................... 16
4.2.4 USB Communication Port .................................................................................................... 17
4.2.5 Power Port ............................................................................................................................ 17
4.3 I/O Interface Principle ..................................................................................................................... 18
4.3.1 Switch Input Interface .......................................................................................................... 18
4.3.2 Switch Output Interface ........................................................................................................ 20
4.3.3 Pulse Input Interface ............................................................................................................. 21
4.3.4 Analog Value Input Interface ................................................................................................ 23
4.3.5 Servo Motor Encoder Input Interface ................................................................................... 23
Chapter 5 Parameter ...................................................................................................................................... 24
5.1 Parameter List ................................................................................................................................. 24
5.2 Parameter Function.......................................................................................................................... 27
5.2.1【Class 0】Basic Setting ...................................................................................................... 27
5.2.2【Class 1】Gain Adjust ........................................................................................................ 32
5.2.3【Class 2】Vibration Suppression ........................................................................................ 36
5.2.4【Class 3】Velocity/ Torque Control .................................................................................... 38
5.2.5【Class 4】I/F Monitor Setting ............................................................................................ 42
5.2.6【Class 5】Extended Setup .................................................................................................. 48
5.2.7【Class 6】Special Setup...................................................................................................... 52
Chapter 6 Alarm and Processing ................................................................................................................... 54
6.1 Alarm List ........................................................................................................................................ 54
6.2 Alarm Processing Method ............................................................................................................... 55
6.3 Alarm clear ...................................................................................................................................... 62
Chapter 7 Display and Operation .................................................................................................................. 63
7.1 Introduction ..................................................................................................................................... 63
7.2 Panel Display and Operation ........................................................................................................... 64
7.2.1 Panel Operation Flow Figure ................................................................................................ 64
7.2.2 Driver Operating Data Monitor ............................................................................................ 64
7.2.3 Auxiliary Function ................................................................................................................ 67
7.2.4 Saving parameter .................................................................................................................. 68
7.2.6 Abnormal Alarm ................................................................................................................... 69
7.3 Trial Run.......................................................................................................................................... 69
7.3.1 Inspection Before trial Run .................................................................................................. 69
7.3.2 Timing chart on power-up .................................................................................................... 70
7.3.3 Timing chart on fault ............................................................................................................ 70
7.3.4 holding brake ........................................................................................................................ 70
7.3.5 Trial Run Jog Control ...........................................................................................................
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Chapter 8 Application Case ........................................................................................................................... 72

8.1 Position Control............................................................................................................................... 73
8.1.1 Process of command pulse input .......................................................................................... 74
8.1.2 Electronic gear function ....................................................................................................... 75
8.1.3 Position command filter ....................................................................................................... 76
8.1.4 Motor encoder pulse output .................................................................................................. 77
8.1.5 Position complete output (INP) ............................................................................................ 78
8.2 Velocity Control .............................................................................................................................. 79
8.2.1 Velocity control by analog speed command ......................................................................... 81
8.2.2 Velocity control by internal speed command ........................................................................ 82
8.2.3 Speed command acceleration and deceleration function ...................................................... 84
8.2.4 Attained Speed signal AT-SPEED output ............................................................................. 85
8.2.5 Speed coincidence output (V-COIN) .................................................................................... 85
8.2.6 Speed zero clamp (ZEROSPD) ............................................................................................ 86
8.3 Torque Control ................................................................................................................................ 86
8.3.1 Analog torque command input ............................................................................................. 88
8.3.2 Torque limit function ............................................................................................................ 89
8.4 Inertia ratio identification ................................................................................................................ 90
8.4.1 On-line inertia ratio identification ........................................................................................ 90
8.4.2 Off-line inertia ratio identification........................................................................................ 90
8.5 Vibration Suppression ..................................................................................................................... 90
8.6 Third gain switching ........................................................................................................................ 92
8.7 Friction torque compensation .......................................................................................................... 93
8.8 Regenerative resister setting ............................................................................................................ 93
8.9 Security Features ............................................................................................................................. 93
8.9.1 Speed limit ............................................................................................................................ 93
8.9.2 Torque limit (TL-SEL) ......................................................................................................... 94
8.10 Multi-turn absolute encoder .......................................................................................................... 94
8.10.1 Parameters setting............................................................................................................... 94
8.10.2 Read absolute position ........................................................................................................ 95
8.10.3 Alarm .................................................................................................................................. 95
8.11 Other functions .............................................................................................................................. 96
8.11.1 Zero speed output（ZSP）................................................................................................. 96
8.11.2 Position deviation cleared（CL） ...................................................................................... 97
8.11.3 Position setup unit select .................................................................................................... 97
Chapter 9 Pr-Mode function .......................................................................................................................... 98
9.1 Overview ......................................................................................................................................... 98
9.1.1 Main function ....................................................................................................................... 98
9.1.2 Installation wiring................................................................................................................. 99
9.2 Parameter ....................................................................................................................................... 101
9.2.1 8th sort parameters specification ........................................................................................ 101
9.2.2 9th sort parameters specification ........................................................................................ 103
9.3 IO Operation mode ........................................................................................................................ 104
9.3.1 Homing ............................................................................................................................... 104
9.3.2 Trigger path ........................................................................................................................ 106
9.3.3 Position limit, JOG and E-stop function. ............................................................................ 108
9.4 Communication control mode ........................................................................................................110
9.4.1 parameters setting ................................................................................................................110
9.4.2 485 communication Installation wiring ...............................................................................113
9.4.3 Fixed trigger mode ..............................................................................................................113
9.4.4 Immediately trigger method ................................................................................................114
9.4.5 Test Pr-Mode with Serial debugging assistant .....................................................................115
9.5 Upper computer operation ..............................................................................................................119
9.6 RS485 Parameter address .............................................................................................................. 121
Chapter 10 Order Guidance ......................................................................................................................... 128
10.1 Capacity Selection ....................................................................................................................... 128
10.2 Electronic Gear Ratio .................................................................................................................. 128
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 User Manual for L7 Servo

Chapter 1 Introduction
1.1 Product Introduction
Talent feature:
◆Width ratio, constant torque
Speed ratio :1:5000, stable torque features from low speed to high speed
◆High-speed, high-precision
The maximum speed of the servo motor up to 5000rpm, rotation positioning accuracy up to 1/223r.
◆Simple, flexible to control
By modifying the parameters of the servo system, the operating characteristics make the appropriate setting
to suit different requirements.

1.2 Inspection of product

1. You must check the following thing before using the products :
a. Check if the product is damaged or not during transportation.
b. Check if the servo driver & motor are complete or not.
c. Check the packing list if the accessories are complete or not
2. Type meaning
a. L7 series servo driver

NO Details
① Series Num L7：7th servo driver
② Command source Reserved：Stand version RS： RS485 EC： EtherCAT
Power 200:200W 400：400W 750：750W
③
1000：1000W 1500：1500W
④ Customize Num

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 User Manual for L7 Servo

Chapter 2 Product Specification

!
Warning Notice
Servo driver must be matched with relevant servo motor, this manual describes Leadshine EL5 series servo motor.

2.1 Driver Technical Specification

Table 2.1 Driver Specification
Parameter L7-**400 L7-**0750 L7-**1000 L7-**1500 L7-**2000
Rated output power 400W 750W 1KW 1.5KW 2KW
Rated output current 2 3.7 5 7.5 10.5
Max output current 8.5 16 22 25 30
Main power Single phase or three phase 220V -15%~+10% 50/60HZ
Control power Single phase 220V -15%~+10%
Control mode IGBT SVPWM sinusoidal wave control
Feedback mode 2500P/R incremental encoder/5000line/17-bit absolute encoder/23bit abosolute encoder
Input pulse 0-500kHZ,5V differential input
Adjust speed ratio 3000:1
Position bandwidth 200HZ
Electronic gear ratio 1~32767/1~32767
Analog input -10~10Vdc,input resistance 20KΩ, no isolation
Velocity bandwidth 500HZ
DI：9 inputs（Support common + and common - two wiring modes）
Input signal Servo enable, over-travel inhibition, gain switching, command pulse inhibition, speed zero clamp,
deviation counter clear, alarm clear
DO：6 outputs（4 single-ended，2 differential）
Output signal
Alarm output, servo-ready, at-speed, zero-detection, velocity coincidence
Encoder signal
A phase, B phase, Z phase, long-distance drive mode output
output
Over-voltage, under-voltage, over-current, over-load, encoder error, position deviation error, brake
Alarm function
alarm, limit alarm, over-speed error etc.
jog, trapezoidal wave test, each parameter and input output signal can be modified and saved,
Operation and
six-bit LED to display rotational speed, current, position deviation, driver type version and
display
address ID value etc.
Can adjust the parameters of current loop, velocity loop, position loop , and change the value of
Debug software input and output signals and the parameter of motor and save the values to the files which can be
downloaded and uploaded, monitor the waveform of velocity and position in the ladder.
Communication USB：Based on Modbus protocol (according to USB2.0 specification)
interface RS485
Brake mode Built-in brake 50Ω/50W
Adapt load inertia Less than 5 times motor inertia
weight About 1.5-3Kg
Environment Avoid dust, oil fog and corrosive gases
Ambient Temp 0 to +40℃ .
Humidity 40% RH to 90%RH, no condensation
environment
Vibration 5.9 m/s2 MAX
Storage Temperature -20~80℃
Installation Vertical installation

2.2 Accessory selection

1. motor cable 8
 User Manual for L7 Servo

2. encoder cable
3. brake cable (if necessary)
4. software configuration cable
5. control signal terminal CN1 (44 pin)
6. control signal shell CN1

Chapter 3 Installation
3.1 Storage and Installation Circumstance
Table 3.1 Servo Driver, Servo Motor Storage Circumstance Requirement
Item L7 series driver servo motor
Temperature -20-80℃ -25-70℃
Humility Under 90%RH (free from condensation) Under 80%RH(free from condensation)
Atmospheric Indoor(no exposure)no corrosive gas or Indoor(no exposure)no corrosive gas or
environment flammable gas, no oil or dust flammable gas, no oil or dust
Altitude Lower than 1000m Lower than 2500m
Vibration Less than 0.5G (4.9m/s2) 10-60Hz (non-continuous working)
Protection
IP00(no protection) IP54
level

Table 3.2 Servo Driver, Servo Motor Installation Circumstance Requirement

Item L7 series driver servo motor
Temperature 0-55℃ -25-40℃
Humility Under 90%RH(free from condensation) Under 90%RH(free from condensation)
Atmospheric Indoor(no exposure)no corrosive gas or Indoor(no exposure)no corrosive gas or
environment flammable gas, no oil or dust flammable gas, no oil or dust
Altitude Lower than 1000m Lower than 2500m
Vibration Less than 0.5G (4.9m/s2) 10-60Hz (non-continuous working)
Protection
IP00(no protection) IP54
level

3.2 Servo Driver Installation

Notice
 Must install in control cabinet with sufficient safeguarding grade.
 Must install with specified direction and intervals, and ensure good cooling condition.
 Don’t install them on inflammable substance or near it to prevent fire hazard.

Install in vertical position ,and reserve enough space around the servo driver for ventilation.
The user may install the product in the mode of bottom plate installation or panel installation, and the
installation direction is perpendicular to the installation face. In order to ensure good heat dissipation
conditions, at least 10MM of installation space should be set aside in the actual installation.
When mounting drives compactly, consider installation tolerances and leave at least 1MM between
each two drives. Use it below 75% of the actual load rate.
Here is the installation diagram:

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 User Manual for L7 Servo

3.3 Servo Motor Installation

Notice
 Don’t hold the product by the cable, motor shaft or encoder while transporting it.
 No knocking motor shaft or encoders, prevent motor by vibration or shock.
 The motor shaft can’t bear the load beyond the limits.
 Motor shaft does not bear the axial load, radial load, otherwise you may damage the motor.
 Use a flexible with high stiffness designed exclusively for servo application in order to make
a radial thrust caused by micro misalignment smaller than the permissible value.
 Install must be steady, prevent drop from vibrating.

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 User Manual for L7 Servo

Chapter 4 Wiring
! Warning
Warning

 The workers of participation in wiring or checking must possess sufficient ability do this job.
 The wiring and check must be going with power off after five minutes.

Caution
 Ground the earth terminal of the motor and driver without fail.
 The wiring should be connected after servo driver and servo motor installed correctly

4.1 Wiring
4.1.1 Wire Gauge
(1)Power supply terminal TB
● Diameter:
Table 4.1 Power wiring specification
Wire diameter (mm2/AWG)
Driver
r、t P+、BR U、V、W PE
L7-400 0.81/AWG18 2.1/AWG14 1.3/AWG16 2.1/AWG14
L7-750 0.81/AWG18 2.1/AWG14 1.3/AWG16 2.1/AWG14
L7-1000 0.81/AWG18 2.1/AWG14 2.1/AWG14 2.1/AWG14
● Grounding: The grounding wire should be as thick as possible, drive servo motor the PE terminal point
ground, ground resistance <100 Ω.
●Use noise filter to remove external noise from the power lines and reduce an effect of the noise generated
by the servo driver.
● Install fuse (NFB) promptly to cut off the external power supply if driver error occurs.

(2) The control signal CN1 feedback signal CN2

● Diameter: shielded cable (twisting shield cable is better), the diameter ≥ 0.14mm2 (AWG24-26), the
shield should be connected to FG terminal.
● Length of line: cable length should be as short as possible and control CN1 cable is no more than 3
meters, the CN2 cable length of the feedback signal is no more than 20 meters.
● Wiring: be away from the wiring of power line, to prevent interference input.
●Install a surge absorbing element for the relevant inductive element (coil),: DC coil should be in parallel
connection with freewheeling diode reversely; AC coil should be in parallel connection with RC snubber
circuit.

（3）Regenerative resister
When the torque of the motor is opposite to the direction of rotation (common scenarios such as
deceleration, vertical axis descent, etc.), energy will feedback from the load to the driver. At this time, the
energy feedback is first received by the capacitor in the driver, which makes the voltage of the capacitor rise.
When it rises to a certain voltage value, the excess energy needs to be consumed by the regenerative
resistance

The recommended regenerative resistance specifications for the L7 series are as follows：

Table 4.2 Regenerative resistance specification sheet

Built-in resister Built-in resister
Driver
value (Ω ) power (W)
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L7-400 100 50
L7-750 50 50
L7-1000 50 100

Method for determining regenerative resistance specification

 Firstly, use the built-in resistance of the driver to run for a long time to see if it can meet the
requirements: ensure that the driver temperature d33<60℃, the braking circuit does not alarm
(Regeneration load factor d14<80), and the driver does not report overvoltage error
 If the driver temperature is high, try to reduce the regenerative energy power, or external resistance of
the same specification (in this case, cancel the built-in resistance).
 If the brake resistance burns out, try to reduce the regenerative energy power, or put an external
resistance of the same specification or even more power (in this case, cancel the built-in resistance).
 If d14 is too large or accumulates too fast, it means that the regenerative energy is too large, and the
built-in resistance cannot consume the generated energy, the regenerative energy power will be
reduced, or the external resistance with higher resistance value or power will be reduced.
 If an overvoltage error is reported by the driver, the regenerative energy power is reduced, or a
resistance with a smaller external resistance, or a parallel resistance.

Attention
 Match the colors of the motor lead wires to those of the corresponding motor output terminals (U.V.W)
 Never start nor stop the servo motor with this magnetic contactor.
 Cable must be fixed steadily, avoid closing to radiator and motor to prevent reducing the properties of
heat insulation

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4.1.2 Position Control Mode

1 phase or 3 phase
220VAC

Circuit
braker

Noise Filter
Magenatic
contactor
R
U
S V
W
T PE

t CN2
Use twisted wire with
shield for pulse input
PUL＋ 3 CN1
PUL－ 4 220Ω
Input for 5V pulse
signal (2K resistor DIR＋ 5
needed to connect
DIR－ 6 220Ω
serially for 12V or
24V pulse input)
COM＋ 1 23 A＋
SRV-ON 2 4.7K
24 A－
25 B＋
POT 4.7K
7 26 B－
Encoder
27 Z＋
signal output
NOT 8 4.7K 28 Z－
12~24Vdc 30 GND
ZEROSPD 9 4.7K 29 OCZ
Use twisted wire with
S-RDY 32 shield for encoder signal
output

ALM 33

INP 34

CN4
BRK-OFF 35

COM－ 31

PE

Figure 4-1 Positional Control Mode Wiring

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4.1.3 Torque /Velocity Control Mode

1 phase or 3 phase
220VAC

Circuit Braker

Noise Filter

Magnetic Contactor U

R V

W
S
PE

r
CN2
t CN1

23 A+

24
A-
COM+ 1
25 B+
Srom 2 4.7K
26 B-
PL 7 4.7K Encoder
27 Z+
Output
12~24V
RL 4.7K
8 28 Z-

ZS 4.7K 22 5V
9

30 AGND
RDY 32
29 CHZ

ALM 33
39 AI1
AGN -10V to +10V input
41 D (Single-end)

Pcod 43 A3I+
34
-10V to +10V input
44 A3I- (Differential)

BRK 35
CN4

COM- 31
2 4 6

1 3 5

RS232

Figure 4-2 Torque/Velocity Control Mode Wiring

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4.2 Driver Terminals Function

Table 4.3 Functions of driver port
Port Function
CN1 Control Signal Port
CN2 Encoder Input Port
CN3 USB Communication Port
CN4 RS232、RS485 Communication Port
CN5 RS232、RS485 Communication Port
X1 Power Port

4.2.1 Control Signal Port-CN1 Terminal

Table 4.4 Signal Explanation of Control Signal Port-CN1
Port Pin Signal I/O Name Explanation
Digital input common terminal,
1 COM_SI input
Com+/Com-， 12VDC~24VDC
2 SI1 input Digital input 1

7 SI2 input Digital input 2

Two-way digital input with
8 SI3 input Digital input 3
common terminal, function
9 SI4 input Digital input 4
can be configured.
10 SI5 input Digital input 5
12VDC ~ 24VDC
11 SI6 input Digital input 6
12 SI7 input Digital input 7
13 SI8 input Digital input 8
14 SI9 input Digital input 9
31 COM－_SO output Digital output common- terminal Low resistor output in
33 SO1＋ output Digital output 1 default . OC, the maximum
32 SO2＋ output Digital output 2 voltage/current is no more

34 SO3＋ output Digital output 3 than 30V, 50mA .

CN1 output Recommend the voltage : 12
35 SO4＋ Digital output 4 V-24V.
Current :10mA
output Differential Digital output，
18 SO5＋
output Differential Digital output 5 the maximum voltage/current
19 SO5－
is no more than 30V, 50mA .
output
20 SO6- Recommend the voltage : 12
Differential Digital output 6 V-24V.
21 SO6＋ output
Current :10mA
output
23 A＋ Differential output terminal of
output motor encoder A phase Differential output,
24 A－
output High >= 2.5vdc, low <=
25 B＋ Differential output terminal of 0.5vdc, maximum current
output motor encoder B phase
26 B－ ±20mA
output
27 Z＋ Differential output terminal of
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output motor encoder Z phase

28 Z－
output OC output terminal of motor encoder A phase
36 OCA
output OC output terminal of motor encoder B phase
37 OCB
output OC output terminal of motor encoder Z phase
29 OCZ
output
30 GND OC output GND terminal of motor encoder
input
3 PUL＋
Pulse input，
input
4 PUL－ PUL+ and PUL-：5V differential input
PUL+_24 and PUL-：24V differential input
input
16 PUL＋_24
input
5 DIR＋
Direction input，
input
6 DIR－ DIR+ and DIR-：5V differential input
input DIR+_24 and DIR-：24V differential input
17 DIR＋_24
input
39 AI1+
input Analog input 1, voltage input range : 10VDC~10VDC , input
40 AI1-
resistor 20KΩ
input
41 AGND
input
43 AI3＋ Analog input 3, voltage input range : 10VDC~10VDC , input
input resistor 20KΩ
44 AI3－
15、22、
38、40、 NC / Not connection
42
Shield ground
Shell FG

4.2.2 Encoder Input Port-CN2 Terminal

Table 4.5 Encoder Input Port-CN2 Terminal Signal Explain
Port Pin Signal
1 VCC5V
2 GND
3 BAT+
CN2
4 BAT-
5 SD+
6 SD-
PE

4.2.3 RS232/RS48 Communication Port

Table 4.6 signal explanation of driver interconnection interface-CN3
Port Pin Signal

1，9 RDO+
CN4
2，10 RDO-
CN5
3，11 /
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4，12 TXD

5，13 RXD

6，14 VCC5V

7，15 GND

8，16 /

连接器外壳 PE

4.2.4 USB Communication Port

Table 4.7 USB Communication Port -CN5
Port Pin Signal
1 VCC5V
2 D+
3 D-
CN3 4
5 GND

USB_GND

4.2.5 Power Port

Table 4.8 Main Power Input Port-X1
Port Pin Signal Detail
For single phase
L1
220V
X1 For single phase 220V，+15～-15%，50/60Hz
For single phase
L2
220V
① Isolation transformer can be used for power supply;
② Do not access the 380VAC power supply, or it will cause serious damage to
the drive;
Notes ③ In the case of serious interference, it is recommended to use noise filter for
power supply;
④ It is recommended to install a non-fusible circuit breaker to cut off external
power supply in time when the driver fails.
Port Pin Signal Detail
Dc bus + ① Driver Dc bus + terminal
P+
terminal ② External regenerative resistor P terminal
External External regenerative resistor terminal
X1
regenerative
Br
resistor
terminal
When using external resistors, the values of resistance and power are selected as
follows：
Notes Driver Resistor（Ω） Power（W）

L7-400 ≥ 40 100

Port Pin Signal Detail

X1 U U 3 phase motor power input
17
 User Manual for L7 Servo

V V
W W
PE PE Frame ground
① Connect the driver to the ground end (PE) of the motor and connect it to the
Notes earth

4.3 I/O Interface Principle

4.3.1 Switch Input Interface
Driver side

12~24Vdc COM+

4.7K

Figure 4-3 Switch Input Interface

⑴The user provide power supply, DC 12-24V, current≥100mA
⑵Notice: if current polar connect reversely, servo driver doesn’t run.

Range unit default Related

Pr4.00* Input selection SI1 control mode
0-00FFFFFFh - P S T
Range unit default Related
Pr4.01* Input selection SI2 control mode
0-00FFFFFFh - P S T
Range unit default Related
Pr4.02* Input selection SI3 control mode
0-00FFFFFFh - P S T
Range unit default Related
Pr4.03* Input selection SI4 control mode
0-00FFFFFFh - P S T
Range unit default Related
Pr4.04* Input selection SI5 control mode
0-00FFFFFFh - P S T
Range unit default Related
Pr4.05* Input selection SI6 control mode
0-00FFFFFFh - P S T
Range unit default Related
Pr4.06* Input selection SI7 control mode
0-00FFFFFFh - P S T
Range unit default Related
Pr4.07* Input selection SI8 control mode
0-00FFFFFFh - P S T
Range unit default Related
Pr4.08* Input selection SI9 control mode
0-00FFFFFFh - P S T
S Set SI1 input function allocation.
This parameter use 16 binary system to set up the values, as following :
00- - - - * * h: position control
00- - * * - - h: velocity control
00* * - - - - h: torque control
Please at [**] partition set up function number
For the function number, please refer to the following Figure.
Set value
Signal name symbol
a-contact b- contact
18
 User Manual for L7 Servo

Invalid - 00h Do not setup

Positive direction over-travel inhibition input POT 01h 81h
negative direction over-travel inhibition input NOT 02h 82h
Servo-ON input SRV-ON 03h 83h
Alarm clear input A-CLR 04h Do not setup
Control mode switching input C-MODE 05h 85h
Gain switching input GAIN 06h 86h
Deviation counter clear input CL 07h Do not setup
Command pulse inhibition input INH 08h 88h
Electronic gear switching input 1 DIV1 0Ch 8Ch
Electronic gear switching input 2 DIV2 0Dh 8Dh
Selection 1 input of internal command speed INTSPD1 0Eh 8Eh
Selection 2 input of internal command speed INTSPD2 0Fh 8Fh
Selection 3 input of internal command speed INTSPD3 10h 90h
Speed zero clamp input ZEROSPD 11h 91h
Speed command sign input VC-SIGN 12h 92h
Torque command sign input TC-SIGN 13h 93h
Forced alarm input E-STOP 14h 94h
Note:
1. a-contact means input signal comes from external controller or component ,for example: PLC .
2. b-contact means input signal comes from driver internally.
3. Don’t setup to a value other than that specified in the table .
4. Don’t assign specific function to 2 or more signals. Duplicated assignment will cause Err21.0 I/F
input multiple assignment error 1or Err21.1 I/F input multiple assignment error 2.

Pr related input setup as below:

Input
Signal name symbol Set value
Normal open Normal close
Trigger command CTRG 20h A0h
Homing signal HOME 21h A1h
Forced stop STP 22h A2h
Forward direction JOG JOG+ 23h A3h
Opposite direction JOG JOG- 24h A4h
Forward limit PL 25h A5h
Reverse limit NL 26h A6h
Homing signal ORG 27h A7h
Road strength address 0 ADD0 28h A8h
Road strength address 1 ADD1 29h A9h
Road strength address 2 ADD2 2ah Aah
Road strength address 3 ADD3 2bh Abh
Torque switching TC-SEL 09h 89h

NOTE: CTRG,HOME is edge triggered, but the valid level must be last more than 1ms.

I/O input digital filtering

Range unit default Related

Pr5.15* I/F reading filter control mode
0-255 0.1ms 0 P S T
I/O input digital filtering; higher setup will arise control delay.

19
 User Manual for L7 Servo

4.3.2 Switch Output Interface

Driver side

Max 50mA
12~24Vdc

COM-

Figure 4.4 Switch Output Interface

(1) The user provide the external power supply . However, if current polarity connects reversely, servo
driver is damaged.
(2) The output of the form is open-collector, the maximum voltage is 25V, and maximum current is 50mA.
Therefore, the load of switch output signal must match the requirements. If you exceed the requirements or
output directly connected with the power supply, the servo drive is damaged.
(3) If the load is inductive loads relays, etc., there must be anti-parallel freewheeling diode across the load.
If the freewheeling diode is connected reversely, the servo drive is damaged.
(4) 32、33、34、35、31 Pin：Single-ended output;
18、19 Pin ，20、21 Pin：Differencial output.

Range unit default Related

Pr4.10* Output selection SO1 control mode
0-00FFFFFFh - P S T
Range unit default Related
Pr4.11* Output selection SO2 control mode
0-00FFFFFFh - P S T
Range unit default Related
Pr4.12* Output selection SO3 control mode
0-00FFFFFFh - P S T
Range unit default Related
Pr4.13* Output selection SO4 control mode
0-00FFFFFFh - P S T
Range unit default Related
Pr4.14* Output selection SO5 control mode
0-00FFFFFFh P S T
Range unit default Related
Pr4.15* Output selection SO6 control mode
0-00FFFFFFh P S T
Assign functions to SO1 outputs.
This parameter use 16 binary system do setup, as following :
00- - - - * * h: position control
00- - * * - - h: velocity control
00* * - - - - h: torque control
Please at [**] partition set up function number.
For the function number, please refer to the following Figure.

Signal name symbol Setup value

Invalid - 00h
Alarm output Alm 01h
Servo-Ready output S-RDY 02h
Eternal brake release signal BRK-OFF 03h
Positioning complete output INP 04h
At-speed output AT-SPPED 05h
Zero-speed detection output ZSP 20 07h
 User Manual for L7 Servo

Velocity coincidence output V-COIN 08h

Positional command ON/OFF output P-CMD 0Bh
Speed command ON/OFF output V-CMD 0Fh

Pr related output setup as below;

output
Signal name symbol Set value
Normal open Normal close
Command complete CMD-OK 20h A0h
Road strength address MC-OK 21h A1h
Homing finish HOME-OK 22h A2h
Torque limit TQL 06h 86h
Note: CMD-OK indicates PR command sent complete, but the motor may not in-position.
MC-OK indicates command complete and the motor in-position.
*1 Pay attention to the front panel display is hexadecimal.
4.3.3 Pulse Input Interface
Driver side

DIR+ 270R

DIR-

PUL+ 270R

PUL-

Figure 4-6 Pulse Input Interface Differential Drive Mode

Driver side
VCC

DIR+ 270R
R

DIR-

PUL+ 270R
R

PUL-

Vcc =12V, R = 1K, 0.25W; Vcc =24V, R = 2K, 0.25W

Figure 4-5 Pulse Input Interface Single Terminal Drive Mode

(1) In order to transmit pulse data properly , we recommend using the differential drive mode.
(2) The differential drive mode, AM26LS31, MC3487 or similar RS422 line drive.
(3) Using of single-ended drive will cause reduction of the operation frequency. The value of the resistance
R depends on pulse input circuit and the external voltage,while drive current should be at the range of
10 - 15mA and the maximum voltage is no more than 25V .
Recommendation:
VCC = 24V, R = 1.3 to 2KΩ;
VCC = 12V, R = 510 ~ 820Ω;
VCC = 5V, R = 82 ~~ 120Ω.
(4) The user provide external power supply for single-ended drive. However, if current polarity connect
reversely, servo driver is damaged.
(5) The form of pulse input is the following form21 3.7 below, while the arrows indicates the count .
 User Manual for L7 Servo

Table 4.9 Pulse Input Form

Pulse command form CCW CW Parameter setting value

PUL

Pulse symbol DIR

Pulse + direction

The form of pulse input timing parameter is the following form 3.8 below. The 4 times pulse frequency
≤ 500kH if 2-phase input form is used.

Table 4.10 the parameters of pulse input time sequence

parameter Differential drive input Single-ended drive input
tck ＞2μs ＞5μs
th ＞1μs ＞2.5μs
tl ＞1μs ＞2.5μs
trh ＜0.2μs ＜0.3μs
trl ＜0.2μs ＜0.3μs
ts ＞1μs ＞2.5μs
tqck ＞8μs ＞10μs
tqh ＞4μs ＞5μs
tql ＞4μs ＞5μs
tqrh ＜0.2μs ＜0.3μs
tqrl ＜0.2μs ＜0.3μs
tqs ＞1μs ＞2.5μs

Figure 4.6 pulse + direction input interface timing (the maximum of pulse frequency : 500KHZ)

Related
Command Pulse Rotational Direction Range unit default
Pr0.06* control mode
Setup 0 -1 - 0 P
Set command pulse input rotate direction, command pulse input type
Range unit default Related
Pr0.07* Command Pulse Input Mode Setup control mode
0 -3 - 3 P

Positive Negative
Pr0.06 Pr0.07 Command Pulse Format Signal Direction Direction
Command Command
0 90 phase difference
Pulse
0 or 2 2-phase pulse(A phase +B
sign
phase)
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 User Manual for L7 Servo

Positive direction pulse + Pulse

1
negative direction pulse sign
Pulse
3 Pulse + sign
sign
90 phase difference
Pulse
1 0 or 2 2 phase pulse(A phase +B
sign
phase)
Positive direction pulse + Pulse
1
negative direction pulse sign
Pulse
3 Pulse + sign
sign
Command pulse input signal allow largest frequency and smallest time width
PULS/SIGN Signal Input I/F Permissible Max. Smallest Time Width
Input Frequency t1 t2 t3 t4 t5 t6
Pulse Long distance interface 500kpps 2 1 1 1 1 1
series
interface Open-collector output 200kpps 5 2.5 2.5 2.5 2.5 2.5

4.3.4 Analog Value Input Interface

Servo driver

V-REF 10KΩ
(T-REF)
10KΩ

±10V 10KΩ

GND
SG

Figure 4-7 Analog AI1 Input Interface

Driver side
REF
Vin+
5
+
+/-10Vdc 7
20K 6 _

Vin-

Figure 4-8 Analog AI3 Input Interface

4.3.5 Servo Motor Encoder Input Interface
Driver side

Figure 4-9 Servo Motor optical-electrical

23 Encoder Input Interface
 User Manual for L7 Servo

Chapter 5 Parameter
5.1 Parameter List
Notes: The parameters like PA_001*, which contain’ *’ means that the new value of this parameters will
vaild after power is restarted !
Mode Parameter Number
Name Panel Display
P S T Classify Number
P S T 00 MFC function PA_000
P S T 01 control mode setup PA_001*
P S T 02 real-time auto-gain tuning PA_002
selection of machine stiffness at real-time auto-gain PA_003
P S T 03
tuning
P S T 04 Inertia ratio PA_004
P 06 command pulse rotational direction setup PA_006*
P 07 command pulse input mode setup PA_007*
【Class 0】 08 Command pulse per one motor revolution PA_008*
Basic
P 09 1st numerator of electronic gear PA_009
setting
P 10 denominator of electronic gear PA_010
P S T 11 output pulse counts per one motor revolution PA_011*
P S T 12 reversal of pulse output logic PA_012*
P S T 13 1st torque limit PA_013
P 14 position deviation excess setup PA_014
P S T 15 Absolute encoder setup PA_015
P S T 16 External regenerative discharge resistor setup PA_016*
P S T 17 External regenerative discharge power value PA_017*
P 00 1st gain of position loop PA_100
P S T 01 1st gain of velocity loop PA_101
P S T 02 1st time constant of velocity loop integration PA_102
P S T 03 1st filter of velocity detection PA_103
P S T 04 1st time constant of torque filter PA_104
P 05 2nd gain of position loop PA_105
P S T 06 2nd gain of velocity loop PA_106
P S T 07 2nd time constant of velocity loop integration PA_107
P S T 08 2nd filter of velocity detection PA_108
P S T 09 2nd time constant of torque filter PA_109
P 【Class 1】 10 Velocity feed forward gain PA_110
P Gain Adjust 11 Velocity feed forward filter PA_111
P S 12 Torque feed forward gain PA_112
P S 13 Torque feed forward filter PA_113
P S T 14 2nd gain setup PA_114
P 15 Control switching mode PA_115
P 17 Control switching level PA_117
P 18 Control switch hysteresis PA_118
P 19 Gain switching time PA_119
P 35 Positional command filter setup PA_135*
P S T 36 Encoder feedback pulse digital filter setup PA_136*
P S T 37 Special register PA_137
P S 【Class 2】 00 adaptive filter mode setup PA_200
P S T Vibration 01 1st notch frequency PA_201
P S T Restrain 02 1st notch width selection PA_202
24
 User Manual for L7 Servo

P S T Function 03 1st notch depth selection PA_203

P S T 04 2nd notch frequency PA_204
P S T 05 2nd notch width selection PA_205
P S T 06 2nd notch depth selection PA_206
P S T 07 3rd notch frequency PA_207
P S T 08 3rd notch width selection PA_208
P S T 09 3rd notch depth selection PA_209
P 14 1st damping frequency PA_214
P 15 1st damping filter setup PA_215
P 16 2nd damping frequency PA_216
P 17 2nd damping filter setup PA_217
P 22 Positional command smooth filter PA_222*
P 23 Positional command FIR filter PA_223*
S 00 Velocity setup internal/external switching PA_300
S 01 Speed command rotational direction selection PA_301
S T 02 Speed command input gain PA_302
S 03 Speed command reversal input PA_303
S 04 1st speed setup PA_304
S 05 2nd speed setup PA_305
S 06 3rd speed setup PA_306
S 07 4th speed setup PA_307
S 08 5th speed setup PA_308
S 09 6th speed setup PA_309
S 10 7th speed setup PA_310
S 【Class 3】 11 8th speed setup PA_311
Speed,
S 12 time setup acceleration PA_312
Torque
S Control 13 time setup deceleration PA_313
S 14 Sigmoid acceleration/deceleration time setup PA_314*
15 Speed zero-clamp function selection PA_315
S T 16 Speed zero-clamp level PA_316
17 Torque command selection PA_317
T 18 Torque command direction selection PA_318
T 19 Torque command input gain PA_319
T 20 Torque command input reversal PA_320
T 21 Speed limit value 1 PA_321
22 2nd torque limit PA_322
P S T 24 maximum speed of motor rotation PA_324
P S T 28 Synchronous parameter setting of gantry PA_328
P S T 00 input selection SI1 PA_400*
P S T 01 input selection SI2 PA_401*
P S T 02 input selection SI3 PA_402*
P S T 03 input selection SI4 PA_403*
P S T 04 input selection SI5 PA_404*
P S T 05 input selection SI6 PA_405*
P S T 【Class 4】 06 input selection SI7 PA_406*
I/F Monitor
P S T Setting 07 input selection SI8 PA_407*
P S T 08 input selection SI9 PA_408*
P S T 09 input selection SI10 PA_409*
P S T 10 output selection SO1 PA_410*
P S T 11 output selection SO2 PA_411*
P S T 12 output selection SO3 PA_412*
P S T 13 output selection SO4 PA_413*
25
 User Manual for L7 Servo

P S T 14 output selection SO5 PA_414*

P S T 15 output selection SO6 PA_415*
S T 22 Analog input 1(AI 1) offset setup PA_422
S T 23 Analog input 1(AI 1) filter PA_423
S T 24 Analog input 1(AI 1) over-voltage setup PA_424
S T 28 Analog input 3(AI 3) offset setup PA_428
S T 29 Analog input 3(AI 3) filter PA_429
T 30 Analog input 3(AI 3) over-voltage setup PA_430
P 31 Positioning complete range PA_431
P 32 Positioning complete output setup PA_432
P 33 INP hold time PA_433
P S T 34 Zero-speed PA_434
S 35 Speed coincidence range PA_435
S 36 At-speed PA_436
P S T 37 Mechanical brake action at stalling setup PA_437
P S T 38 Mechanical brake action at running setup PA_438
P S T 39 Brake action at running setup PA_439
P S T 43 E-stop function active PA_443
P S T 44 Input selection SI11 PA_444
P S T 45 Input selection SI12 PA_445
P S T 46 Input selection SI13 PA_446
P S T 47 Input selection SI14 PA_447
P 00 2nd numerator of electronic gear PA_500
P 01 3rd numerator of electronic gear PA_501
P 02 4th numerator of electronic gear PA_502
P S T 03 Denominator of pulse output division PA_503*
P S T 04 Drive inhibit input setup PA_504
P S T 06 Sequence at servo-off PA_506
P S T 08 Main power off LV trip selection PA_508
P S T 09 Main power off detection time PA_509
10 Dynamic braking mode PA_510*
P S T 11 Torque setup for emergency stop PA_511
P S T 12 Over-load level setup PA_512
P S T 13 Over-speed level setup PA_513
P S T 15 I/F reading filter PA_515*
P 【Class 5】 17 Counter clear up input mode PA_517
Extended
P Setup 18 Invalidation of command pulse inhibit input PA_518
P 20 Position setup unit select PA_520*
P S T 21 Selection of torque limit PA_521
P S T 22 2nd torque limit PA_522
23 Torque limit switching setup 1 PA_523
24 Torque limit switching setup 2 PA_524
P S T 28 LED initial status PA_528*
P S T 29 RS485 mode selection PA_529*
P S T 30 RS485 baud rate setup PA_530*
P S T 31 RS485 slave axis address PA_531*
P 32 Command pulse input maximum setup PA_532
P S T 34 Upper monitor communication port select PA_534
P S T 35 Front panel lock setup PA_535
P S T 36 Password for opening group 7 parameter PA_536
P S T 【Class 6】 01 Encoder zero position compensation PA_601*
P S T Special 03 JOG trial run
26 command torque PA_603
 User Manual for L7 Servo

P Setup 04 JOG trial run command speed PA_604

p 05 Position 3rd gain valid time PA_605
p 06 Position 3rd gain scale factor PA_606
P S T 07 Torque command additional value PA_607
P S T 08 Positive direction torque compensation value PA_608
P S T 09 Negative direction torque compensation value PA_609
P S T 13 2nd inertia ratio PA_613
P S T 14 Emergency stop time at alarm PA_614
P 20 distance of trial running PA_620
P 21 waiting time of trial running PA_621
P 22 cycling times of trial running PA_622
P S 25 Acceleration of trial running PA_6.25
P S 26 Mode of trial running PA_6.26
P S T 【Class 7】 19 Weak magnetic current PA_719

5.2 Parameter Function

Here is the explanation of parameters ,you can check them or modify the value using software Protuner or
the front panel of driver.

5.2.1【Class 0】Basic Setting

Range unit defau Related
control mode
Pr0.00 Mode loop gain lt
0 -2000 0.1Hz 0 P S T
Set up the bandwidth of MFC , it is similar to the response bandwidth
Setup value Meaning
0 Disable the function.
Enable the function , set the bandwidth automatically ,
1
recommended for most application .
2-10 Forbidden and reserved .
11-20000 Set the bandwidth manually , 1.1Hz – 2000Hz
MFC is used to enhance the performance of dynamic tracing for input command , make
positioning faster , cut down the tracking error , run more smooth and steady . It is very useful for
multi-axis synchronous movement and interpolation, the performance will be better.

The main way to use this function :

a. Choose the right control mode : Pr001 = 0
b. Set up the inertia of ratio : Pr004
c. Set up the rigidity : Pr003
d. Set up the Pr000 :
1) If no multi-axis synchronous movement , set Pr000 as 1 or more than 10 ;
2) If multi-axis synchronous movement needed , set Pr000 as the same for all the axes .
3) If Pr000 is more than 10 , start with 100 , or 150 , 200 , 250 , …. .
Caution:
1. Set up the right control mode , the right inertia of ratio and rigidity firstly .
2. Don’t change the value of Pr000 when the motor is running , otherwise vibration occurs
3. Set up a small value from the beginning if using it in manual mode , smaller value means
running more smooth and steady , while bigger one means faster positioning

27
Range unit default Related
Pr0.01* Control Mode Setup control mode
 User Manual for L7 Servo

0 -10 - 0 P S T
Set using control mode
Content When you set up the combination mode of 3.4.5, you
Setup value
1st mode 2nd mode can select either the 1st or the 2nd with control mode
0 Position - switching input(C-MODE).
1 Velocity - When C-MODE is open, the 1st mode will be selected.
2 Torque - When C-MODE is shorted, the 2nd mode will be
3 Position Velocity selected.
4 Position Torque
5 Velocity Torque
6 Pr-Mode
7~10 Reaserved

Range unit default Related

Pr0.02 Real-time Auto-gain Tuning control mode
0 -2 - 0 P S T
You can set up the action mode of the real-time auto-gain tuning.
Setup value mode Varying degree of load inertia in motion
0 invalid Real-time auto-gain tuning function is disabled.
Basic mode. do not use unbalanced load, friction compensation or
1 standard
gain switching
Main application is positioning. it is recommended to use this
2 positioning mode on equipment without unbalanced horizontal axis, ball screw
driving equipment with low friction, etc.
Caution: If pr0.02=1 or 2 , you can’t modify the values of pr1.01 – pr1.13, the values of them
depend on the real-time auto-gain tuning ,all of them are set by the driver itself.

Related
selection of machine stiffness at real Range unit default
Pr0.03 control mode
time auto gain tuning 0 -31 - 11 P S T
You can set up response while the real-time auto-gain tuning is valid.

Low Machine stiffness High

Low Servo gain High

0.1„„„„„„„„„„„11.12.13„„„„„„„„„„30.31

Low Response High

Notice: Higher the setup value, higher the velocity response and servo stiffness will be obtained.
However, when increasing the value, check the resulting operation to avoid oscillation or vibration.
Control gain is updated while the motor is stopped. If the motor can’t be stopped due to excessively
low gain or continuous application of one-way direction command ,any change made to Pr0.03 is not
used for update. If the changed stiffness setting is made valid after the motor stopped, abnormal
sound or oscillation will be generated. To prevent this problem, stop the motor after changing the
stiffness setting and check that the changed setting is enabled.

Range unit default Related

Pr0.04 Inertia ratio control mode
0 -10000 % 250 P S T

28
 User Manual for L7 Servo

You can set up the ratio of the load inertia against the rotor(of the motor)inertia.
Pr0.04=( load inertia/rotate inertia)×100%
Notice:
If the inertia ratio is correctly set, the setup unit of Pr1.01 and Pr1.06 becomes (Hz). When the inertia
ratio of Pr0.04 is larger than the actual value, the setup unit of the velocity loop gain becomes larger,
and when the inertia ratio of Pr0.04 is smaller than the actual value, the setup unit of the velocity
loop gain becomes smaller.

Related
Command Pulse Rotational Direction Range unit default
Pr0.06* control mode
Setup 0 -1 - 0 P
Set command pulse input rotate direction, command pulse input type
Range unit default Related
Pr0.07* Command Pulse Input Mode Setup control mode
0 -3 - 3 P

Positive Negative
Pr0.06 Pr0.07 Command Pulse Format Signal Direction Direction
Command Command
0 90 phase difference
Pulse
0 or 2 2-phase pulse(A phase +B
sign
phase)

Positive direction pulse + Pulse

1
negative direction pulse sign
Pulse
3 Pulse + sign
sign
90 phase difference
Pulse
1 0 or 2 2 phase pulse(A phase +B sign
phase)
Positive direction pulse + Pulse
1
negative direction pulse sign
Pulse
3 Pulse + sign
sign
Command pulse input signal allow largest frequency and smallest time width
PULS/SIGN Signal Input I/F Permissible Max. Smallest Time Width
Input Frequency t1 t2 t3 t4 t5 t6
Pulse Long distance interface 500kpps 2 1 1 1 1 1
series
interface Open-collector output 200kpps 5 2.5 2.5 2.5 2.5 2.5

Range unit default Related

Command pulse counts per one motor control mode
Pr0.08 revolution 0-8388 pulse 0 P S T
608
Set the command pulse that causes single turn of the motor shaft.
1) If pr008 ≠ 0 , the actual turns = pulse number / Pr008
2) If pr008 = 0 , Pr009 1st numerator of electronic gear and Pr0.10 Denominator of electronic
Gear become valid.

29
 User Manual for L7 Servo

Range unit default Related

control mode
Pr0.09 1st numerator of electronic gear 1-10737 - 1 P
41824
Set the numerator of division/multiplication operation made according to the command pulse input.
Range unit default Related
control mode
Pr0.10 denominator of electronic gear 1-10737 - 1 P
41824
Set the denominator of division/multiplication operation made according to the command pulse
input.
Pr0.09 Pr0.10 Command division/multiplication operation

Command pulse input 【Pr0.09 set value】 position command

1-32767 1-32767
【Pr0.10 set value】

1、Settings：
(1)The driver input command pulse number is X
(2)The pulse number of encoder after frequency division and frequency doubling is Y
(3)The number of pulses per revolution of the motor encoder is Z
(4)Number of turns of motor is W
2、Calculations：
(1)Y=X* Pr0.09 / Pr0.10
(2)17Bit encoder: Z=2^17 = 131072
23Bit encoder: Z=2^23 = 8388608

Related
Output pulse counts per one motor Range unit default
Pr0.11* control mode
revolution 1-2500 P/r 2500 P S T
Set the numerator of division/multiplication operation made according to the command pulse input.
Range unit default Related
Pr5.03* denominator of pulse output division control mode
1-2500 - 2500 P S T
Combination of Pr0.11 Output pulse counts per one motor revolution and Pr5.03 Denominator of
pulse output division
Pr0.11 Pr5.03 Pulse output process
1-2500 1-2500
encoder pulse 【Pr0.11set value】 output pulse

【Pr5.03 set value】

Pulse output resolution after dividing double frequency 4 times

Pr0.11(pulse output divide frequency molecule)
Pulse output resolution =encoder ×4×
Pr5.03(pulse output divide frequency denominator)

30
 User Manual for L7 Servo

Range unit default Related

Pr0.12* reversal of pulse output logic control mode
0 -1 - 0 P S T
You can set up the B phase logic and the output source of the pulse output. With this parameter, you
can reverse the phase relation between the A-phase pulse and B-phase pulse by reversing the B-phase
logic.
< reversal of pulse output logic >
Pr0.12 B-phase Logic CCW Direction Rotation CW Direction Rotation
0 Non-Reversal A phase A phase

B phase B phase
1 Reversal A phase A phase

B phase B phase
Range unit default Related
Pr0.13 1st Torque Limit control mode
0 -500 % 300 P S T
You can set up the limit value of the motor output torque, as motor rate current %, the value can’t
exceed the maximum of output current.

Range unit default Related

Pr0.14 Position Deviation Excess Setup control mode
0 -500 0.1 rev 200 P
Set excess range of positional deviation by the command unit(default).Setting the value too small
will cause Err18.0 (position deviation excess detection)

Range unit default Related

Pr0.15 Absolute Encoder Setup control mode
0 -15 0.1 rev 0 P S T
Bit description;
Bit Description
Bit0 0:close absolute value
1: open absolute value
Bit1 Default : 0,do not use
Bit2 0: no action
1: clean up absolute alarm, automatically become 0
when clean success
Bit3 0： no action
1： multi-turn position, clean up and reset automatically
become 0 after success
Bit4-15 Default 0,do not use

How to use:
0: close multi-turn absolute function, multi-turn position invalid;
1: open multi-turn absolute function;
5: clean multi-turn alarm, and open multi-turn absolute function. It will become 1 when normal
clearance, if it’s still 5 after 3seconds, please deal with according to 153 alarm processing.
9: multi-turn zero clearing and reset multi-turn alarm, open multi-turn absolute function. It will
become 1 when normal clearance, if it’s still 9 after 3seconds, please deal with according to 153
alarm processing. Please remember to do mechanical homing.

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 User Manual for L7 Servo

Range unit default Related

Pr0.16 External regenerative resistance control mode
10-50 Ω 50 P S T
Set Pr.0.16 and Pr.0.17 to confirm the threshold value of the discharge loop to give alarm for over
current.
Related
External regenerative resistor power Range unit default
Pr0.17 value
control mode
0 -10000 W 50 P S T
Set Pr.0.16 and Pr.0.17 to confirm the threshold value of the discharge loop to give alarm for over
current.
5.2.2【Class 1】Gain Adjust
Range unit default Related
Pr1.00 1st gain of position loop control mode
0 -30000 0.1/s 320 P
You can determine the response of the positional control system. Higher the gain of position loop you
set, faster the positioning time you can obtain. Note that too high setup may cause oscillation.
Range unit default Related
Pr1.01 1st gain of velocity loop control mode
0 -32767 0.1Hz 180 P S T
You can determine the response of the velocity loop. In order to increase the response of overall
servo system by setting high position loop gain, you need higher setup of this velocity loop gain as
well. However, too high setup may cause oscillation.

Related
1st Time Constant of Velocity Loop Range unit default control
Pr1.02 Integration
mode
0 -10000 0.1ms 310 P S T
You can set up the integration time constant of velocity loop, Smaller the set up, faster you can
dog-in deviation at stall to 0.The integration will be maintained by setting to‖9999‖.The integration
effect will be lost by setting to‖10000‖.
Range unit default control Related
Pr1.03 1st Filter of Velocity Detection mode
0 -31 - 15 P S T
You can set up the time constant of the low pass filter (LPF) after the speed detection, in 32 steps
(0 to 31).Higher the setup, larger the time constant you can obtain so that you can decrease the motor
noise, however, response becomes slow.
You can set the filter parameters through the loop gain, referring to the following table:
Set Speed Detection Filter Set Speed Detection Filter
Value Cut-off Frequency(Hz) Value Cut-off Frequency(Hz)
0 2500 16 750
1 2250 17 700
2 2100 18 650
3 2000 19 600
4 1800 20 550
5 1600 21 500
6 1500 22 450
7 1400 23 400
8 1300 24 350
9 1200 25 300
10 1100 26 250
11 1000 27 200
12 950 28 175
13 900 29 150
14 850 30 125
15 800 31 100

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 User Manual for L7 Servo

Range unit default Related

Pr1.04 2nd Time Constant of torque filter control mode
0 -2500 0.01ms 126 P S T
Range unit default Related
Pr1.05 2nd gain of position loop control mode
0 -30000 0.1/s 380 P
Range unit default Related
Pr1.06 2nd gain of velocity loop control mode
0 -32767 0.1Hz 180 P S T
Related
2nd Time Constant of Velocity Loop Range unit default
Pr1.07 control mode
Integration 0 -10000 0.1ms 10000 P S T
Range unit default Related
Pr1.08 2nd Filter of Velocity Detection control mode
0 -31 - 15 P S T
Range unit default Related
Pr1.09 2nd Time Constant of torque filter control mode
0 -2500 0.01ms 126 P S T
Position loop, velocity loop, velocity detection filter, torque command filter have their 2 pairs of gain
or time constant(1st and 2nd).
Range unit Related
default control
Pr1.10 Velocity feed forward gain mode
0 -1000 0.1% 300 P
Multiply the velocity control command calculated according to the internal positional command by
the ratio of this parameter and add the result to the speed command resulting from the positional
control process.

Range unit default Related

Pr1.11 Velocity feed forward filter control mode
0 -6400 0.01ms 50 P
Set the time constant of 1st delay filter which affects the input of speed feed forward.
(usage example of velocity feed forward)
The velocity feed forward will become effective as the velocity feed forward gain is gradually
increased with the speed feed forward filter set at approx.50 (0.5ms). The positional deviation during
operation at a constant speed is reduced as shown in the equation below in proportion to the value of
velocity feed forward gain.
Position deviation [ unit of command]=command speed [ unit of command /s]/position loop
gain[1/s]×(100-speed feed forward gain[%]/100
Range unit Related
default control
Pr1.12 Torque feed forward gain mode
0 -1000 0.1% 0 P S
 Multiply the torque control command calculated according to the velocity control command by
the ratio of this parameter and add the result to the torque command resulting from the velocity
control process.
 To use torque feed forward, correctly set ratio of inertia. Set the inertia ratio that can be calculated
from the machine specification to Pr0.04 inertia ratio.
 Positional deviation at a constant acceleration/deceleration can be minimized close to 0 by
increasing the torque forward gain .this means that positional deviation can be maintained at near
0 over entire operation range while driving in trapezoidal speed pattern under ideal condition
where disturbance torque is not active.

Range unit default Related

Pr1.13 Torque feed forward filter control mode
0 -6400 0.01ms 0 P S
Set up the time constant of 1st delay filter which affects the input of torque feed forward.
zero positional deviation is impossible in actual situation because of disturbance torque. as with
the velocity feed forward, large torque feed forward filter time constant decreases the operating noise
33
 User Manual for L7 Servo

but increases positional deviation at acceleration change point.

Range unit default Related

Pr1.14 2nd gain setup control mode
0 -1 - 1 P S T

Setup value Gain selection / switching

0 1st gain is fixed at a value, by using the gain switching input (GAIN), change the
velocity loop operation from PI to P
GAIN input off, PI operation
GAIN input on, P operation
Remark: the above description applies when the logical setting of GAIN input is
a-contact. ON/OFF of photo-coupler is reversed when b-contact.
1 Enable gain switching of the 1st gain(Pr0.00—Pr1.04), and 2nd gain
(Pr1.05—Pr1.09)

Range unit default Related

Pr1.15 Mode of position control switching control mode
0 -10 - 0 P
Setting
Switching condition Gain switching condition
value
0 Fixed to 1st gain Fixed to the 1st gain (Pr1.00-Pr1.04)
1 Fixed to 2nd gain Fixed to the 2nd gain (Pr1.05-Pr1.09)
2 with gain switching  1st gain when the gain switching input is open.
input  2nd gain when the gain switching input is connected to com- .
 If no input signal is allocated to the gain switching input, the
1st gain is fixed.
3 Torque command is  Shift to the 2nd gain when the absolute value of the torque
large command exceeded (level + hysteresis)[%]previously with the
1st gain.
 Return to the 1st gain when the absolute value of the torque
command was kept below (level + hysteresis) [%]previously
during delay time with the 2nd gain.
4 reserve reserve
5 Speed command is  Valid for position and speed controls.
large  Shift to the 2nd gain when the absolute value of the speed
command exceeded (level + hysteresis)[r/min]previously with
the 1st gain.
 Return to the 1st gain when the absolute value of the speed
command was kept below (level + hysteresis) [r/min]
previously during delay time with the 2nd gain.
6 Position deviation is  Valid for position control.
large  Shift to the 2nd gain when the absolute value of the positional
deviation exceeded (level + hysteresis)[pulse] previously with
the 1st gain.
 Return to the 1st gain when the absolute value of the
positional deviation was kept below (level +
hysteresis)[r/min]previously during delay time with the 2nd
gain.
 Unit of level and hysteresis [pulse] is set as the encoder
resolution for positional control.
7 position command  Valid for position control.
exists  Shift to the 2nd gain when the positional command was not 0
previously with the 1st gain.
 Return to the 1st gain when the positional command was kept
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 User Manual for L7 Servo

0 previously during delay time with the 2nd gain.

8 Not in positioning  Valid for position control.
complete  Shift to the 2nd gain when the positioning was not completed
previously with the 1st gain.
 Return to the 1st gain when the positioning was kept in
completed condition previously during delay time with the
2nd gain.
9 Actual speed is  Valid for position control.
large  Shift to the 2nd gain when the absolute value of the actual
speed exceeded (level + hysteresis) (r/min) previously with
the 1st gain.
 Return to the 1st gain when the absolute value of the actual
speed was kept below (level - hysteresis) (r/min) previously
during delay time with the 2nd gain.
10 Have position  Valid for position control.
command +actual  Shift to the 2nd gain when the positional command was not 0
speed previously with the 1st gain.
 Return to the 1st gain when the positional command was kept
at 0 during the delay time and the absolute value of actual
speed was kept below (level - hysteresis) (r/min) previously
with the 2nd gain.
In position control mode, setup Pr1.15=3,5,6,9,10;
In speed control mode, setup Pr1.15=3,5,9;

Range unit default Related

control mode
Pr1.17 Level of position control switching Mode
0 -20000 dependent
50 P
Unit of setting varies with switching mode.
switching condition: position :encoder pulse number ; speed : r/min ; torque : % .
Notice: set the level equal to or higher than the hysteresis.
Range unit default Related
Hysteresis at position control control mode
Pr1.18
switching Mode
0 -20000 dependent 33 P
Combining Pr1.17(control switching level)setup
Notice: when level< hysteresis, the hysteresis is internally adjusted so that it is equal to level.

Range unit default Related

Pr1.19 position gain switching time control mode
0 -10000 0.1ms 33 P
For position controlling: if the difference between 1st gain and 2nd gain is large, the increasing rate
of position loop gain can be limited by this parameter.
<Position gain switching time>
Notice: when using position control, position loop gain rapidly changes, causing torque change and
vibration. By adjusting Pr1.19 position gain switching time, increasing rate of the position loop gain
can be decreased and variation level can be reduced.
Example: 1st (pr1.00) <-> 2nd (Pr1.05)

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 User Manual for L7 Servo

Range unit default Related

Pr1.35* positional command filter setup control mode
0 -200 0.05us 0 P
Do filtering for positional command pulse, eliminate the interference of the narrow pulse, over-large
setup will influence the input of high frequency positional command pulse, and make more
time-delayed.
Range unit Related
default control
pulse digital filter of encoder mode
Pr1.36* feedback setup 0 -10000 0.05m 33 P
s
Do filtering for pulse of encoder feedback, eliminate the interference of the narrow pulse, over-large
setup will influence the performance of motor in large speed, and influence the control performance
of motor causing by large time-delayed.

Range unit default Related

Pr1.37 Special register control mode
0 -32767 - 0 P S T
Under binary, these bits in register are used for some function operation.
Bit2=1, shield the speed out of control alarm (1A1)
Bit4=1, shield the over-load alarm 100,101
Bit6=1, shield the excessive vibration alarm 190
Bit7=1, shield the braking resistor over-load alarm 120
Bit9=1, shield the lacking of phase alarm0dl (other bits are forbidden to use, default 0)

5.2.3【Class 2】Vibration Suppression

Range unit default Related
Pr2.00 Adaptive filter mode setup control mode
0 -4 - 0 P S
Set up the resonance frequency to be estimated by the adaptive filter and the special the operation
after estimation.

Setup value content

0 Adaptive filter: invalid Parameters related to the 3rd and 4th notch filter
hold the current value.
1 Adaptive filter,1 filter is valid, One adaptive filter is valid, parameters related to
one time the 3rd notch filter will be updated based on
adaptive performance. After updated, Pr2.00
returns to 0, stop self-adaptation.
2 Adaptive filter, 1 filter is valid, One adaptive filter is valid, parameters related to
It will be valid all the time the 3rd notch filter will be updated all the time
based on adaptive performance.
3-4 Not use Non-professional forbidded to use

Range unit default Related

Pr2.01 1st notch frequency control mode
50 -2000 HZ 2000 P S T
Set the center frequency of the 1st notch filter
Notice: the notch filter function will be invalidated by setting up this parameter to ―2000‖.
Range unit Related
default control
Pr2.02 1st notch width selection mode
0 -20 - 2 P S T
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 User Manual for L7 Servo

Set the width of notch at the center frequency of the 1st notch filter.
Notice: Higher the setup, larger the notch width you can obtain. Use with default setup in normal
operation.
Range unit Related
default control
Pr2.03 1st notch depth selection mode
0 -99 - 0 P S T
Set the depth of notch at the center frequency of the 1st notch filter.
Notice: Higher the setup, shallower the notch depth and smaller the phase delay you can obtain.

Range unit default Related

Pr2.04 2nd notch frequency control mode
50 -2000 HZ 2000 P S T
Set the center frequency of the 2nd notch filter
Notice: the notch filter function will be invalidated by setting up this parameter to ―2000‖.
Range unit Related
default control
Pr2.05 2nd notch width selection mode
0 -20 - 2 P S T
Set the width of notch at the center frequency of the 2nd notch filter.
Notice: Higher the setup, larger the notch width you can obtain. Use with default setup in normal
operation.
Range unit Related
default control
Pr2.06 2nd notch depth selection mode
0 -99 - 0 P S T
Set the depth of notch at the center frequency of the 2nd notch filter.
Notice: Higher the setup, shallower the notch depth and smaller the phase delay you can obtain.

Range unit default Related

Pr2.07 3rd notch frequency control mode
50 -2000 Hz 2000 P S T
Set the center frequency of the 3rd notch filter
Notice: the notch filter function will be invalidated by setting up this parameter to ―2000‖.
Setup invalid after opening self-adaptation function.
Range unit Related
default control
Pr2.08 3rd notch width selection mode
0 -20 - 2 P S T
Set the width of notch at the center frequency of the 3rd notch filter.
Notice: Higher the setup, larger the notch width you can obtain. Use with default setup in normal
operation.
Setup invalid after opening self-adaptation function.
Range unit Related
default control
Pr2.09 3rd notch depth selection mode
0 -99 - 0 P S T
Set the depth of notch at the center frequency of the 3rd notch filter.
Notice: Higher the setup, shallower the notch depth and smaller the phase delay you can obtain.
Setup invalid after opening self-adaptation function.

Range unit default Related

Pr2.14* 1st damping frequency control mode
10 -2000 0.1Hz 0 P
0: close
Setup damping frequency, to suppress vibration at the load edge.

Pr2.16* 1nd damping frequency 37 Range unit default Related

 User Manual for L7 Servo

control mode

10 -2000 0.1Hz 0 P
0: close
Setup damping frequency, to suppress vibration at the load edge.

Related
positional command smoothing Range unit default control
Pr2.22 filter
mode
0 -32767 0.1ms 0 P
 Set up the time constant of the1st delay filter in response to the positional command.
 When a square wave command for the target speed Vc is applied ,set up the time constant of the
1st delay filter as shown in the figure below.

Range unit default Related

Pr2.23 positional command FIR filter control mode
0 -10000 0.1ms 0 P
 Set up the time constant of the1st delay filter in response to the positional command.
 When a square wave command for the target speed Vc is applied , set up the Vc arrival time as
shown in the figure below.

Note: For parameters which No. have a suffix of “*”,changed contents will be validated when you turn
on the control power.

5.2.4【Class 3】Velocity/ Torque Control

Related
Speed setup, Internal /External Range unit default control
Pr3.00 switching
mode
0 -3 - 0 S
This driver is equipped with internal speed setup function so that you can control the speed with
contact inputs only.
Setup value Speed setup method
0 Analog speed command(SPR)
1 Internal speed command 1st to 4th speed(PR3.04-PR3.07)
Internal speed command 1st to 3rd speed (PR3.04-PR3.06),
2
Analog speed command(SPR)
3 Internal speed command 1st to 8th speed (PR3.04-PR3.11)
<relationship between Pr3.00 Internal/External switching speed setup and the internal
command speed selection 1-3 and speed command to be selected>
38
 User Manual for L7 Servo

Setup selection 1 of selection 2 of internal selection 3 of selection of

value internal command command speed internal command Speed
speed(INTSPD1) (INTSPD2) speed (INTSPD3) command
1 OFF OFF NO effect 1st speed
ON OFF 2nd speed
OFF ON 3rd speed
ON ON 4th speed
2 OFF OFF 1st speed
ON OFF 2nd speed
OFF ON NO effect 3rd speed
Analog speed
ON ON command
3 1st to 4th
The same as [Pr3.00=1] OFF
speed
OFF OFF ON 5th speed
ON OFF ON 6th speed
OFF ON ON 7th speed

Related
Speed command rotational Range unit default control
Pr3.01 mode
direction selection 0 -1 - 0 S
Select the Positive /Negative direction specifying method
Setup Select speed command sign Speed command direction Position command
value (1st to 8th speed) (VC-SIGN) direction
0 + No effect Positive direction
- No effect Negative direction
1 Sign has no effect OFF Positive direction
Sign has no effect ON Negative direction

Range unit default Related

Pr3.02 Input gain of speed command control mode
10 -2000 (r/min)/v 500 S T
Based on the voltage applied to the analog speed command (SPR), set up the conversion gain to
motor command speed.
You can set up ―slope‖ of relation between the command input voltage and motor speed, with Pr3.02.
Default is set to Pr3.02=500(r/min)/V, hence input of 6V becomes 3000r/min.
Notice:
1. Do not apply more than ±10V to the speed
command input(SPR).
2. When you compose a position loop outside of the
driver while you use the driver in velocity control
mode, the setup of Pr3.02 gives larger variance to
the overall servo system.
3. Pay an extra attention to oscillation caused by
larger setup of Pr3.02.

Range unit default Related

Pr3.03 Reversal of speed command input control mode
0 -1 - 0 S
Specify the polarity of the voltage applied to the analog speed command (SPR).
Setup value Motor rotating direction
39
 User Manual for L7 Servo

0 Non-reversal [+ voltage] [+ direction] [- voltage] [-direction]

1 reversal [+ voltage] [- direction] [- voltage] [+direction]
Caution: When you compose the servo drive system with this driver set to velocity control mode and
external positioning unit, the motor might perform an abnormal action if the polarity of the speed
command signal from the unit and the polarity of this parameter setup does not match.

Range unit default Related

Pr3.04 1st speed of speed setup control mode
-20000 -20000 r/min 0 S
Range unit default Related
Pr3.05 2nd speed of speed setup control mode
-20000 -20000 r/min 0 S
Range unit default Related
Pr3.06 3rd speed of speed setup control mode
-20000 -20000 r/min 0 S
Range unit default Related
Pr3.07 4th speed of speed setup control mode
-20000 -20000 r/min 0 S
Range unit default Related
Pr3.08 5th speed of speed setup control mode
-20000 -20000 r/min 0 S
Range unit default Related
Pr3.09 6th speed of speed setup control mode
-20000 -20000 r/min 0 S
Range unit default Related
Pr3.10 7th speed of speed setup control mode
-20000 -20000 r/min 0 S
Range unit default Related
Pr3.11 8th speed of speed setup control mode
-20000 -20000 r/min 0 S
Set up internal command speeds, 1st to 8th
Range unit default Related
Pr3.12 time setup acceleration control mode
0 -10000 Ms(1000r/min) 100 S
Range unit Related
default control
Pr3.13 time setup deceleration mode
0 -10000 Ms(1000r/min) 100 S
Set up acceleration/deceleration processing time in response to the speed command input.
Set the time required for the speed command(stepwise input)to reach 1000r/min to Pr3.12
Acceleration time setup. Also set the time required for the speed command to reach from 1000r/min
to 0 r/min, to Pr3.13 Deceleration time setup.
Assuming that the target value of the speed command is Vc(r/min), the time required for
acceleration/deceleration can be computed from the formula shown below.
Acceleration time (ms)=Vc/1000 *Pr3.12 *1ms
Deceleration time (ms)=Vc/1000 *Pr3.13 *1ms

Related
Pr3.14 Sigmoid acceleration/deceleration time Range unit default control mode
40
 User Manual for L7 Servo

setup 0 -1000 ms 0 S
Set S-curve time for acceleration/deceleration process when the speed command is applied.
According to Pr3.12 Acceleration time setup and Pr3.13 Deceleration time setup, set up sigmoid time
with time width centering the inflection point of acceleration/deceleration.

Range unit default Related

Pr3.15 Speed zero-clamp function selection control mode
0 -3 - 0 S
1. If Pr3.15=0, the function of zero clamp is forbidden. It means the motor rotates with actual
velocity which is controlled by the analog voltage input 1 even if the velocity is less than 10
rpm. The motor runs no matter what the value of Pr3.16 is. The actual velocity is controlled by
external the analog voltage input .
2. If Pr3.15=1 and the input signal of Zero Speed is available in the same time, the function of zero
clamp works. It means motor will stop rotating in servo-on condition no matter what the
velocity of motor is, and motor stop rotating no matter what the value of Pr3.16 is.
3. If Pr3.15=2 , the function of zero clamp belongs to the value of Pr3.16. If the actual velocity is
less than the value of Pr3.16, the motor will stop rotating in servo-on condition.

Range unit default Related

Pr3.16 Speed zero-clamp level control mode
0 -20000 r/min 30 S
When analog speed given value under speed control mode less than zero speed clamp level setup,
speed command will set to 0 strongly.

Range unit default Related

Pr3.17 Selection of torque command control mode
0/1/2/3 - 0 T

Setup value Torque command input Velocity limit input

0 Analog input 3 Parameter value (P3.21)
1 Analog input 3 Analog input 1 for Speed limit
2 Parameter value (P3.22) Parameter value (P3.21)
3 Analog input 3 Speed limit 0

Range unit default Related

Pr3.18 Torque command direction selection control mode
Pr3.19 Torque command input gain Range
0 -1 unit
- default
0
Related
T
control mode
Select the direction positive/negative direction of torque command
Setup value designation
Specify the direction with the sign of torque command
0
Torque command input[+] positive direction, [-] negative direction
Specify the direction with torque command sign(TC-SIGN).
1
OFF: positive direction ON: negative direction
41
 User Manual for L7 Servo

0 -1 - 500 T
Based on the voltage (V) applied to the analog torque command (TRQR),set up the conversion gain
to torque command(%) .

 Unit of the setup value is [0.1V/100%] and

set up input voltage necessary to produce
the rated torque.
 Default setup of 30 represents 3V/100%

Range unit default Related

Pr3.20 Torque command input reversal control mode
0 -1 - 0 T
Set up the polarity of the voltage applied to the analog torque command(TRQR).
Setup value Direction of motor output torque
0 Non-reversal [+ voltage] [+ direction] [- voltage] [-direction]
1 reversal [+ voltage] [- direction] [- voltage] [+direction]
Range unit Related
default control
Pr3.21 Speed limit value 1 mode
0 -20000 r/min 0 T
Set up the speed limit used for torque controlling.
During the torque controlling, the speed set by the speed limit value cannot be exceeded.

Range unit default Related

Pr3.22 Torque command control mode
0 -300 % 0 P S T
Set up the speed limit used for torque controlling.
During the torque controlling, the speed set by the speed limit value cannot be exceeded.
Range unit Related
default control
Pr3.24* Motor rotate maximum speed limit mode
0 -6000 r/min 3000 P S T
Set up motor running max rotate speed, but can’t be exceeded motor allowed max rotate speed.
Note: For parameters which No. have a suffix of “*”,changed contents will be validated when you turn
on the control power.

5.2.5【Class 4】I/F Monitor Setting

Range unit default Related
Pr4.00* Input selection SI1 control mode
0-00FFFFFFh - P S T
Range unit default Related
Pr4.01* Input selection SI2 control mode
0-00FFFFFFh - P S T
Range unit default Related
Pr4.02* Input selection SI3 control mode
0-00FFFFFFh - P S T
Range unit default Related
Pr4.03* Input selection SI4 control mode
0-00FFFFFFh - P S T
Pr4.04* Input selection SI5 Range
42 unit default Related
 User Manual for L7 Servo

control mode

0-00FFFFFFh - P S T
Range unit default Related
Pr4.05* Input selection SI6 control mode
0-00FFFFFFh - P S T
Range unit default Related
Pr4.06* Input selection SI7 control mode
0-00FFFFFFh - P S T
Range unit default Related
Pr4.07* Input selection SI8 control mode
0-00FFFFFFh - P S T
Range unit default Related
Pr4.08* Input selection SI9 control mode
0-00FFFFFFh - P S T
S Set SI1 input function allocation.
This parameter use 16 binary system to set up the values, as following :
00- - - - * * h: position control
00- - * * - - h: velocity control
00* * - - - - h: torque control
Please at [**] partition set up function number
For the function number, please refer to the following Figure.
Set value
Signal name symbol
a-contact b- contact
Invalid - 00h Do not setup
Positive direction over-travel inhibition input POT 01h 81h
negative direction over-travel inhibition input NOT 02h 82h
Servo-ON input SRV-ON 03h 83h
Alarm clear input A-CLR 04h Do not setup
Control mode switching input C-MODE 05h 85h
Gain switching input GAIN 06h 86h
Deviation counter clear input CL 07h Do not setup
Command pulse inhibition input INH 08h 88h
Electronic gear switching input 1 DIV1 0Ch 8Ch
Electronic gear switching input 2 DIV2 0Dh 8Dh
Selection 1 input of internal command speed INTSPD1 0Eh 8Eh
Selection 2 input of internal command speed INTSPD2 0Fh 8Fh
Selection 3 input of internal command speed INTSPD3 10h 90h
Speed zero clamp input ZEROSPD 11h 91h
Speed command sign input VC-SIGN 12h 92h
Torque command sign input TC-SIGN 13h 93h
Forced alarm input E-STOP 14h 94h
Note:
5. a-contact means input signal comes from external controller or component ,for example: PLC .
6. b-contact means input signal comes from driver internally.
7. Don’t setup to a value other than that specified in the table .
8. Don’t assign specific function to 2 or more signals. Duplicated assignment will cause Err21.0 I/F
input multiple assignment error 1or Err21.1 I/F input multiple assignment error 2.

Pr related input setup as below:

Input
Signal name symbol Set value
Normal open Normal close
Trigger command CTRG 20h A0h
Homing signal HOME 21h A1h
Forced stop STP 22h A2h
Forward direction JOG JOG+ 23h A3h
Opposite direction JOG JOG- 24h A4h
Forward limit PL 4325h A5h
 User Manual for L7 Servo

Reverse limit NL 26h A6h

Homing signal ORG 27h A7h
Road strength address 0 ADD0 28h A8h
Road strength address 1 ADD1 29h A9h
Road strength address 2 ADD2 2ah Aah
Road strength address 3 ADD3 2bh Abh
Torque switching TC-SEL 09h 89h

NOTE: CTRG,HOME is edge triggered, but the valid level must be last more than 1ms.

Range unit default Related

Pr4.10* Output selection SO1 control mode
0-00FFFFFFh - P S T
Range unit default Related
Pr4.11* Output selection SO2 control mode
0-00FFFFFFh - P S T
Range unit default Related
Pr4.12* Output selection SO3 control mode
0-00FFFFFFh - P S T
Range unit default Related
Pr4.13* Output selection SO4 control mode
0-00FFFFFFh - P S T
Range unit default Related
Pr4.14* Output selection SO5 control mode
0-00FFFFFFh P S T
Range unit default Related
Pr4.15* Output selection SO6 control mode
0-00FFFFFFh P S T
Assign functions to SO1 outputs.
This parameter use 16 binary system do setup, as following :
00- - - - * * h: position control
00- - * * - - h: velocity control
00* * - - - - h: torque control
Please at [**] partition set up function number.
For the function number, please refer to the following Figure.

Signal name symbol Setup value

Invalid - 00h
Alarm output Alm 01h
Servo-Ready output S-RDY 02h
Eternal brake release signal BRK-OFF 03h
Positioning complete output INP 04h
At-speed output AT-SPPED 05h
Zero-speed detection output ZSP 07h
Velocity coincidence output V-COIN 08h
Positional command ON/OFF output P-CMD 0Bh
Speed command ON/OFF output V-CMD 0Fh

Pr related output setup as below;

output
Signal name symbol Set value
Normal open Normal close
Command complete CMD-OK 20h A0h
Road strength address MC-OK 21h A1h
Homing finish HOME-OK 22h A2h
Torque limit TQL 06h 86h
Note: CMD-OK indicates PR command sent complete, but the motor may not in-position.
MC-OK indicates command complete and the motor in-position.
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*1 Pay attention to the front panel display is hexadecimal.

Range unit default Related

Pr4.22 Analog input 1 (AI1) offset setup control mode
-5578 -5578 - 0 S
Set up the offset correction value applied to the voltage fed to the analog input 1.

Range unit default Related

Pr4.23 Analog input 1 (AI1) filter control mode
0-6400 0.01ms 0 S
Set up the time constant of 1st delay filter that determines the lag time behind the voltage applied to
the analog input 1.
Related
Analog input 1 (AI1) over -voltage Range unit default control
Pr4.24 setup
mode
0-100 0.1v 0 S
Set up the excessive level of the input voltage of analog input 1 by using the voltage associated with
offset.

Range unit default Related

Pr4.28 Analog input 3 (AI3) offset setup control mode
0 -1 - 500 T
Set up the offset correction value applied to the voltage fed to the analog input 3.

Range unit default Related

Pr4.29 Analog input 3 (AI3) filter control mode
0 -1 - 500 T
Set up the time constant of 1st delay filter that determines the lag time behind the voltage applied to
the analog input 3.

Range unit default Related

Pr4.30 Analog input 3 (AI3) overvoltage setup control mode
0 -1 - 500 T
Set up the excessive level of the input voltage of analog input 3 by using the voltage associated with
offset.

Range unit default Related

Pr4.31 Positioning complete range control mode
0 -10000 Encoder unit 10 P
Set up the timing of positional deviation at which the positioning complete signal (INP1) is output.

Range unit default Related

Pr4.32 Positioning complete range control mode
0 -3 command unit 10 P
Select the condition to output the positioning complete signal (INP1).
Setup value Action of positioning complete signal
0 The signal will turn on when the positional deviation is smaller than Pr4.31
[positioning complete range].
1 The signal will turn on when there is no position command and position
deviation is smaller than Pr4.31 [positioning
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 User Manual for L7 Servo

2 The signal will turn on when there is no position command, the zero-speed
detection signal is ON and the positional deviation is smaller than Pr4.31
[positioning complete range].
3 The signal will turn on when there is no position command and the positional
deviation is smaller than Pr4.31 [positioning complete range].Then holds ―ON‖
states until the next position command is entered. Subsequently, ON state is
maintained until Pr4.33 INP hold time has elapsed. After the hold time, INP
output will be turned ON/OFF according to the coming positional command or
condition of the positional deviation.

Range unit default Related

Pr4.33 INP hold time control mode
0-30000 1ms 0 P
Set up the hold time when Pr 4.32 positioning complete output setup=3.
Setup value State of Positioning complete signal
The hold time is maintained definitely, keeping ON state until next positional
0
command is received.
ON state is maintained for setup time (ms)but switched to OFF state as the
1-30000
positional command is received during hold time.

Range unit default Related

Pr4.34 Zero-speed control mode
10 -20000 r/min 50 P S T
You can set up the timing to feed out the zero-speed detection output signal(ZSP or TCL) in rotate
speed (r/min).
The zero-speed detection signal(ZSP) will be fed
out when the motor speed falls below the setup of
this parameter, Pr4.34

 the setup of pr4.34 is valid for both positive and

negative direction regardless of the motor
rotating direction.
 There is hysteresis of 10[r/min].

Range unit default Related

Pr4.35 Speed coincidence range control mode
10 -20000 r/min 50 S
Set the speed coincidence (V-COIN) output detection timing.
Output the speed coincidence (V-COIN) when the difference between the speed command and the
motor speed is equal to or smaller than the speed specified by this parameter.

Because the speed coincidence detection is associated with 10 r/min hysteresis, actual detection
range is as shown below.
Speed coincidence output OFF -> ON timing (Pr4.35 -10) r/min

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Speed coincidence output ON -> OFF timing (Pr4.35 +10) r/min

Range unit default Related

Pr4.36 At-speed(Speed arrival) control mode
10-20000 r/min 1000 S
Set the detection timing of the speed arrival output (AT-SPEED).
When the motor speed exceeds this setup value, the speed arrive output (AT-SPEED) is output.
Detection is associated with 10r/min hysteresis .

Related
Mechanical brake action at stalling Range unit default control
Pr4.37 mode
setup 0 -10000 1ms 0 P S T
Motor brake delay time setup, mainly used to prevent servo on ―galloping ―phenomenon.
Set up the time from when the brake release signal(BRK-OFF) turns off to when the motor is
de-energized (servo-free),when the motor turns to servo-off while the motor is at stall

 Set up to prevent a micro-travel/drop of the motor

(work) due to the action delay time(tb) of the brake.
 After setting up Pr4.37>=tb, then compose the
sequence so as the driver turns to servo-off after the
brake is actually activated.

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Related
Mechanical brake action at running Range unit default control
Pr4.38 mode
setup 0 -10000 1ms 0 P S T
Mechanical brake start delay time setup, mainly used to prevent servo off ―galloping ―phenomenon.
Set up time from when detecting the off of servo-on input signal(SRV-ON)is to when external brake
release signal(BRK-OFF)turns off, while the motor turns to servo off during the motor in motion.

 Set up to prevent the brake deterioration due to the

motor running.
 At servo-OFF during the motor is running , tb of
the right fig will be a shorter one of either Pr4.38
setup time, or time lapse till the motor speed falls
below Pr4.39 setup speed.

Range unit default Related

Pr4.39 Brake release speed setup control mode
30 -3000 1ms 30 P S T
When servo off, rotate speed less than this setup vale, and mechanical brake start delay time arrive,
motor lost power.

5.2.6【Class 5】Extended Setup

Range unit default Related
Pr5.00 2nd numerator of electronic gear control mode
1-32767 - 1 P S T
Range unit default Related
Pr5.01 3rd numerator of electronic gear control mode
1-32767 - 1 P S T
Range unit default Related
Pr5.02 4th numerator of electronic gear control mode
1-32767 - 1 P S T
Range unit default Related
Pr5.03* Denominator of pulse output division control mode
1-2500 - 2500 P S T
According to the command pulse input , set the 2nd to 4th numerator of electronic gear
DIV1 DIV2 numerator of electronic gear denominator of electronic gear
OFF OFF Pr0.09 Pr5.03
ON OFF Pr5.00 Pr5.03
OFF ON Pr5.01 Pr5.03
ON ON Pr5.02 Pr5.03
For details, refer to Pr0.11 .

Range unit default Related

Pr5.04 Over-travel inhibit input setup control mode
0/1/2 1ms 0 P S T
0: positive and negative limit effective, no alarm output;
1: positive and negative limit effective invalid;
2: positive and negative limit effective, alarm output;

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Range unit default Related

Pr5.06 Sequence at servo-off control mode
0-1 - 0 P S T
Specify the status during deceleration and after stop, after servo-off.
Setup value during deceleration After stop
0 emergency Free-run
1 Free-run Free-run

Range unit default Related

Pr5.08 LV trip selection at main power OFF control mode
0-1 - 0 P S T
You can select whether or not to activate Err0d.0 (main power under-voltage protection)function
while the main shutoff continues for the setup of Pr5.09(The main power-OFF detection time).
Setup value Action of main power low voltage protection
0 When the main power is shut off during Servo-On,Err0d.0 will not be triggered and
the driver turns to Servo-OFF. The driver returns to Servo-On again after the main
power resumption.
1 When the main power is shut off during Servo-On, the driver will trip due to
Err0d.0
Caution: Err0d.0(main power under-voltage protection) is trigged when setup of Pr5.09 is long and
P-N voltage of the main converter falls below the specified value before detecting the main power
shutoff , regardless of the Pr5.08 setup.

Range unit default Related

Pr5.09* The main power-OFF detection time control mode
70-2000 1ms 70 P S T
You can set up the time to detect the shutoff while the main power is kept shut off continuously. The
main power off detection is invalid when you set up this to 2000.

Range unit default Related

Pr5.11* Torque setup for emergency stop control mode
0-500 % 0 P S T
Set up the torque limit at emergency stop

When setup value is 0, the torque limit for normal operation is applied.

Range unit default Related

Pr5.12 Over-load level setup control mode
0-115 % 0 P S T
You can set up over-load level. The overload level becomes 115% by setting up this value to 0.

Use this with 0 setup in normal operation, set up other value only when you need to low this
over-load level.

The setup value of this parameter is limited by 115% of the motor rating.

Range unit default Related

Pr5.13 Over-speed level setup control mode
0-20000 r/min 0 P S T
If the motor speed exceeds this setup value, Err1A.0 [over-speed protect] occurs.
The over-speed level becomes 1.2 times of the motor max, speed by setting up this to 0.
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Range unit default Related

Pr5.15* I/F reading filter control mode
0-255 0.1ms 0 P S T
I/O input digital filtering; higher setup will arise control delay.
Range unit default Related
Pr5.17 Counter clear input mode control mode
0-4 -- 3 P
Set up the clearing conditions of the counter clear input signal
Setup value Clear condition
0/2/4 invalid
1 Always clear
3 Only clear one time
.

Related
Invalidation of command pulse inhibit Range unit default
Pr5.18 control mode
input 0-1 -- 1 P
Set up the clearing conditions of the counter clear input signal
Setup value Clear condition
0 valid
1 invalid
.

Range unit default Related

Pr5.20 Position setup unit select control mode
0-2 - 0 P
Specify the unit to determine the range of positioning complete and excessive positional deviation
Setup value unit
0 Encoder unit
1 Command unit
2 Standard 2500-line unit

Range unit default Related

Pr5.21 Selection of torque limit control mode
0-2 -- 0 P S T
Set up the torque limiting method;
Setup value Limiting value
0 PR0.13
1 PR5.22
2 TL-SEL off PR0.13
TL-SEL on PR5.22

Range unit default Related

Pr5.22 2nd torque limit control mode
0-500 % 300 P S T
Set up the 2nd limit value of the motor torque output

The value of the parameter is limited to the maximum torque of the applicable motor.

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Range unit default Related

Pr5.28* LED initial status control mode
0-35 - 1 P S T
You can select the type of data to be displayed on the front panel LED (7-segment) at the initial
status after power-on.
Setup Setup Setup
content content content
value value value
0 Positional command 10 I/O signal status 27 Voltage across PN [V]
deviation
1 Motor speed 11 Analog input value 28 Software version
Positional command Error factor and
2 speed 12 reference of history 29 Driver serial number
Velocity control Inertia ratio Motor serial number
3 command 16 30
Factor of no-motor Accumulated operation
4 Torque command 17 running 31 time
Communication axis Temperature
5 Feedback pulse sum 23 address 33 information
Encoder positional
6 Command pulse sum 24 deviation[encoder 36 Safety condition
unit] monitor
9 Control mode

Related
baud rate setup of RS232 Range unit default
Pr5.29* control mode
communication 0-6 - 5 P S T
You can set up the communication speed of RS232.
Related
baud rate setup of RS485 Range unit default
Pr5.30* communication control mode
0-6 - 2 P S T
You can set up the communication speed of RS485.
Set value Baud rate Set value Baud rate
0 2400bps 4 38400bps
1 4800bps 5 57600bps
2 9600bps 6 115200bps
3 19200bps
Baud rate error is 2400-38400bps±5% ,57600-115200bps±2%

Range unit default Related

Pr5.31* RS485 slave axis address control mode
0-127 - 1 P S T
During communication with the host (e.g. PC) to control multiple shafts, the shaft being accessed by
the host should be identified.
Notice: when using RS232/RS485, the maximum valid value is 31.

Related
Command pulse input maximum Range unit default control
Pr5.32 mode
setup 0--4000 -KHZ 0 P
Set the maximum number of pulses to be used as command pulse input, if the number of the input
pulse exceeds the setup value ,ERR1B0 command pulse input frequency error protection occurs.

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Range unit default Related

Pr5.34 Controller communication port select control mode
0,1 - 0 P S T
0: controller communication by RS232
1: controller communication by RS485
Range unit default Related
Pr5.35* Front panel lock setup control mode
0-1 - 0 P S T
Lock the operation on the front panel.
Setup value content
0 No limit on the front panel operation
1 Lock the operation on the front panel

Range unit default Related

Pr5.36 7th setting parameters open control mode
0,102 - 0 P S T
7th setting parameters open.
Setup value content
0
102 Open 7th setting parameters
modification authority.

5.2.7【Class 6】Special Setup

Range unit default Related
Pr6.03 JOG trial run command torque control mode
0 -100 % 0 T
You can set up the command speed used for JOG trial run (torque control).

Range unit default Related

Pr6.04 JOG trial run command speed control mode
0-500 r/min 300 P S T
You can set up the command speed used for JOG trial run (velocity control).

Range unit defau Related

control mode
Pr6.05 Position 3rd gain multiplication lt
0--1000 0.1ms 0 P
Set up the time at which 3rd gain becomes valid.
When not using this parameter, set PR6.05=0, PR6.06=100
This is valid for only position control/full-closed control.

Range unit defau Related

control mode
Pr6.06 Position 3rd gain valid time lt
0--1000 0.1ms 0 P
Set up the 3rd gain by multiplying factor of the 1st gain

3rd gain= 1st gain * PR6.06/100

Related
Pr6.07 JOG trial run command speed Range unit default control mode
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-100-100 % 0 P S T
Range unit default Related
Pr6.08 JOG trial run command speed control mode
-100-100 % 0 P S T
Range unit Related
default control mode
Pr6.09 JOG trial run command speed
-100-100 % 0 P S T
This three parameters may apply feed forward torque superposition directly to torque command.

Range unit default Related

Pr6.13 2nd inertia ratio control mode
0-1000 % 0 P S T
Set up 2nd inertia ratio
Set up the ratio of the load inertia against the rotor of the motor ratio.
PR6.13= ( load inertia/ rotor inertia ) * 100 【%】

Range unit default Related

Pr6.14 Emergency stop time at alarm control mode
0-1000 1ms 200 P S T
Set up the time allowed to complete emergency stop in an alarm condition, exceeding this time puts
this system in alarm state.

Range unit default Related

Pr6.20 Trial run distance control mode
0-200 0.1rev 10 P
The distance of running each time in JOG run(position control)

Range unit default Related

Pr6.21 Trial run waiting time control mode
0-30000 Ms 1000 P
The waiting time after running each time in JOG run(position control)
Range unit default Related
Pr6.22 Trial run cycle times control mode
0-32767 - 10 P
The cycling times of JOG run(position control)

Range unit default Related

Pr6.25 Acceleration of trial running control mode
0-32767 - 10 P
Acceleration of trial running
Range unit default Related
Pr6.26 Mode of trial running control mode
0-32767 - 10 P
Mode of trial running

Range unit default Related

Pr7.19 Weak magnetic current control mode
0-100 % 0 P S T
0: automatic operation
Manual operation, do not set if you are not professional, to avoid motor demagnetization.

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Chapter 6 Alarm and Processing

6.1 Alarm List
Protection function is activated when an error occurs, the driver will stop the rotation of servo motor, and
the front panel will automatically display the corresponding fault error code. The history of the error can be
viewed on data monitoring mode. error logging submenu displays like:―d12Er‖.
The error code displays like:
Er---
Figure 6-1 Panel Alarm Display

Table 6.1 Error Code List

Error code Attribute
content Immediate Can be
Main Sub history
stop cleared
0~F FPGA communication error
09 ●
0~1 Current detection circuit error
●
2、4 Analog input circuit error
●
3 Power line（U、V、W）not connected
0A ●
DC bus circuit error
5 ●
Temperature detection circuit error
6 ●
Control power under-voltage
0b 0 ●
DC bus over-voltage
0c 0 ● ●
DC bus under-voltage
0 ● ●
0d
2 Power line（U、V、W）not connected
●
Over-current
0 ●
0E over -current of intelligent power
1 module(IPM) ●
Driver over-heat
0F 0 ● ●
Motor over-load
0 ● ●
10 Driver over-load
1 ● ●
Resistor discharged circuit overload
0 ● ●
12 Brake error
1 ●
Encoder wiring error
0 ●
Encoder data error
1 ●
15 Encoder initial position error
2 ●
Encoder battery low-voltage error
3 ● ●
Encoder data error
17 0 ● ●

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Motor parameter error

1
Too large position pulse deviation
0 ● ● ●
18 Too large velocity deviation
1 ● ● ●
Vibration is too large
19 0 ● ● ●
Over-speed 1
0 ● ● ●
1A Speed out of control
1 ● ●
I/F input interface allocation error
0 ● ●
I/F input interface function set error
21 1 ● ●
I/F output interface function set error
2 ● ●
CRC verification error when EEPROM
24 0 parameter saved
Positive/negative over-range input valid
26 0 ● ● ●
Compulsory alarm input valid
57 0 ● ●
Save: save this error history record
Emergency: error, driver will stop immediately
May remove: may through SI input/panel/software ACH Series remove alarm

6.2 Alarm Processing Method

When appear error, please clear error reason, renew power on
Main Extra Display:“Er 090”--“Er 09F”
Error
code
09 0~F Content: FPGA communication error

Cause Confirmation Solution

r,t terminal under-voltage Check r,t terminal voltage Make sure voltage of r.t terminal in proper range
Driver internal fault / replace the driver with a new one

Main Extra Display:“Er 0A0”--“Er 0A1”

Error
code
0A 0~1 Content: current detection circuit error

Cause Confirmation Solution

Wiring error of motor output Check wiring of motor output Make sure motor U,V,W terminal wiring
U,V,W terminal U,V,W terminal correctly
Main voltage R,S,T terminal Check main voltage R,S,T Make sure voltage of R,S,T terminal in
voltage whether over-low terminal voltage proper range
Driver inner fault / replace the driver with a new one

Main Extra Display: “Er 0A2”

、“Er 0A4”
Error
code
0A 2、4 Content: analog input circuit error

Cause Confirmation Solution

Analog input Wiring error Check wiring of analog input Make sure analog input wiring correctly
Driver inner fault / 55 replace the driver with a new one
 User Manual for L7 Servo

Main Extra Display: “Er 0A3”

Error
code
0A 3 Content: Power line（U、V、W）not connected

Cause Confirmation Solution

Power line（U、V、W） Check wiring of U、V、W Make sure U、V、W wiring correctly
not connected
Motor inner fault / replace the motor with a new one

Main Extra Display: “Er 0A5”

Error
code
0A 5 Content: DC bus circuit error

Cause Confirmation Solution

Main voltage R,S,T Make sure voltage of R,S,T terminal in
Check R,S,T terminal voltage
terminal under-voltage proper range
Driver inner fault / replace the driver with a new one

Main Extra Display: “Er 0A6”

Error
code
0A 6 Content: temperature detection circuit error

Cause Confirmation Solution

r,t terminal under-voltage Check r,t terminal voltage Make sure voltage of r,t terminal in proper range
Driver inner fault / replace the driver with a new one

Main Extra Display: “Er 0b0”

Error
code
0b 0 Content: control power under-voltage

Cause Confirmation Solution

r,t terminal under-voltage Check r,t terminal voltage Make sure voltage of r,t terminal in proper range
Driver inner fault / replace the driver with a new one

Main Extr
Display: “Er 0c0”
Error a
code
0c 0 Content: DC bus over-voltage

Cause Confirmation Solution

Main power R,S,T terminal
Check R,S,T terminal voltage decrease R,S,T terminal Voltage
over-voltage
Inner brake circuit damaged / replace the driver with a new one
Driver inner fault / replace the driver with a new one

Main Extra Display: “Er 0d0”

Error
code
0d 0 Content: DC bus under-voltage

Cause Confirmation Solution

Main power L1,L2
Check R,S,T terminal voltage increase L1,L2 terminal Voltage
terminal under-voltage
Driver inner fault / replace the driver with a new one

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Main Extra Display: “Er 0E0”

Error
code
0E 0 Content: over-current

Cause Confirmation Solution

Short of driver output wire, whether Assure driver output wire no short
Short of driver output wire
short circuit to PG ground or not circuit, assure motor no damage
Abnormal wiring of motor Check motor wiring order Adjust motor wiring sequence
Cut off driver output wiring, make
Short of IGBT module srv_on available and drive motor, replace the driver with a new one
check whether over-current exists
abnormal setting of control
Modify the parameter Adjust parameter to proper range
parameter
Check control command whether
abnormal setting of control Adjust control command: open
command changes too violently or
command filter function
not

Main Extra Display: “Er 0E1”

Error
code
0E 1 Content: IPM over-current

Cause Confirmation Solution

Short of driver output wire, whether Assure driver output wire no short
Short of driver output wire
short circuit to PG ground or not circuit, assure motor no damage
Abnormal wiring of motor Check motor wiring order Adjust motor wiring sequence
Cut off driver output wiring, make
srv_on available and drive motor,
Short of IGBT module replace the driver with a new one
check whether over-current exists or
not
Short of IGBT module / replace the driver with a new one
abnormal setting of control
Modify the parameter Adjust parameter to proper range
parameter
Check control command whether
abnormal setting of control Adjust control command: open
command changes too violently or
command filter function
not

Main Extra Display: “Er 0F0”

Error
code
0F 0 Content: driver over-heat

Cause Confirmation Solution

the temperature of power Check driver radiator whether Strengthen cooling conditions, promote
module have exceeded the temperature is too high or the capacity of driver and motor, enlarge
upper limit not acceleration/deceleration time, reduce load

Main Extr
Display: “Er 100”
Error a
code
10 0 Content: motor over-load

Cause Confirmation Solution

Check actual load if the value of
Load is too heavy Decrease load, adjust limit parameter
parameter exceed maximum or not
Oscillation of Check the machine if oscillation exists Modify the parameter of control loop;
machine or not enlarge acceleration/deceleration time
wiring error of Check wiring if error occurs or not, if Adjust wiring or replace encoder/motor
motor line breaks or not for a new one
electromagnetic Check brake terminal voltage57 Cut off brake
 User Manual for L7 Servo

brake engaged

Main Extr
Display: “Er 101”
Error a
code
10 1 Content: Driver over-load

Cause Confirmation Solution

wiring error of Check U、V、W wiring if error occurs Check U、V、W wiring if error occurs or
motor power line or not, if line breaks or not not, if line breaks or not
Motor dosen’t
Driver over-current Motor current exceed driver current
match the driver

Main Extra Display: “Er 120”

Error
code
12 0 Content: Resistance discharge circuit over-load

Cause Confirmation Solution

Regenerative energy has Check the speed if it is too lower motor rotational speed; decrease load
exceeded the capacity of high. Check the load if it is inertia ,increase external regenerative resistor,
regenerative resistor . too large or not. improve the capacity of the driver and motor
Resistance discharge / Increase external regenerative resistor, replace
circuit damage the driver with a new one

Main Extra Display: “Er 121”

Error
code
12 1 Content: braking error

Cause Confirmation Solution

Braking resistor short circuit Change a new braking resistor
Braking circuit damage
Braking IGBT damaged Repair IGBT

Main Extra Display: “Er 150”

Error
code
15 0 Content: encoder line breaked

Cause Confirmation Solution

Encoder line disconnected check wiring if it steady or not Make encoder wiring steady
Check encoder wiring if it is correct
Encoder wiring error Reconnect encoder wiring
or not
Encoder damaged / replace the motor with a new one
Encoder measuring circuit
/ replace the driver with a new one
damaged

Main Extra Display: “Er 151”

Error
code
15 1 Content: encoder data error

Cause Confirmation Solution

Encoder data error Check for interference Anti-interference treatment

Main Extr
Display: “Er 152”
Error a
code
15 2 Content: initialized position of encoder error

Cause Confirmation 58 Solution

 User Manual for L7 Servo

Check encoder power voltage if it is Ensure power voltage of encoder

DC5V  5% or not; check encoder cable normally, ensure encoder cable and
Communication data
and shielded line if it is damaged or not; shielded line well with FG ground,
abnormal
check encoder cable whether it is ensure encoder cable separated with
intertwined with other power wire or not other power wire
Encoder damaged / replace the motor with a new one
Encoder measuring
/ replace the driver with a new one
circuit damaged

Main Extr
Display: “Er 153”
Error a
code
15 3 Content: encoder battery under voltage

Cause Confirmation Solution

Check battery Change a battery
Multi-turn absolute Motor damaged, replace the motor
/Check motor
encoder power off with a new one
/Clear drive alarm Clear alarm after changing battery

Main Extra Display: “Er 170”

Error
code
17 0 Content: encoder data error

Cause Confirmation Solution

Check encoder power voltage if it is Ensure power voltage of encoder
DC5V  5% or not ; check encoder cable normally, ensure encoder cable and
Communication data
and shielded line if it is damaged or not; shielded line well with FG ground,
abnormal
check encoder cable whether it is ensure encoder cable separated with
intertwined with other power wire or not other power wire
Encoder damaged / replace the motor with a new one
Encoder measuring
/ replace the driver with a new one
circuit damaged

Main Extra Display: “Er 171”

Error
code
17 1 Content: motor parameters error

Cause Confirmation Solution

Input motor parameters to match with
Motor parameters
driver or replace the motor with a new
error
one

Main Extra Display: “Er 180”

Error
code
18 0 Content: position error over-large error

Cause Confirmation Solution

Unreasonable set of Check parameter PA_014 value if it is too Enlarge the value of PA_014
position error parameter small or not
Check parameter PA_100, PA_105 value Enlarge the value of PA_100,
Gain set is too small
if it is too small or not PA_105
Check parameter PA_013, PA_522 value Enlarge the value of PA_103,
Torque limit is too small
whether too small or not PA_522
Check acceleration/ deceleration time if it Increase acceleration/
Outside load is too large is too small or not , check motor rotational deceleration time decrease
speed if it is too big or not ; check load if speed, decrease load
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it is too large or not

Main Extra Display: “Er 181”

Error
code
18 1 Content: velocity error over-large error

Cause Confirmation Solution

The deviation of inner position Enlarge the value of PA_602, or set the
Check the value of PA_602 if
command velocity is too large value to 0, make position deviation
it is too small or not
with actual speed over-large detection invalid
The acceleration/ decelerate Enlarge the value of PA_312, PA_313.
Check the value of PA_312,
time Inner position command adjust gain of velocity control, improve
PA_313 if it is too small or not
velocity is too small trace performance.

Main Extra Display: “Er 190”

Error
code
19 0 Content: motor vibration

Cause Confirmation Solution

Current vibration Current vibration Cut down the value of Pr003. Pr004
Stiffness is too strong Stiffness is too strong

Main Extra Display: “Er 1A0”

Error
code
1A 0 Content: over-speed 1

Cause Confirmation Solution

Check speed command if it is too large or not; Adjust the value of input speed
check the voltage of analog speed command if it command, enlarge the value
Motor speed has
is too large or not; check the value of PA_321 if PA_321 value, modify command
exceeded the first
it is too small or not; check input frequency and pulse input frequency and
speed limit
division frequency coefficient of command pulse division frequency coefficient,
(PA_321)
if it is proper or not; check encoder if the wiring assure encoder wiring correctly
is correct or not

Main Extra Display: “Er 1A1”

Error
code
1A 1 Content: speed out of control

Cause Confirmation Solution

Control maladjustment UVW wrong connection
Encoder error Anti-interference treatment or change
Monitor D30 count increasing
motor
Special application The rotation direction of the The special assessment of practical
motor is opposite with motor application, set 0 to 4 for PA137 to
force direction. shield ERR1A1 alarm.

Main Extra Display: “Er 1b0”

Error
code
1b 0 Content: input pulse format incorrect or out of frequency

Cause Confirmation Solution

The input pulse To decrease pulse input frequency, less than
Too high pulse frequency
frequency is too high 500K
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Main Extra Display: “Er 1b1”

Error
code
1b 1 Content: incorrect electronic gear ratio

Cause Confirmation Solution

Numerator denominator is Reduce the number of pulses per revolution
zero, or setting values out of
Out of range
range

Main Extra Display: “Er 210”

Error
code
21 0 Content: I/F input interface allocation error

Cause Confirmation Solution

Check the value of PA_400, Assure the value of PA_400, PA_401,
The input signal are assigned
PA_401, PA_402,PA_403,PA_404 PA_402, PA_403, PA_404 set
with two or more functions.
if it is proper or not correctly
Check the value of PA_400, Assure parameter PA_400, PA_401,
The input signal aren’t
PA_401,PA_402,PA_403,PA_404 PA_402,PA_403,PA_404 set
assigned with any functions.
if it is proper or not correctly

Main Extra Display: “Er 211”

Error
code
21 1 Content: I/F input interface function set error

Cause Confirmation Solution

Signal allocation error Check the value of PA_400, PA_401, Assure the value of PA_400,
PA_402,PA_403,PA_404 if it is proper PA_401, PA_402, PA_403, PA_404
or not set correctly

Main Extra Display: “Er 212”

Error
code Content: I/F input interface function set error
21 2
Cause Confirmation Solution
Check the value of PA_410, Assure the value of PA_410,
The input signal are assigned
PA_411, PA_412, PA_413, if it is PA_411, PA_412,PA_413 set
with two or more functions.
proper or not correctly
Check the value of PA_410, Assure the value of PA_410,
The input signal aren’t
PA_411, PA_412, PA_413, if it is PA_411,PA_412,PA_413 set
assigned with any functions.
proper or not correctly

Main Extra Display: “Er 240”

Error
code
24 0 Content: CRC verification error when EEPROM parameter is saved

Cause Confirmation Solution

Assure r,t terminal voltage in proper
r,t terminal under-voltage Check r,t terminal voltage
range
save the parameters for several
Driver is damaged replace the driver with a new one
times
The setting of driver maybe Check the setting of driver if it is Download the suitable project file to
default setting which isn’t suitable for your motor driver for motor
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suitable for motor .

Main Extra Display: “Er 260”

Error
code Content: positive negative over-travel input valid
26 0
Cause Confirmation Solution
positive /negative over-travelling Check the state of positive
/
input signal has been conducted negative over-travel input signal

Main Extra Display: “Er 270~ Er 272”

Error
code Content: analog input out of range
27 0~2

Cause Confirmation Solution

Try to adjust analog input within limited
Analog input out of range
range

Main Extra Display: “ Er 570”

Error
code Content: forced alarm input valid
57 0
Cause Confirmation Solution
Forced-alarm input signal
Check forced-alarm input signal Assure input signal wiring correctly
has been conducted

6.3 Alarm clear

For alarm can be cleared:
1、Use auxiliary function “AF_ACL”
a．Press M to select auxiliary function
b．Press SET to enter into “AF_ACL”
c．Press and hold to clear the alarm
2、Set IO input function as Alarm clear input ― (A-CLR)‖，refer to switch input interface connection to clear
the alarm

For alarm can not be cleared:

1、 Restart the power-supply to clear the alarm.

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Chapter 7 Display and Operation

7.1 Introduction
The operation interface of servo driver consists of six LED nixie tubes and five key , which are used for
servo driver’s status display and parameter setting. The inter face layout is as follows :

Figure 7-1 front panel

Table 7.1 The name and function of keys

Name Key Function
There are 6 LED nixie tubes to display monitor value, parameter value
Display /
and set value
Press this key to switch among 4 mode:
Key of
M 1.data monitor mode 2.parameter setting mode
mode switch
3.auxiliary function mode 4.EEPROM written mode
Confirming key SET Entrance for submenu, confirming input
Up key ▲ Press this key to increase the set value of current flash bit
Down key ▼ Press this key to decrease the set value of current flash bit
Left key ◄ Press this key to shift to the next digit on the left

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7.2 Panel Display and Operation

7.2.1 Panel Operation Flow Figure
Power on

Display one second

“000000'

Panel initial
display content
ENT
Data monitor mode
ENT Display
doouEP d01SPd d35 SF parameter value

M
Parameter ENT
Parametersetting mode
set mode
Display Modify
PA_000 PA_001 PA_639 parameter value parameter value

M
Auxiliary function mode ENT
Display Modify
AF_Jog AF_ini AF_oF3
parameter value parameter value

M
EEPROMwritten
EEPROM write ENT Ready to
mode Ready write
write Write
mode
M

Figure 7-2 the flow diagram of panel operation

(1) The front panel display rEAdY for about one second firstly after turning on the power of the driver.
Then if no abnormal alarm occurs, monitor mode is displayed with the value of initial parameter ; otherwise,
abnormal alarm code is displayed.
(2) Press M key to switch the data monitor mode → parameter setting mode → auxiliary function mode →
EEPROM written mode.
(3) If new abnormal alarm occurs, the abnormal alarm will be displayed immediately in abnormal mode no
matter what the current mode is, press M key to switch to the other mode.
(4) In data monitor mode, press or to select the type of monitor parameter; Press ENT to enter the
parameter type , then press to display the high 4 bits ―H‖ or low 4 bits ―L‖ of some parameter values.
(5) In parameter setting mode, press to select current editing bit of parameter No, press or to change
current editing bit of parameters No. Press ENT key to enter the parameter setting mode of corresponding
parameters No. Press to select current bit of parameter value when editing it, press or to change the
value of the bit. Press ENT to save it and switch to the interface of parameter No.

7.2.2 Driver Operating Data Monitor

Table 7.2 Function List of Driver Monitor
Serial Data Format
Name Specification Display Unit
Number (x, y is numerical value)
Positional command Low-bit ―L xxxx‖
0 d00uE
deviation d00uE pulse
High-bit ‖H xxxx‖
1 d01SP Motor speed d01SP r/min ―r xxxx‖
Positional command
2 d02cS d02CS r/min ―r xxxx‖
speed
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Velocity control
3 d03cu d03Cu r/min ―r xxxx‖
command
4 d04tr Torque command d04tr % ―r xxxx‖
Low-bit ―L xxxx‖
5 d05nP Feedback pulse sum d05nP pulse
High-bit‖H xxxx‖
Low-bit ―L xxxx‖
6 d06cP Command pulse sum d06CP pulse
High -bit‖H xxxx‖
7 d07 / d07 / ― xxxx‖
External scale Low-bit ―L xxxx‖
8 d08FP
feedback pulse sum d08FP pulse
High -bit‖H xxxx‖
Position:―PoScn‖
Speed:‖SPdcn‖
9 d09cn Control mode d09Cn /
Torque:‖trqcn‖
Composite mode‖ cnt‖
10 d10Io I/O signal status d10 Io / Refer instructions for details
―x yyyy‖
11 d11Ai Analog input value d11Ai v x:AI1 A,AI2 b,AI3 c
yyyy:value
Error factor and
12 d12Er d12Er / ―Er xxx‖
reference of history
13 d13 rn Alarm display d13rn / ―m xxx‖
14 d14 r9 Regeneration load factor d14r9 % ―rg xxx‖
15 d15 oL Over-load factor d15oL % ―oL xxx‖
16 d16Jr Inertia ratio d16Jr % ―J xxx‖
Factor of no-motor
17 d17ch d17Ch / ―cP xxx‖
running
No. of changes in I/O
18 d18ic d18ic / ―n xxx‖
signals
19 d19 / d19 / ― xxxx‖
Low-bit ―L xxxx‖
20 d20Ab Absolute encoder data d20Ab pulse
High-bit‖H xxxx‖
Absolute external scale Low-bit ―L xxxx‖
21 d21AE
position d21AE pulse
High -bit‖H xxxx‖
No of Encoder/external
22 d22rE scale communication d22rE times ―n xxx‖
errors monitor
Communication axis ―id xxx‖
23 d23 id
address d23id /
―Fr xxx‖
Encoder positional Low-bit ―L xxxx‖
24 d24PE
deviation(encoder unit) d24PE pulse
High -bit‖H xxxx‖
Encoder scale deviation Low-bit ―L xxxx‖
25 d25PF
(external scale unit) d25PF pulse
High -bit‖H xxxx‖
hybrid deviation Low-bit ―L xxxx‖
26 d26hy
(command unit) d26hy pulse
High -bit‖H xxxx‖
27 d27 Pn Voltage across PN [V] d27Pn V ―u xxx‖
―d xxx‖
28 d28 no Software version d28no / ―F xxx‖
―P xxx‖
29 d29AS Driver serial number d29AS / ―n xxx‖
Low-bit ―L xxxx‖
30 d30NS Motor serial number d30sE /
High -bit‖H xxxx‖
Accumulated operation Low-bit ―L xxxx‖
31 d31 tE
time d31tE /
High -bit‖H xxxx‖
Automatic motor
32 d32Au d32Au / ―r xxx‖
identification
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33 d33At Driver temperature d33At ℃ ―th xxx‖

34 d34 / d34 / ―t xxx‖
Safety condition
35 d35 SF d35SF / ―xxxxxx‖
monitor
Instructions:
1、d01SP Motor speed
Driver display s 0 after power on, in disable state. While in enable state, display r 0. Motor speed
display
r xxx. So users can distinguish in disable state or in enable state by display s 0 or r 0 .
2、d10 Io I/O signal status
The upper half of the nixie tube is valid, the lower half is invalid, the decimal point represents the
input and output state, lit represents the input, not bright represents the output
Input: , from low to high, the order is SI1, SI2…SI10. The next figue represents SI1、SI8、
SI10 input are valid, other inputs are invalid.

Output: , from low to high, the order is SO1, SO2…SO10. The next figue represents SO1
output are valid, other inputs are invalid.

3、d11Ai Analog input value

d11Ai is used to monitor the state of the three channels of simulation. The horizontal line on the
leftmost digital tube represents which channel of simulation, specifically, the horizontal line above
represents the first channel of simulation, the horizontal line in the middle represents the second channel of
simulation, and the horizontal line below represents the third channel of simulation. The analog display unit
is 0.001V, and the fourth and fifth decimal places on the right represent negative signs. Analog monitoring
switch by up and down keys. Example the third analog value of -11.5v is shown as follows:

4、Parameter high and low bit, positive and negative Numbers.

The highest and lowest digits of data and the signs are shown as follows. The first and second decimal
points on the right are bright, indicating the data of high order. The two decimal points are not lit, indicating
the data of low order. The fourth and fifth decimal places on the right indicate negative Numbers, otherwise
positive Numbers

Users can choose to set the initial display state of power supply to any of the above:

Range unit default Related

Pr5.28* LED initial status control mode
0-36 - 1 P S T
You can select the type of data to be displayed on the front panel LED (7-segment) at the initial
status after power-on.
Setup Setup Setup
content content content
value value value
0 Positional command 10 I/O signal status 27 Voltage across PN [V]
deviation
1 Motor speed 11 Analog input value 28 Software version

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Positional command Error factor and

2 speed 12 reference of history 29 Driver serial number
Velocity control Inertia ratio Motor serial number
3 command 16 30
Factor of no-motor Accumulated operation
4 Torque command 17 running 31 time
Communication axis Temperature
5 Feedback pulse sum 23 address 33 information
Encoder positional
6 Command pulse sum 24 deviation[encoder 36 Safety condition
unit] monitor
9 Control mode

Table 7.3 “d17 ch” Motor No Rotate Reason Code Definition

Code Display Code Specification Content
0 cP 0 Working normally
1 cP 1 DC bus under-voltage /
The Servo-ON input (SRV-ON) is not connected to
2 cP 2 No entry of Srv-On input
COM-
PA_504=0,POT is open , speed command is positive
3 cP 3 POT/NOT input is valid direction
NOT is open , speed command is negative direction
4 cP 4 Driver fault /
The relay inside the
5 cP 5 driver isn’t closed
/
Pulse input prohibited
6 cP 6 (INH)
PA_518=0,INH is open
PA_517=0,deviation counter clear is connected to
8 cP 8 CL is valid
COM-
9 cP 9 speed zero-clamp is valid PA_315=1, speed zero-clamp is open

7.2.3 Auxiliary Function

Table 7.4 setting interface System parameter
No Name Specification Display Code Operation Flow
0 AFjog Trial run AFjog Please refer to the chapter of“trial run”
1. press SET to enter operation, display
“InI -”。
Initialization of
1 AFInI AFInI 2.press ▲ once to display “InI---”,
parameter
indicated initialization; after finishing it,
display“FinSh”。
1. press SET to enter operation, display
“unL -”。
Release of front
2 AFunL AFunL 2. press ▲button one time , display
panel lock
“FinSh”,indicated unlock the panel
successfully
1. press SET to enter operation,
display“Acl -”。
3 AFAcL Alarm clear AFAcL
2. press ▲once , display “FinSh”,
indicated alarm clear successfully
A1 automatic 1.press SET to enter operation, display
4 AFoF1 AFoF1
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“of1 -”。
2.press ▲once , display “StArt”,
indication start correct, then
display“FiniSh”indicated correction
finished。
1.press SET to enter operation, display
“oF2 -”。
A2 automatic 2.press ▲once , display “StArt”,
5 AFoF2 AFoF2
offset adjustment indicated start to correct the offset, then
display“FinSh”indicated that correction
finished。
1.press SET to enter operation, display
“oF3 -”。
A3 automatic 2.press ▲once , display “StArt”,
6 AFoF3 AFoF3
offset adjustment indicated start to correct the offset, then
display“FinSh”indicated correction
finished。
1、 Press SET once to enter operation,
display “Enc -”
Motor Angle 2、 press ▲once , display “StArt”,
7 AFEnc
correction AFEnc indicated start to correct the angle,
then display“FiniSh”indicated
correction finished
8 AF tUn Reserved AFtUn
1、 Press SET once to enter operation,
display ―G---‖

Inertia ratio 2、 Press once，display ―StUon‖

9 AF_GL
identification AF_GL 3、 Press ，motor running，indicated
start to identification
4、 Finishing，display G xxx，xxx
indicated Inertia ratio value
1、 Press SET once to enter operation,
display ―rSt -‖
10 AFrSt Soft reset AFrSt 2、 Press and hold on，display
―StArt‖ Then，finished

Table 7.5 The Locked panel conditions

Mode The Locked panel conditions
Monitor mode No limitation: all monitored data can be checked.
Parameter set up mode No parameter can be changed but setting can be checked.
Auxiliary function mode Cannot be run except for‖ release of front panel lock‖
EEPROM writing mode No limitation

7.2.4 Saving parameter

Operation procedure:
1. press M to select EEPROM writing mode, display ―EESet‖;
2. Press ENT to enter into writing mode operation:
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3. Press and hold ▲, display LED from‖ EP -‖ to‖ EP--‖, then it become‖ EP---‖, finally it
become‖ StArt‖, indicated EEPROM writing operation have been began;
4. " means that writing is unsuccessful，while " show that the writing is
successful; Follow steps 3 and 4 to repeat the operation; the drive may be damaged if repeat of several
times still fails. The driver need to repair.
5. The driver need to power off and restart again if writing is successful .

NOTE: Don’t turn off the power if EEPROM writing operation goes on, otherwise it may cause a writing
wrong data; If this happens, please reset all the parameters ,then do EEPROM writing operation again.
7.2.6 Abnormal Alarm
The front panel will automatically enter the abnormal alarm display mode if driver error occurs while it
displays the corresponding error code. Please refer to Chapter 6 of alarm processing about the detail of error
code.

7.3 Trial Run

!
Warning
Attention
 Ground the earth terminal of the motor and driver without fail. the PE terminal of driver must
be reliably connected with the grounding terminal of equipment.
 The driver power need with isolation transformer and power filter in order to guarantee the
security and anti-jamming capability.
 Check the wiring to make sure correctness before power on.
 Install a emergency stop protection circuit externally, the protection can stop running
immediately to prevent accident happened and the power can be cut off immediately.
 If drive alarm occurs, the cause of alarm should be excluded and Svon signal must be invalid
before restarting the driver.
 The high voltage also will contain in several minutes even if the servo driver is powered off,
please don’t touch terminal strip or separate the wiring.


Note: there are two kinds of trial run : trial run without load and trial run with load . The user need to test
the driver without load for safety first.

7.3.1 Inspection Before trial Run

Table7.6 inspection Item Before Run
No Item Content
1. Ensure the following terminals are properly wired and securely connected :
the input power terminals, motor output power terminal ,encoder input
Inspection on terminal CN2, control signal terminal CN1, communication terminal CN4(it
1
wiring is unnecessary to connect CN1 andCN4 in Jog run mode)
2.short among power input lines and motor output lines are forbidden , and no
short connected with PG ground.
1. The range of control power input r, t must be in the rated range.
Confirmation of 2. The range of the main power input R, S, T must be in the rated range.
2
power supply 3. Single phase 220VAC input is sufficient if the power of driver is no more
1.5kw .
3 Fixing of position the motor and driver must be firmly fixed
Inspection without
4 the motor shaft must not be with a mechanical load.
load
5 Inspection on 1, all of the control switch
69 must be placed in OFF state.
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control signal 2, servo enable input Srv_on must be in OFF state.

7.3.2 Timing chart on power-up
off on
r,t control power <0.5 second
off
on
inner control power off >0 millisecond
on
R,S,T main power <0.8 second
off on
BUS voltage <1.5 second

Servo ready off on

>0 millisecond
off on
Servo on input <10 millisecond
off on
Dynamic brake <0.15 second
off on
Motor power on
<10 millisecond
off on
BRK-OFF
>0.1 second
no have
Position/velocity/torque command

7.3.3 Timing chart on fault

No fault Have fault

<150ms

No alarm alarm

7.3.4 holding brake

In applications where the motor drives the vertical axis, this brake would be used to hold and prevent the
work (moving load) from falling gravity while the power to the servo is shut off .

Never use this for “Brake” purpose to stop the load in motion.
Use this built-in brake for “holding” purpose only. That is to hold the stalling status.

For the brake release timing at power-on ,or braking timing at servo-off/servo-alarm while the motor is in
motion ,refer to chapter 7.1.2 timing chart on power-up.
You can follow the diagram about the wiring below :

About the wire of brake ,there should be an 24VDC for brake, the brake will be loosed with the
24VDC input, and the driver give an output signal to control the connection or disconnection of the
24VDC , pin 31 and pin 35 of CN1 is the control signal , and it is forbidden to connect these
signal directly for the power of 24VDC , it will destroy the hardware of servo driver.
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And if you connect the pin31 and pin35 for controlling the brake , just make sure the setting value of
Pr4.13. The default is 00000303h , if the driver works in torque mode , this value should be changed to
00030303h .

7.3.5 Trial Run Jog Control

After installation and connection is completed , check the following items before turning on the power:
Wiring ? (especially power input and motor output)
Short or grounded ?
Loose connection ?
Unstable mounting ?
Separation from the mechanical system ?

It is unnecessary to connect control signal terminal CN1 and communication terminal CN4 in Jog run mode.
It is recommended that motor runs at low speed for safety, while the speed depends on the parameters
below:
there are two different modes : speed JOG mode and location JOG mode.

Table 7.7 Parameter Setup of Velocity JOG

No parameter name Set value unit
1 PA_001 Control mode setting 1 /
2 PA_312 Acceleration time setup User-specified millisecond
3 PA_313 Deceleration time setup User-specified millisecond
4 PA_314 Sigmoid acceleration/deceleration time setup User-specified millisecond
5 PA_604 JOG trial run command speed User-specified rpm

Table 7.8 Parameter Setup of Position JOG

No parameter name value unit
1 PA_001 Control mode setting 0 /
2 PA_312 Acceleration time setup User-specified millisecond
3 PA_313 Deceleration time setup User-specified millisecond
4 PA_314 Sigmoid acceleration/deceleration time setup 0 millisecond
5 PA_604 JOG trial run command speed User-specified rpm
6 PA_620 distance of trial running User-specified 0.1 rotation
7 PA_621 waiting time of trial running User-specified millisecond
8 PA_622 cycling times of trial running User-specified times

◆JOG trial run operation process

1. set all parameters above corresponding to velocity JOG or position JOG ;
2. Enter EEPROM writing mode, and save the value of modified parameters ;
3. The driver need to restart after the value is written successfully;
4. Enter auxiliary function mode, and go to ―AFJog "sub-menu;
5. Press ENT once, and display Jog - ";
6. Press once, and display ‖ Srvon " if no exception occurs; press once again if ―Error " occurs,
it should display ―Srvon "; If ―Error " still occurs, please switch to data monitoring mode ―d17 Ch
"sub-menu, find the cause why motor doesn’t rotate, fix the trouble and try again;
7. In position JOG mode, the motor will rotate directly; if motor doesn’t rotate, switch to data monitoring
mode d17 Ch "sub-menu, find the cause why motor doesn’t rotate, fix the trouble and try again;
In speed JOG mode, press once, the motor rotates
71 once (hold will make motor rotating to value of
 User Manual for L7 Servo

PA_604 ); press once, the motor rotates once (hold will make motor rotating to value of PA_ 604); if
motor doesn’t rotate, switch to data monitoring mode d17 Ch "sub-menu, find the cause why motor
doesn’t rotate, fix the trouble and try again;
8. Press SET will exit JOG control in JOG run mode.

Chapter 8 Application Case

Operation Mode Selection
L7 series AC servo drives support the position, speed, torque three basic modes of operation, and can
switch freely between the three basic modes of operation by switch or modify parameters.
Table 8.1 Parameter setup of Operation Mode Selection
No Mode Parameter Specification
The position control is performed based on the positional command
1 Position mode PA_001=0 (pulse train) from the host controller or the command set in the servo
driver.
The velocity control is performed according to the analog speed
2 Velocity mode PA_001=1 command from the host controller or the speed command set in the
servo driver.
The torque control is performed according to the torque command
3 Torque mode PA_001=2 specified in the form of analog voltage or the command set in the
servo driver.
1st mode:
position mode
4 2nd mode: PA_001=3 The control mode is switched through external input.
speed mode
1st mode:
position mode
5 2nd Mode: PA_001=4 The control mode is switched through external input.
torque mode
1st mode:
speed mode
6 2nd Mode: PA_001=5 The control mode is switched through external input.
torque mode

The step of changing the operation mode:

1, Switch the driver to Servo Off status.
2, Modify the corresponding parameters of control mode to EEPROM.
Turn off/on the power to make the new mode works after setup completed.

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8.1 Position Control

Notice : You must do inspection before position control test run.

Table 8.2 Parameter Setup of Position Control

No parameter name input value unit
1 PA_001 control mode setup / 0 /
2 PA_006 command pulse rotational direction setup 0
3 PA_007 command pulse input mode setup 0~3
4 PA_008 Command pulse per one motor revolution User-specified Pulse
5 PA_009 1st numerator of electronic gear 1
6 PA_010 denominator of electronic gear 1
7 PA_312 Acceleration time setup / User-specified millisecond
8 PA_313 Deceleration time setup / User-specified millisecond
9 PA_314 Sigmoid acceleration/deceleration time / User-specified millisecond
setup
10 PA_518 Command pulse prohibit input invalidation / 1 /
11 PA_400 SI1 input select Srv_on Hex:0003 /

◆ Wiring Diagram
1
DC12-24V COM+
2
Srv_on

pulse
+3 PUL+
_4
PUL-
+ 5
DR+
direction _6
DR-

Figure 8-1 Control Terminal CN1 Signal Wiring in Position Control Mode

◆Operation Steps
1. connect terminal CN1.
2. Enter the power (DC12V to 24V) to control signal (the COM_SI + and SI1).
3. Enter the power to the driver.
4. Confirm the value of the parameters, and write to the EEPROM and turn off/on the power (of the driver)
5.Connect the Srv_on input to bring the driver to servo-on status and energize the motor.
6. Enter low-frequency pulse and direction signal to run the motor at low speed.
7. Check the motor rotational speed at monitor mode whether, ("d01SP " ),
Rotational speed is as per the setup or not, and
The motor stops by stopping the command (pulse) or not
If the motor does not run correctly, refer to the Factor of No-Motor running in data monitor mode
("d17Ch " ).

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The driver is widely used for precise positioning in position control mode.

1 phase or 3 phase
220VAC

Circuit Braker

Noise Filter

Magnetic Contactor U

R V

W
S
PE

r
CN2
t CN1

PUL+ 3

PUL- 4 23
A+

24
DIR+ 5 A-

DIR- 6 25 B+

26 B-
COM+ 1
Encoder
27 Z+
Srom 2 4.7K Output

28 Z-
PL 7 4.7K
22 5V
12~24V
RL 4.7K
8 30 AGND

29 CHZ
ZS 4.7K
9

RDY 32
39 AI1
AGN -10V to +10V input
41 D (Single -end)

ALM 33 43 A3I+
-10V to +10V input
44 A3I- (Differential)

Pcod
34
CN4
2 4 6

1 3 5

BRK 35
RS232

COM- 31

Figure 8-2 Position Mode Typical Wiring Diagram

Note: Single phase 220VAC input is sufficient if the power of driver is no more than 1.5kw .

Corresponding parameters setup of position control mode

8.1.1 Process of command pulse input
The positional commands of the following 3 types (pulse train) are available.
◆A, B phase pulse
◆Positive direction pulse/negative direction pulse
◆Pulse + sign
Please set the pulse configuration and pulse counting method based on the specification and configuration
of installation of the host controller.
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 User Manual for L7 Servo

Related
Command Pulse Rotational Direction Range unit default
Pr0.06* control mode
Setup 0 -1 - 0 P
Set command pulse input rotate direction, command pulse input type
Range unit default Related
Pr0.07* Command Pulse Input Mode Setup control mode
0 -3 - 3 P

Positive Negative
Pr0.06 Pr0.07 Command Pulse Format Signal Direction Direction
Command Command
0 90 phase difference
Pulse
0 or 2 2-phase pulse(A phase +B
phase) sign

Positive direction pulse + Pulse

1
negative direction pulse sign
Pulse
3 Pulse + sign
sign
90 phase difference
Pulse
1 0 or 2 2 phase pulse(A phase +B
sign
phase)
Positive direction pulse + Pulse
1
negative direction pulse sign
Pulse
3 Pulse + sign
sign
Command pulse input signal allow largest frequency and smallest time width
PULS/SIGN Signal Input I/F Permissible Max. Smallest Time Width
Input Frequency t1 t2 t3 t4 t5 t6
Pulse Long distance interface 500kpps 2 1 1 1 1 1
series
interface Open-collector output 200kpps 5 2.5 2.5 2.5 2.5 2.5

8.1.2 Electronic gear function

The function multiplies the input pulse command from the host controller by the predetermined dividing or
multiplying factor and applies the result to the position control section as the positional command. By using
this function, desired motor rotations or movement distance per unit input command pulse can be set.

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 User Manual for L7 Servo

Range unit default Related

Command pulse counts per one motor control mode
Pr0.08 0-8388 pulse 0 P S T
revolution
608
Set the command pulse that causes single turn of the motor shaft.
1) If pr008 ≠ 0 , the actual turns = pulse number / Pr008
2) If pr008 = 0 , Pr009 1st numerator of electronic gear and Pr0.10 Denominator of electronic
Gear become valid.
Range unit default Related
control mode
Pr0.09 1st numerator of electronic gear 1-10737 - 1 P
41824
Set the numerator of division/multiplication operation made according to the command pulse input.
Range unit default Related
control mode
Pr0.10 denominator of electronic gear 1-10737 - 1 P
41824
Set the denominator of division/multiplication operation made according to the command pulse
input.
Pr0.09 Pr0.10 Command division/multiplication operation

Command pulse input 【Pr0.09 set value】 position command

1-32767 1-32767
【Pr0.10 set value】

1、Settings：
(1)The driver input command pulse number is X
(2)The pulse number of encoder after frequency division and frequency doubling is Y
(3)The number of pulses per revolution of the motor encoder is Z
(4)Number of turns of motor is W
2、Calculations：
(1)Y=X* Pr0.09 / Pr0.10
(2)17Bit encoder: Z=2^17 = 131072
23Bit encoder: Z=2^23 = 8388608

8.1.3 Position command filter

To make the positional command divided or multiplied by the electronic gear smooth, set the command
filter.

Related
positional command smoothing Range unit default control
Pr2.22 mode
filter 0 -32767 0.1ms 0 P
 Set up the time constant of the1st delay filter in response to the positional command.
 When a square wave command for the target speed Vc is applied ,set up the time constant of the
1st delay filter as shown in the figure below.

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 User Manual for L7 Servo

Range unit default Related

Pr2.23 positional command FIR filter control mode
0 -10000 0.1ms 0 P
 Set up the time constant of the1st delay filter in response to the positional command.
 When a square wave command for the target speed Vc is applied , set up the Vc arrival time as
shown in the figure below.

8.1.4 Motor encoder pulse output

The information on the amount of movement can be sent to the host controller in the form of A and B phase
pulses from the servo driver.

Related
Output pulse counts per one motor Range unit default
Pr0.11* control mode
revolution 1-2500 P/r 2500 P S T
Set the numerator of division/multiplication operation made according to the command pulse input.
Range unit default Related
Pr5.03* denominator of pulse output division control mode
1-2500 - 2500 P S T
Combination of Pr0.11 Output pulse counts per one motor revolution and Pr5.03 Denominator of
pulse output division
Pr0.11 Pr5.03 Pulse output process
1-2500 1-2500
encoder pulse 【Pr0.11set value】 output pulse

【Pr5.03 set value】

Pulse output resolution after dividing double frequency 4 times

Pr0.11(pulse output divide frequency molecule)

Pulse output resolution =encoder ×4×
Pr5.03(pulse output divide frequency denominator)

Range unit default Related

Pr0.12* reversal of pulse output logic control mode
0 -1 - 0 P S T
You can set up the B phase logic and the output source of the pulse output. With this parameter, you
can reverse the phase relation between the A-phase pulse and B-phase pulse by reversing the B-phase
logic.
< reversal of pulse output logic >
Pr0.12 B-phase Logic CCW Direction Rotation CW Direction Rotation
0 Non-Reversal A phase A phase

B phase B phase
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 User Manual for L7 Servo

1 Reversal A phase A phase

B phase B phase

8.1.5 Position complete output (INP)

The completion of positioning can be verified by the positioning complete output (INP).When the absolute
value of the positional deviation counter at the position control is equal to or below the positioning
complete
Range by the parameter, the output is ON. Presence and absence of positional command can be specified as
one of judgment conditions.

Range unit default Related

Pr4.31 Positioning complete range control mode
0 -10000 Encoder unit 10 P
Set up the timing of positional deviation at which the positioning complete signal (INP1) is output.
Range unit default Related
Pr4.32 Positioning complete range control mode
0 -3 command unit 10 P
Select the condition to output the positioning complete signal (INP1).
Setup value Action of positioning complete signal
0 The signal will turn on when the positional deviation is smaller than Pr4.31
[positioning complete range].
1 The signal will turn on when there is no position command and position
deviation is smaller than Pr4.31 [positioning complete range].
2 The signal will turn on when there is no position command, the zero-speed
detection signal is ON and the positional deviation is smaller than Pr4.31
[positioning complete range].
3 The signal will turn on when there is no position command and the positional
deviation is smaller than Pr4.31 [positioning complete range].Then holds ―ON‖
states until the next position command is entered. Subsequently, ON state is
maintained until Pr4.33 INP hold time has elapsed. After the hold time, INP
output will be turned ON/OFF according to the coming positional command or
condition of the positional deviation.

Range unit default Related

Pr4.33 INP hold time control mode
0-30000 1ms 0 P
Set up the hold time when Pr 4.32 positioning complete output setup=3.
Setup value State of Positioning complete signal
The hold time is maintained definitely, keeping ON state until next positional
0
command is received.
ON state is maintained for setup time (ms)but switched to OFF state as the
1-30000
positional command is received during hold time.

And the output port should be assigned for ―INP‖, for details of these parameters, refer to PA_410 – PA415.

Other setup for SI/SO function

For details of SI input function, refer to PA_400 – PA409.
For details of SO output function, refer to PA_410 – PA415.

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 User Manual for L7 Servo

8.2 Velocity Control

Notice : You must do inspection before velocity control test run.
Table 8.3 Parameter Setup of Velocity Control
No Parameter Name input Setup value Unit
1 PA_001 Control mode setup / 1 /
2 PA_312 Acceleration time setup / User-specified millisecond
3 PA_313 Deceleration time setup / User-specified millisecond
Sigmoid acceleration/deceleration time /
4 PA_314 User-specified millisecond
setup
5 PA_315 Zero speed clamping function select / 1 /
6 Velocity setup internal and external
PA_300 / User-specified /
switching
7 PA_301 Speed Command direction selection / User-specified /
8 PA_302 Speed command input gain / User-specified Rpm/V
9 PA_303 Speed setting input reversal / User-specified /
10 PA_422 Analog input I(AI1) offset setup / User-specified 0.359mv
11 PA_423 Analog input I(AI1) filter / User-specified 0.01ms
12 PA_400 SI1 input selection Srv_on hex:0300 /
13 PA_401 SI2 input selection ZeroSpd hex:1100 /
14 PA_402 SI3 input selection IntSpd1 hex:0E00 /
15 PA_403 SI4 input selection IntSpd2 hex:0F00 /
16 PA_404 SI5 input selection IntSpd3 hex:1000 /
17 PA_405 SI6 input selection Vc-Sign hex:1200 /

◆Wiring Diagram
1
DC12-24V COM+
2
Srv_on
79
ZeroSpd
87
IntSpd1
98
IntSpd2
10
IntSpd3
11
Vc-Sign

Single direction ratation

DC10V
39
39

AI1
AI1

41
41 GND15VA
GND

◆Operation steps
1. connect terminal CN1.
2. Enter the power (DC12V to 24V) to control signal (the COM_SI + and SI1).
3. Enter the power to the driver.
4. Confirm the value of the parameters, and write to the EEPROM and turn off/on the power (of the driver)
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 User Manual for L7 Servo

5.Connect the Srv_on input to bring the driver to servo-on status and energize the motor.
6. apply DC voltage between velocity command input ,AI1 and AGND, and gradually increase from 0V to
confirm the motor runs.
7. Check the motor rotational speed at monitor mode , ("d01SP " )
Whether rotational speed is as per the setup or not, and
Whether the motor stops with zero command or not
If the motor does rotate at a micro speed with command voltage of 0.
8. When you want to change the rotational speed and direction, set up the following parameters again.
Pr3.00. Pr3.01. Pr3.03
If the motor does not run correctly, refer to the Factor of No-Motor running in data monitor mode
("d17Ch " ).

The driver is widely used for accuracy speed control in velocity control mode.
You can control the speed according to the analog speed command from the host controller or the speed
command set in servo driver.
1 phase or 3 phase
220VAC

Circuit Braker

Noise Filter

Magnetic Contactor U

R V

W
S
PE

r
CN2
t CN1

23 A+

24
A-
COM+ 1
25 B+
Srom 2 4.7K
26 B-
PL 7 4.7K Encoder
27 Z+
Output
12~24V
RL 4.7K
8 28 Z-

ZS 4.7K 22 5V
9

30 AGND
RDY 32
29 CHZ

ALM 33
39 AI1
AGN -10V to +10V input
41 D (Single -end)

Pcod 43 A3I+
34
-10V to +10V input
44 A3I- (Differential)

BRK 35
CN4

COM- 31
2 4 6

1 3 5

RS232

Figure 8-3 Velocity Mode Typical Wiring Diagram

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 User Manual for L7 Servo

Relevant parameters setup of velocity control mode

8.2.1 Velocity control by analog speed command
The analog speed command input voltage is converted to equivalent digital speed command. You can set
the filter to eliminate noise or adjust the offset.

Related
Speed setup, Internal /External Range unit default control
Pr3.00 mode
switching 0 -3 - 0 S
This driver is equipped with internal speed setup function so that you can control the speed with
contact inputs only.
Setup value Speed setup method
0 Analog speed command(SPR)
1 Internal speed command 1st to 4th speed(PR3.04-PR3.07)
Internal speed command 1st to 3rd speed (PR3.04-PR3.06),
2
Analog speed command(SPR)
3 Internal speed command 1st to 8th speed (PR3.04-PR3.11)
<relationship between Pr3.00 Internal/External switching speed setup and the internal
command speed selection 1-3 and speed command to be selected>
Setup selection 1 of selection 2 of internal selection 3 of selection of
value internal command command speed internal command Speed
speed(INTSPD1) (INTSPD2) speed (INTSPD3) command
1 OFF OFF NO effect 1st speed
ON OFF 2nd speed
OFF ON 3rd speed
ON ON 4th speed
2 OFF OFF 1st speed
ON OFF 2nd speed
OFF ON NO effect 3rd speed
Analog speed
ON ON command
3 1st to 4th
The same as [Pr3.00=1] OFF
speed
OFF OFF ON 5th speed
ON OFF ON 6th speed
OFF ON ON 7th speed
Related
Speed command rotational Range unit default
Pr3.01 control mode
direction selection 0 -1 - 0 S
Select the Positive /Negative direction specifying method
Setup Select speed command sign Speed command direction Position command
value (1st to 8th speed) (VC-SIGN) direction
0 + No effect Positive direction
- No effect Negative direction
1 Sign has no effect OFF Positive direction
Sign has no effect ON Negative direction

Range unit default Related

Pr3.02 Input gain of speed command control mode
10 -2000 (r/min)/v 500 S T
Based on the voltage applied to the analog speed command (SPR), set up the conversion gain to
motor command speed.
You can set up ―slope‖ of relation between the command input voltage and motor speed, with Pr3.02.
Default is set to Pr3.02=500(r/min)/V, hence input of 6V becomes 3000r/min.
Notice: 81
 User Manual for L7 Servo

1. Do not apply more than ±10V to the speed command input(SPR).

2. When you compose a position loop outside of the driver while you use the driver in velocity
control mode, the setup of Pr3.02 gives larger variance to the overall servo system.
3. Pay an extra attention to oscillation caused by larger setup of Pr3.02.

Range unit default Related

Pr3.03 Reversal of speed command input control mode
0 -1 - 0 S
Specify the polarity of the voltage applied to the analog speed command (SPR).
Setup value Motor rotating direction
0 Non-reversal [+ voltage] [+ direction] [- voltage] [-direction]
1 reversal [+ voltage] [- direction] [- voltage] [+direction]
Caution: When you compose the servo drive system with this driver set to velocity control mode and
external positioning unit, the motor might perform an abnormal action if the polarity of the speed
command signal from the unit and the polarity of this parameter setup does not match.
8.2.2 Velocity control by internal speed command
You can control the speed by using the internal speed command set to the parameter. By using the internal
speed command selection 1,2,3(INTSPD 1,2,3), you can select best appropriate one

Related
Speed setup, Internal /External Range unit default control
Pr3.00 mode
switching 0 -3 - 0 S
This driver is equipped with internal speed setup function so that you can control the speed with
contact inputs only.
Setup value Speed setup method
0 Analog speed command(SPR)
1 Internal speed command 1st to 4th speed(PR3.04-PR3.07)
Internal speed command 1st to 3rd speed (PR3.04-PR3.06),
2
Analog speed command(SPR)
3 Internal speed command 1st to 8th speed (PR3.04-PR3.11)
<relationship between Pr3.00 Internal/External switching speed setup and the internal
command speed selection 1-3 and speed command to be selected>
Setup selection 1 of selection 2 of internal selection 3 of selection of
value internal command command speed internal command Speed
speed(INTSPD1) (INTSPD2) speed (INTSPD3) command
1 OFF OFF NO effect 1st speed
ON OFF 2nd speed
OFF ON 3rd speed
ON ON 4th speed
2 OFF OFF 1st speed
ON OFF 2nd speed
OFF ON NO effect 3rd speed
ON ON Analog speed
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 User Manual for L7 Servo

command
3 1st to 4th
The same as [Pr3.00=1] OFF
speed
OFF OFF ON 5th speed
ON OFF ON 6th speed
OFF ON ON 7th speed
Related
Speed command rotational Range unit default control
Pr3.01 mode
direction selection 0 -1 - 0 S
Select the Positive /Negative direction specifying method
Setup Select speed command sign Speed command direction Position command
value (1st to 8th speed) (VC-SIGN) direction
0 + No effect Positive direction
- No effect Negative direction
1 Sign has no effect OFF Positive direction
Sign has no effect ON Negative direction

Range unit default Related

Pr3.02 Input gain of speed command control mode
10 -2000 (r/min)/v 500 S T
Based on the voltage applied to the analog speed command (SPR), set up the conversion gain to
motor command speed.
You can set up ―slope‖ of relation between the command input voltage and motor speed, with Pr3.02.
Default is set to Pr3.02=500(r/min)/V, hence input of 6V becomes 3000r/min.
Notice:
1. Do not apply more than ±10V to the speed command input(SPR).
2. When you compose a position loop outside of the driver while you use the driver in velocity
control mode, the setup of Pr3.02 gives larger variance to the overall servo system.
3. Pay an extra attention to oscillation caused by larger setup of Pr3.02.

Range unit default Related

Pr3.03 Reversal of speed command input control mode
0 -1 - 0 S
Specify the polarity of the voltage applied to the analog speed command (SPR).
Setup value Motor rotating direction
0 Non-reversal [+ voltage] [+ direction] [- voltage] [-direction]
1 reversal [+ voltage] [- direction] [- voltage] [+direction]
Caution: When you compose the servo drive system with this driver set to velocity control mode and
external positioning unit, the motor might perform an abnormal action if the polarity of the speed
command signal from the unit and the polarity of this parameter setup does not match.

Range unit default Related

Pr3.04 1st speed of speed setup control mode
-20000 -20000 r/min 0 S
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 User Manual for L7 Servo

Range unit default Related

Pr3.05 2nd speed of speed setup control mode
-20000 -20000 r/min 0 S
Range unit default Related
Pr3.06 3rd speed of speed setup control mode
-20000 -20000 r/min 0 S
Range unit default Related
Pr3.07 4th speed of speed setup control mode
-20000 -20000 r/min 0 S
Range unit default Related
Pr3.08 5th speed of speed setup control mode
-20000 -20000 r/min 0 S
Range unit default Related
Pr3.09 6th speed of speed setup control mode
-20000 -20000 r/min 0 S
Range unit default Related
Pr3.10 7th speed of speed setup control mode
-20000 -20000 r/min 0 S
Range unit default Related
Pr3.11 8th speed of speed setup control mode
-20000 -20000 r/min 0 S
Set up internal command speeds, 1st to 8th

8.2.3 Speed command acceleration and deceleration function

On the basis of speed command input, acceleration and deceleration are added as internal speed
commands to control the speed. This function can be used when entering the ladder-like speed command
and internal speed setting. In addition, the acceleration and deceleration function can also be used when the
vibration is reduced by the change of acceleration

Range unit default Related

Pr3.12 time setup acceleration control mode
0 -10000 Ms(1000r/min) 100 S
Range unit Related
default control mode
Pr3.13 time setup deceleration
0 -10000 Ms(1000r/min) 100 S
Set up acceleration/deceleration processing time in response to the speed command input.
Set the time required for the speed command(stepwise input)to reach 1000r/min to Pr3.12
Acceleration time setup. Also set the time required for the speed command to reach from 1000r/min
to 0 r/min, to Pr3.13 Deceleration time setup.
Assuming that the target value of the speed command is Vc(r/min), the time required for
acceleration/deceleration can be computed from the formula shown below.
Acceleration time (ms)=Vc/1000 *Pr3.12 *1ms
Deceleration time (ms)=Vc/1000 *Pr3.13 *1ms

Related
Sigmoid acceleration/deceleration time Range unit default
Pr3.14 control mode
setup 0 -1000 ms 0 S

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 User Manual for L7 Servo

Set S-curve time for acceleration/deceleration process when the speed command is applied.
According to Pr3.12 Acceleration time setup and Pr3.13 Deceleration time setup, set up sigmoid time
with time width centering the inflection point of acceleration/deceleration.

8.2.4 Attained Speed signal AT-SPEED output

When the motor speed reaches the speed set by the parameter PA_436 (setting of arrival speed), the
output speed reaches the output (AT-SPEED) signal.
This function can be configured by IO output function parameters, as described in IO Pr4.10
parameters. When the speed meets the set conditions, the set corresponding output IO port can output ON.

Range unit default Related

Pr4.36 At-speed(Speed arrival) control mode
10-20000 r/min 1000 S
Set the detection timing of the speed arrival output (AT-SPEED).
When the motor speed exceeds this setup value, the speed arrive output (AT-SPEED) is output.
Detection is associated with 10r/min hysteresis .

8.2.5 Speed coincidence output (V-COIN)

When the speed command (before acceleration and deceleration processing) is consistent with the
motor speed, the output speed is consistent (V-COIN). If the difference between the speed command and
the motor speed before acceleration and deceleration processing in the driver is within the parameter
PA_435 (setting the same speed range), it is judged to be consistent.
This function can be configured by IO output function parameters, as described in IO Pr4.10
parameters. When the speed difference meets the setting conditions, the corresponding output IO port set
can output ON.
Among them, the in place signal of PV mode is synchronized with the v-coin signal

Range unit default Related

Pr4.35 Speed coincidence range control mode
10 -20000 r/min 50 S
Set the speed coincidence (V-COIN) output detection timing.
Output the speed coincidence (V-COIN) when the difference between the speed command and the
motor speed is equal to or smaller than the speed specified by this parameter.
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 User Manual for L7 Servo

Because the speed coincidence detection is associated with 10 r/min hysteresis, actual detection
range is as shown below.
Speed coincidence output OFF -> ON timing (Pr4.35 -10) r/min
Speed coincidence output ON -> OFF timing (Pr4.35 +10) r/min

8.2.6 Speed zero clamp (ZEROSPD)

You can forcibly set the speed command to 0 by using the speed zero clamp input.

Range unit default Related

Pr3.15 Speed zero-clamp function selection control mode
0 -3 - 0 S
1. If Pr3.15=0, the function of zero clamp is forbidden. It means the motor rotates with actual
velocity which is controlled by the analog voltage input 1 even if the velocity is less than 10
rpm. The motor runs no matter what the value of Pr3.16 is. The actual velocity is controlled
by external the analog voltage input .
2. If Pr3.15=1 and the input signal of Zero Speed is available in the same time, the function of zero
clamp works. It means motor will stop rotating in servo-on condition no matter what the
velocity of motor is, and motor stop rotating no matter what the value of Pr3.16 is.
3. If Pr3.15=2 , the function of zero clamp belongs to the value of Pr3.16. If the actual velocity is
less than the value of Pr3.16, the motor will stop rotating in servo-on condition.

Range unit default Related

Pr3.16 Speed zero-clamp level control mode
0 -20000 r/min 30 S
When analog speed given value under speed control mode less than zero speed clamp level setup,
speed command will set to 0 strongly.
Other setup for SI/SO function
For details of SI input function, refer to PA_400 – PA409.
For details of SO output function, refer to PA_410 – PA415.

8.3 Torque Control

Notice : You must do inspection before torque control test run.
Table 8.6 Parameter Setup of Torque Control
No Parameter Name input Setup value Unit
1 PA_001 Control mode setup / 2 /
2 PA_312 Acceleration time setup / User-specified millisecond
3 PA_313 Deceleration time setup / User-specified millisecond
Sigmoid acceleration/deceleration time
4 PA_314 / User-specified millisecond
setup
5 PA_315 Zero-clamp function selection
86 / 0 /
 User Manual for L7 Servo

6 PA_317 Torque setup internal/external switching / 0 /

7 PA_319 Torque command direction input gain / User-specified 0.1V/100%
8 PA_320 Torque setup input reversal / User-specified /
9 PA_321 Speed limit value 1 / User-specified R/min
10 PA_400 SI1 input selection Srv_on hex:030000 /
11 PA_428 Analog input 3(AI3) offset setup / User-specified 0.359mv
12 PA_429 Analog input 3(AI3) filter / User-specified 0.01ms

◆Wiring Diagram
1
DC12-24V COM+
2
Srv_on

Single direction ratation

DC10V
39
43

AI3
AI1

44
41 GND15VA
GND

◆Operation Steps
1. connect terminal CN1.
2. Enter the power (DC12V to 24V) to control signal (the COM_SI + and SI1).
3. Enter the power to the driver.
4. Confirm the value of the parameters, and write to the EEPROM and turn off/on the power (of the driver)
5.Connect the Srv_on input to bring the driver to servo-on status and energize the motor.
6. apply DC voltage between torque command input ,AI1 and AGND, and gradually increase from 0V to
confirm the motor runs.
7. Check the motor torque at monitor mode ("d04tr " ), Whether actual torque is as per the setup or not
8. When you want to change the torque magnitude, direction and velocity limit value against the command
voltage, set up the following parameters : Pr3.19. Pr3.20. Pr3.21
If the motor does not run correctly, refer to the Factor of No-Motor running in data monitor mode
("d17Ch " ).

The torque control is performed according to the torque command specified in the form of analog voltage.
For controlling the torque, the speed limit input is required in addition to the torque command to maintain
the motor speed within the speed limit.

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 User Manual for L7 Servo

1 phase or 3 phase
220VAC

Circuit Braker

Noise Filter

Magnetic Contactor U

R V

W
S
PE

r
CN2
t CN1

23 A+

24
A-
COM+ 1
25 B+
Srom 2 4.7K
26 B-
PL 7 4.7K Encoder
27 Z+
Output
12~24V
RL 4.7K
8 28 Z-

ZS 4.7K 22 5V
9

30 AGND
RDY 32
29 CHZ

ALM 33
39 AI1
AGN -10V to +10V input
41 D (Single -end)

Pcod 43 A3I+
34
-10V to +10V input
44 A3I- (Differential)

BRK 35
CN4

COM- 31
2 4 6

1 3 5

RS232

Figure 8-4 Torque Mode Typical External Wiring Diagram

Relevant parameters setup of torque control mode

8.3.1 Analog torque command input

The analog torque command input voltage is converted to equivalent digital torque command. You can
set the filter to eliminate noise or adjust the offset.
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 User Manual for L7 Servo

Range unit default Related

Pr3.17 Selection of torque command control mode
0/1/2/3 - 0 T

Setup value Torque command input Velocity limit input

0 Analog input 3 Parameter value (P3.21)
1 Analog input 3 Analog input 1 for Speed limit
2 Parameter value (P3.22) Parameter value (P3.21)
3 Analog input 3 Speed limit 0
Range unit default control Related
Pr3.18 Torque command direction selection mode
0 -1 - 0 T
Select the direction positive/negative direction of torque command
Setup value designation
Specify the direction with the sign of torque command
0
Torque command input[+] positive direction, [-] negative direction
Specify the direction with torque command sign(TC-SIGN).
1
OFF: positive direction ON: negative direction
Related
Range unit default control
Pr3.19 Torque command input gain mode
0 -1 - 500 T
Based on the voltage (V) applied to the analog torque command (TRQR),set up the conversion gain
to torque command(%) .

 Unit of the setup value is [0.1V/100%] and

set up input voltage necessary to produce
the rated torque.
 Default setup of 30 represents 3V/100%

Range unit default Related

Pr3.20 Torque command input reversal control mode
0 -1 - 0 T
Set up the polarity of the voltage applied to the analog torque command(TRQR).
Setup value Direction of motor output torque
0 Non-reversal [+ voltage] [+ direction] [- voltage] [-direction]
1 reversal [+ voltage] [- direction] [- voltage] [+direction]
8.3.2 Torque limit function
The speed limit is one of protective functions used during torque control.
This function regulates the motor speed so that it doesn’t exceed the speed limit while the torque is
controlled.

Range unit default Related

Pr3.20 Torque command input reversal control mode
0 -1 - 0 T
Set up the polarity of the voltage applied to the analog torque command(TRQR).
Setup value Direction of motor output torque
0 Non-reversal [+ voltage] [+ direction] [- voltage] [-direction]
1 reversal [+ voltage] [- direction] [- voltage] [+direction]
Range unit Related
default control
Pr3.21 Speed limit value 1 mode
0 -20000 r/min 0 T
Set up the speed limit used for torque controlling.
During the torque controlling, the speed set by the speed limit value cannot be exceeded.
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Other setup for SI/SO function

For details of SI input function, refer to PA_400 – PA409.
For details of SO output function, refer to PA_410 – PA415.

8.4 Inertia ratio identification

Range unit default Related

Pr0.04 Inertia ratio control mode
0 -10000 % 250 P S T
You can set up the ratio of the load inertia against the rotor(of the motor)inertia.
Pr0.04=( load inertia/rotate inertia)×100%
Notice:
If the inertia ratio is correctly set, the setup unit of Pr1.01 and Pr1.06 becomes (Hz). When the inertia
ratio of Pr0.04 is larger than the actual value, the setup unit of the velocity loop gain becomes larger,
and when the inertia ratio of Pr0.04 is smaller than the actual value, the setup unit of the velocity
loop gain becomes smaller.

8.4.1 On-line inertia ratio identification

The motor is operated by the controller, and the motor speed is above 400rmp. The running stroke has
obvious acceleration, uniform speed and deceleration process, and the load inertia ratio can be tested by
running 2-3 times continuously. The inertia ratio of the test is viewed through panel d16. Write the
corresponding panel value minus 100 into PA004.

8.4.2 Off-line inertia ratio identification

Pre-conditions：1、servo disable. 2、Positive limit and negative limit invalid
Steps:
1、Set the trial running speed PA604, and the setting of PA604 should not be too large
2、Enter auxiliary inertia ratio identification function on the drive panel, AF_GL
3、Press ENT once to enter operation，display ―G---‖
4、Press once， display ―StUon‖
5、Press once， motor start running to identification
6、After finishing， display G XXX, which represents the measured inertia ratio value
7、Write the corresponding panel value minus 100 into PA004.

8.5 Vibration Suppression

Specific resonance frequency can be obtained from PC upper computer software according to
waveform monitoring, and filter frequency can be set to effectively suppress the oscillation ripple of a
certain frequency in the current instruction.
The width of the notch is the ratio of the frequency of the notch center at a depth of 0 to the frequency
range width of the attenuation rate of -3db.
The depth of the trap is: when the set value is 0, the input of the center frequency is completely
disconnected; When the set value is 100, it represents the ratio of input and output that are completely
passed

Range unit default Related

Pr2.00 Adaptive filter mode setup control mode
0 -4 - 0 P S
Set up the resonance frequency to be estimated by the adaptive filter and the special the operation
after estimation.
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Setup value content

0 Adaptive filter: invalid Parameters related to the 3rd
and 4th notch filter hold the
current value.
1 Adaptive filter,1 filter is valid, One adaptive filter is valid,
one time parameters related to the 3rd
notch filter will be updated
based on adaptive
performance. After updated,
Pr2.00 returns to 0, stop
self-adaptation.
2 Adaptive filter, 1 filter is valid, One adaptive filter is valid,
It will be valid all the time parameters related to the 3rd
notch filter will be updated all
the time based on adaptive
performance.
3-4 Not use Non-professional forbidded
to use

Range unit default Related

Pr2.01 1st notch frequency control mode
50 -2000 HZ 2000 P S T
Set the center frequency of the 1st notch filter
Notice: the notch filter function will be invalidated by setting up this parameter to ―2000‖.
Range unit Related
default control
Pr2.02 1st notch width selection mode
0 -20 - 2 P S T
Set the width of notch at the center frequency of the 1st notch filter.
Notice: Higher the setup, larger the notch width you can obtain. Use with default setup in normal
operation.
Range unit Related
default control
Pr2.03 1st notch depth selection mode
0 -99 - 0 P S T
Set the depth of notch at the center frequency of the 1st notch filter.
Notice: Higher the setup, shallower the notch depth and smaller the phase delay you can obtain.
Range unit Related
default control
Pr2.04 2nd notch frequency mode
50 -2000 HZ 2000 P S T
Set the center frequency of the 2nd notch filter
Notice: the notch filter function will be invalidated by setting up this parameter to ―2000‖.
Range unit Related
default control
Pr2.05 2nd notch width selection mode
0 -20 - 2 P S T
Set the width of notch at the center frequency of the 2nd notch filter.
Notice: Higher the setup, larger the notch width you can obtain. Use with default setup in normal
operation.
Range unit Related
default control
Pr2.06 2nd notch depth selection mode
0 -99 - 0 P S T
Set the depth of notch at the center frequency of the 2nd notch filter.
Notice: Higher the setup, shallower the notch depth and smaller the phase delay you can obtain.

Check the current command waveform on the upper computer. When the increase of rigidity causes
the current command to produce the oscillation motor to scream, obtain its oscillation frequency from the
waveform, and set the frequency to the notch frequency to debug the width and depth：

The notch width is described as follows：

notch notch width / notch notch width / notch notch width /
width notch frequency width notch frequency width notch frequency
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0 0.50 7 1.68 14 5.66

1 0.59 8 2.00 15 6.73
2 0.71 9 2.38 16 8.00
3 0.84 10 2.83 17 9.51
4 1.00 11 3.36 18 11.31
5 1.19 12 4.00 19 13.45
6 1.41 13 4.76 20 16.00

The notch depth is described as follows：

notch 输入输出比 notch 输入输出比 notch 输入输出比
depth depth depth
0 0.00 8 0.08 40 0.40
1 0.01 9 0.09 45 0.45
2 0.02 10 0.10 50 0.50
3 0.03 15 0.15 60 0.60
4 0.04 20 0.20 70 0.70
5 0.05 25 0.25 80 0.80
6 0.06 30 0.30 90 0.90
7 0.07 35 0.35 100 1.00

8.6 Third gain switching

In addition to the conventional switch between the first and second gain, add the third gain switch
function to shorten the positioning and setting time.

Range unit defau Related

control mode
Pr6.05 Position 3rd gain multiplication lt
0--1000 0.1ms 0 P
rd
Set up the time at which 3 gain becomes valid.
When not using this parameter, set PR6.05=0, PR6.06=100
This is valid for only position control/full-closed control.

Range unit defau Related

control mode
Pr6.06 Position 3rd gain valid time lt
0--1000 0.1ms 0 P
rd st
Set up the 3 gain by multiplying factor of the 1 gain

3rd gain= 1st gain * PR6.06/100

This function is only effective for position control. When Pr6.06 is set to non-0 value, the third gain
function will be turned on. Pr6.05 is set to specify the value of the third gain. When switching from the
second gain to the first gain, there will be a transition from the third gain. The switching time is set as
Pr1.19. Take Pr1.15=7(with or without position instruction as the first and second gain of conditional
switching) as an example to illustrate the figure below:

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Command speed：
RPM

Pr6.05 0.1ms

2nd gain 3rd gain 1st gain

Pr1.05~Pr1.09 Pr1.00~Pr1.04

3rd gain：
Position loop gain=Pr1.00 Pr6.06/100
Velocity loop gain=Pr1.01 Pr6.06/100

8.7 Friction torque compensation

Range unit default Related

Pr6.07 JOG trial run command speed control mode
-100-100 % 0 P S T
Range unit default Related
Pr6.08 JOG trial run command speed control mode
-100-100 % 0 P S T
Range unit default Related
Pr6.09 JOG trial run command speed control mode
-100-100 % 0 P S T
This three parameters may apply feed forward torque superposition directly to torque command.

8.8 Regenerative resister setting

When the torque of the motor is opposite to the direction of rotation (common scenarios such as
deceleration, vertical axis descent, etc.), energy will feedback from the load to the driver. At this time, the
energy feedback is first received by the capacitor in the driver, which makes the voltage of the capacitor rise.
When it rises to a certain voltage value, the excess energy needs to be consumed by the regenerative
resistance

Range unit default Related

Pr0.16 External regenerative resistance control mode
10-50 Ω 50 P S T
Set Pr.0.16 and Pr.0.17 to confirm the threshold value of the discharge loop to give alarm for over
current.
Related
External regenerative resistor power Range unit default
Pr0.17 control mode
value 0 -10000 W 50 P S T
Set Pr.0.16 and Pr.0.17 to confirm the threshold value of the discharge loop to give alarm for over
current.

8.9 Security Features

8.9.1 Speed limit
Range unit default Related
Pr3.24* Motor rotate maximum speed limit control mode
0 -6000 r/min 3000 P S T
Set up motor running max rotate speed, but can’t be exceeded motor allowed max rotate speed.

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8.9.2 Torque limit (TL-SEL)

Range unit default Related
Pr5.21 Selection of torque limit control mode
0-2 -- 0 P S T
Set up the torque limiting method;
Setup value Limiting value
0 PR0.13
1 PR5.22
2 TL-SEL off PR0.13
TL-SEL on PR5.22
Range unit default Related
Pr5.22 2nd torque limit control mode
0-500 % 300 P S T
Set up the 2nd limit value of the motor torque output

The value of the parameter is limited to the maximum torque of the applicable motor.
Range unit default Related
Pr0.13 1st Torque Limit control mode
0 -500 % 300 P S T
You can set up the limit value of the motor output torque, as motor rate current %, the value can’t
exceed the maximum of output current.

8.10 Multi-turn absolute encoder

The absolute encoder remember position, When the absolute encoder is used for the first time, it needs
to move to the home position, and clear the absolute position value of multiple turns through the driver to
set the home position. It is unnecessary to return to zero in the future (except for the absolute encoder alarm
and other situations). It is recommended that the motor is stationary when reading the position to prevent
dynamic data jump.

8.10.1 Parameters setting

Range unit default Related
Pr0.15 Absolute Encoder Setup control mode
0 -15 0.1 rev 0 P S T
Bit description;
Bit Description
Bit0 0: close absolute value
1: open absolute value
Bit1 Default : 0,do not use
Bit2 0: no action
1: clean up absolute alarm, automatically become 0
when clean success
Bit3 0: no action
1: multi-turn position, clean up and reset automatically
become 0 after success
Bit4-15 Default 0,do not use

How to use:
0: close multi-turn absolute function, multi-turn position invalid;
1: open multi-turn absolute function;
5: clean multi-turn alarm, and open multi-turn absolute function. It will become 1 when normal
clearance, if it’s still 5 after 3seconds, please deal with according to 153 alarm processing.
9: multi-turn zero clearing and reset multi-turn alarm, open multi-turn absolute function. It will
become 1 when normal clearance, if it’s still 9 after 3seconds, please deal with according to 153
alarm processing. Please remember to do mechanical homing.
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8.10.2 Read absolute position

1、Steps：
（1）Firstly, select the multi-turns absolute encoder motor, install the battery, and confirm whether the
driver version supports multi-turns absolute encoder motor;
（2）Set Pr0.15=1 to open absolute encoder. If it is the first time of installation, the driver will alarm
Err153. The reason is that the multi-turn position is invalid due to the newly installed battery of the motor.
At this time, it is necessary to return to the home position of the machine and perform the multi-turn
position reset operation (see multi-turn position reset).
（3）When the absolute value origin is set and there is no battery fault, the alarm will be cancelled
（4）Finally, the user can read the absolute position, even if the power off the position will not lost.

Install battery

Set
Pr0.15=1

YES
Home process
Finishing

NO*

Homing process，
set Pr0.15=9

Read absolute
position

*Note：The newly installed encoder is not

initialized and will alarm

2、Read absolute position

The absolute encoder counting mode is that when the motor rotates clockwise, the number of turns is
defined as negative, while motor rotates counterclockwise the number of turns is defined as positive. The
maximum rotation number is -32768 to +32767. After the number of turns is out of range, if the number of
turns is 32767 counterclockwise, it will reverse to -32768, -32767... ; If the number of turns clockwise
-32768, it will reverse to 32767, 32766...

Absolute encoder read mode: read 6064h data object

3、Clear absolute position

Before clear absolute position, the machine needs to return to the home point. After clear absolute
position, the absolute position =0, the single-turn position remains unchanged, and the absolute value of the
encoder is cleared to alarm

Set Pr0.15=9: multi-turn zero clearing and reset multi-turn alarm, open multi-turn absolute function. It
will become 1 when normal clearance, if it’s still 9 after 3seconds, please deal with according to 153 alarm
processing. Please remember to do mechanical homing.

8.10.3 Alarm
1、Introductions
The multi-turns absolute encoder alarm function can determine whether the absolute encoder is valid
or not, such as battery under voltage or power failure, encoder fault, etc., users can judge the absolute
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encoder alarm through bus alarm output, IO alarm output, and driver operation panel alarm. At this time,
the controller should stop operation immediately, and the absolute motion operation can only be carried out
after the alarm is eliminated

2、Alarm output
Absolute encoder alarm can be displayed by the panel Err153, IO output alarm signal, or read alarm
information by communication

3、The driver sends an absolute encoder alarm Err153, the main situation is as follows:
（1）When the absolute encoder is used for the first time, absolute encoder alarm will be generated due
to the new battery of the motor. At this time, it is necessary to return to the home point and perform
multi-turn zero clearing operation
（2）When the battery under voltage is lower than 3.2v, absolute encoder alarm will be generated by
the driver. At this time, the alarm will be automatically eliminated after the battery is recharged by replacing
the battery
（3）When the battery voltage is lower than 2.5v, or the battery has a power failure, the absolute
encoder alarm will be generated. Even if the battery is replaced, the alarm cannot be eliminated. At this
time, the return to the home point and multi-turn zero clearing operation should be performed

5、Alarm processing flow chart

Err153

NO
Absolute Replace encoder
Encoder or set P0.15=0

YES
Replace
battery，
power-on

YES
Alarm clear？

NO

Return to home
point，set Pr0.15=9

Alarm clear

8.11 Other functions

8.11.1 Zero speed output（ZSP）
This function can be configured by IO output function parameters, as described in IO Pr4.10
parameters. When the enabling and time meet the setting conditions, the corresponding output IO port set
can output ON

Range unit default Related

Pr4.34 Zero-speed control mode
10 -20000 r/min 50 P S T
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You can set up the timing to feed out the zero-speed detection output signal(ZSP or TCL) in rotate
speed (r/min).
The zero-speed detection signal(ZSP) will be fed
out when the motor speed falls below the setup of
this parameter, Pr4.34

 the setup of pr4.34 is valid for both positive and

negative direction regardless of the motor
rotating direction.
 There is hysteresis of 10[r/min].

8.11.2 Position deviation cleared（CL）

This function can be configured by IO input function parameters, as described in IO Pr4.00
parameters.

Range unit default Related

Pr5.17 Counter clear input mode control mode
0-4 -- 3 P
Set up the clearing conditions of the counter clear input signal
Setup value Clear condition
0/2/4 invalid
1 Always clear
3 Only clear one time
.
8.11.3 Position setup unit select
Range unit default Related
Pr5.20 Position setup unit select control mode
0-2 - 0 P
Specify the unit to determine the range of positioning complete and excessive positional deviation
Setup value unit
0 Encoder unit
1 Command unit
2 Standard 2500-line unit

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Chapter 9 Pr-Mode function

9.1 Overview
PR is uniaxial motion control function which is controlled by procedure software. Mainly
uniaxial motion command control, save the motion control function of the controller.

PTP
Motion Servo
controller / PLC Driver
Pulse+Direction
positioning
mode

General positioning motion control system

Homing, JOG

Position limit, E-stop,

Address IO（AD0-3） Positioning path NO.0
Singlechip/ Start IO（CTRG）
Positioning mode PTP
simple PLC
485/232communication Position data
Positioning path
NO.15
Positioning mode
Position data
速度数据 Speed data
加速时间Acceleration
减速时间 time
PR positioning motion control system Deceleration
定时数据 time
Timing data

9.1.1 Main function

Main function as below：
PR function Specification

Homing Through homing, the drive can find the home signal，
So the coordinate system zero of mechanical motion is determined
 Limit signal homing, home signal homing, and manual homing selectable,

Homing direction settable


set Home shift position settable.
 Can be positioned to the specified location after homing
 Homing acceleration and deceleration settable

Remark：Cannot input external pulse during homing!!

JOG Realize positive/negative point move by I/O, for debugging

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 Positive point move

 Negative point move
 JOG speed and acceleration selectable
Position limit Protect device by limiting move range
 Positive and negative signal input by IO
 Software position limit setting
 Position limit deceleration settable
Remark：Software position limit effective after homing accomplish.
E-stop Input E-stop signal through I/O，stop positioning operation.
Positioning Select location path number by positioning address IO(AD0-3),
Then start the location path operation by activate I/O(CTRG)
 Contains the positioning mode, speed mode and homing mode.
 IO rising edge double edge trigger start.
 Support continuous positioning
 Maximum 16 segment
 Position, speed, acceleration settable
 Pause/timing time settable
Remark： Double edge trigger only effective for CTRG !
485 control Use 485 communication to manipulate above PR working
Remark：（1）Under PR control mode, all places adopt unit: 10000P/r .
（2）PR only effective under PR position control mode, P0.01=6.
9.1.2 Installation wiring
IO terminal wiring and parameter configuration：Newly added IO of PR on the base of standard IO
Relevant parameters：
Parameter Name Specification

P400-P407 SI input Specific of the 8 input terminals' function distribution，refer to functional

selection allocation table.

P410-P415 SO output Specific of the 6 output terminals' function distribution，refer to functional

selection allocation table.

IO terminal functional allocation table：

Input Output

set value set value

Signal
Symbol Normally signal name Symbol Normally Normally
name Normally
open close open close

Trigger CTRG 20h A0h Accomplish CMD_OK 20h A0h

command commands

Homing HOME 21h A1h Accomplish path MC_OK 21h A1h

signal
Forced to STP 22h A2h Accomplish HOME_OK 22h A2h
stop homing
Positive JOG+ 23h A3h Torque limit TQL 06h 86h
JOG

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Negative JOG- 24h A4h

JOG
Forward PL 25h A5h
limit
Reverse NL 26h A6h
limit
Home ORG 27h A7h
signal
Path ADD0 28h A8h
address 0
Path ADD1 29h A9h
address 1
Path ADD2 2ah Aah
address 2
Path ADD3 2bh Abh
address 3
Torque TC-SEL 09h 89h
switch

Remark：CMD_OK means PR instruction is sent，maybe motor is not yet in place.

MC_OK means PR instruction is sent and motor is in place.

CTRG、HOME is edge trigging, but effective level need to last more than 1ms.

232 terminal connection diagram：

Port Pin Signal
1 VCC5V
2 GND
3 BAT+
CN2
4 BAT-
5 SD+
6 SD-
PE

485 terminal connection diagram：

Port Pin Signal

1，9 RDO+

2，10 RDO-

3，11 /

4，12 TXD
CN4
5，13 RXD
CN5
6，14 VCC5V

7，15 GND

8，16 /

PE

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9.2 Parameter
PR parameters contain 8th and 9th parameters, 8th parameters is e-stop and control parameters, 9th
parameters is store path table.
9.2.1 8th sort parameters specification
No. Name Data Range Default Value Definition
type
PR's global control function
PR control Bit0：CTRG rising edge trigger / double edge trigger， 0/1
P8.0 hex 0-3 0
setting Bit1：Software limit effectively，0invalid /1valid
Bit2：Homing after power on ,0 invalid /1valid

P8.1 PR path 16 16 0 Fixed 16 section

section number
Write 0x1P，P section locate 16-31
Write 0x20，homing
Control Write 0x21，manual zero point setting
P8.2 register hex 0 0
Write 0x40，e-stop，Pinsignificance64
input
Read 0x00P，indicate positioning finished， can receive new data

Read 0x10P， In operation

Read 0x20P，In positioning
P8.3 Reserved 16 0 0
P8.4 Reserved 16 0 0
P8.5 Reserved 16 0 0
Positive Positive software limit +high16bit, during homing，software limit
P8.6 32 (+-2^31) 0x7FFF
software limit invalid.
H
Positive
P8.7 0XFFFF Positive software limit +low16bit,
software limit
L
Negative
P8.8 32 (+-2^31) 0x8000 Negative software limit -high16bit, The precision of software
software limit limit is 0.1 round
H
Negative
P8.9 0 Negative software limit - low16bit
software limit
L
Homing mode,
P8.10 Homing mode hex 0 Bit0：homing reverse, 0reverse/1forward
Bit1：Whether back to zero after homing, 0 No /1Yes
Bit2-7：Homing mode

Zero signal on coordinate axis.

Such as take positive limit as homing signal but take negative limit
P8.11 Zero position H 32 (+-2^31) 0 as absolute position 0, then zero position is the distance between
positive/negative limit.
P8.12 Zero position L 0
After homing， motor stop after move to appointed position. If
P8.13 Homing 32 (+-2^31) 0
stop homing mode bit1 enable. Then moving to the absolute position
positionH after homing.
Homing stop
P8.14 0
position L
P8.15 Homing high 16 1-6000 200 Homing high speed
speed
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P8.16 Homing low 16 1-6000 50 Homing creeping speed

speed
Homing
P8.17 16 1-32767 100 Homing acceleration
acceleration
Homing
P8.18 16 1-32767 100 Homing deceleration
deceleration
P8.19 Reserved 0
P8.20 Reserved 0
P8.21 Reserved 0
Position limit
P8.22 16 1-32767 10 E-stop deceleration, when the limit is encountered
e-stop speed
STP e-stop
P8.23 16 1-32767 50 E-stop speed, when the STOP signal is encountered
speed
P8.24 Reserved 16 0 0
P8.25 Reserved 16 0 0
P8.26 Reserved 16 0 0
P8.27 Reserved 16 0 0
P8.28 Reserved 16 0 0
P8.29 Reserved 16 0 0
P8.30 Reserved 16 0 0
P8.31 Reserved 16 0 0
P8.32 Reserved 16 0 0
P8.33 Reserved 16 0 0
P8.34 Reserved 16 0 0
P8.35 Reserved 16 0 0
P8.36 Reserved 16 0 0
P8.37 Reserved 16 0 0
P8.38 Reserved 16 0 0
P8.39 Reserved 16 0 0

P8.40 Reserved 16 0 0
P8.41 Reserved 16 0 0
Pr8.42 Command Read
only 0 0 The current position of commands
position H
32 reset to zero after homing

Pr8.43 Command Read only

0 0
position L
Pr8.44 Motor position H Read
only 0 0 Motor real position
32 reset to zero after homing
Pr8.45 Motor position L Read only 0 0

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9.2.2 9th sort parameters specification

Default
No. Name Data Range Definition
value
type

PR path mode, determine the action according to

type property
Bit0-3：TYPE , 0 No Action /1 location
positioning /2 speed running /3 homing,
use P/V/H to express
Bit4:INS,0 do no interrupt / 1interrupt, Use ！
to express interrupt , _ express interrupt
P9.0 PR1Mode hex 0 （Currently, they are all interrupt）
Bit5:OVLP，0do not overlap /1overlap, Use
SJ to express no, overlap jump, use CJ
to express overlap jump, （right now no）
Bit6-7:0absolute/1relative instruction/2 relative
to the motor/3opposite reference value,
ABS/INC/REL/CAP（ right now only ABS、
INC、REL）
Bit8-13：0-15Jump to the corresponding path，
Use SJ0x or CJ0x to express.
bit14：JUMP，0 No jump，1 jump , No jump
use END to express, jump use SJ or CJ。
（SJ： stop and jump， CJ：
continueand jump）

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P9.1 PR1 position H 16 (+-2^ 0 The position parameter of the path, refer to PR motion
31) type for specific meaning.

P9.2 PR1 position L 16 0 Position parameter low 16bit

0+-60 The position parameter of the path, refer to PR motion

P9.3 PR1speed 16 0
00 type for specific meaning.

PR1 acceleration 1-327 The position parameter of the path, refer to PR motion
P9.4 16
67 100 type for specific meaning.

PR 1 Deceleration 1-327 The position parameter of the path, refer to PR motion

P9.5 16
67 100 type for specific meaning.

PR 1 Pause time 0-327 The pause of path, delay time parameter etc. Refer to PR
P9.6 16
67) 0 motion type for specific meaning.

P9.7 PR 1 Reserved 16 0 PR 0 path is mapped toP8.02 parameters

0 Used to trigger actions. Other paths standby is invalid.
P9.8-1 PR2 As above As above As above As above
5
P9.16- PR3
23
P9.24- PR4
31
P9.32- PR5
39
P9.40 PR6
P9.48 PR7
P9.56 PR8
P9.64 PR9
P9.72 PR10
P9.80 PR11
P9.88 PR12
P9.96 PR13
P9.104 PR14
P9.112 PR15
-119
P9.120 PR16
-127

9.3 IO Operation mode

IO Can realize homing, path trigger, limit stop, and other functions.
9.3.1 Homing
Homing include zero point homing and manual homing. At the same time also includes first
time power on active homing.
Relevant parameter：

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Parameter Name Specification

PR's global control function
Bit0：CTRG Rising edge trigger / Double edge
P8.00 PR control setting trigger，0/1
Bit1： software limit is valid，0 invalid/1 valid
Bit2：homing after power on，0 invalid/1 valid
Bit0：Homing direction，0 reverse/1 forward Bit1：
whether move to specific position after homing, 0 No/1 Yes

Bit2-7：Homing mode
=0，Position limit homing
P810 Homing mode =1，Zero point homing
=2，Z phase homing （Need hardware support, not available
at present）
=8 Manual homing,

The other is prohibited to use!

Zero point position on the coordinate axes
P811-P812 Zero point position
P811 for high 16bit，P812 for low 16bit.
Motor move to the specified location and stop after homing. If
homing mode bit1 enable, then move to the absolute position after
P813-P814 Homing jump position homing.
P813 for high 16bit，P814 for low 16bit.
First speed of homing, unit: rpm.
P815 Homing high speed

Second speed of homing, unit: rpm.

P816 Homing low speed

Homing acceleration Homing acceleration, unit: ms/1000rpm

P817 time
Homing deceleration Homing deceleration, unit: ms/1000rpm
P818 time

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Remark：Homing also be done by positioning function, only need to set the path to be homing mode.

CMD_OK and MC_OK Both of them can be used to represent action is complete ，after the signal effective,
there will have a delay within 1 ms.
9.3.2 Trigger path
Positioning path can make single segment running, also can make continuous running,
configurable. There are three types of positioning path：Position location type, Speed running type
and homing type, for flexible use.
A total of 16PR path, each path set movement type alone, position method, speed, deceleration
and pause time, etc. relevant parameters：
Parameters Name Specification

P900 The model of the PR pat, to determine the action property according to
motion mode
Motion mode Bit0-3：TYPE: 0 No Action /1 position addressing /2 speed running/3
path 0 homing

Bit4: INS,0 do not interrupt /1 interrupt （All interrupt now）

Bit5: OVLP，0 do not overlap /1 overlap（Null）
Bit6-7: 0 absolute position /1 relative instruction /2 Relative to the
motor
Bit8-13： 0-15 Jump to the corresponding path
Bit14： JUMP: 0 do not jump /1 jump

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P901-P902 Position P901 for high 16bit，P902 for low 16bit.

P903 Speed running speed, rpm

P904 Acceleration Unit: ms/1000rpm

time
P905 Deceleration Unit: ms/1000rpm
time

P906 Pause time Pause time after Instruction stop

P907 Special Path 0 mapped to P802 directly， Other reserved

Parameters
And so on Each path occupy eight parameters and so on

Time sequence

Single segment running:

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Continuous operation
P9.00bit5 is 0, continuous path does not overlap

不重叠连续路径
PR2
速度停止

DELAY1
路径: PR1
PR2
到位:

Interrupt function can be understood as a path's priority. Interrupt valid path, can suspend or drop
current path under the trigger, run the path directly. Similar to the interrupt priority level of functions.
To set it in the path set parameters.

9.3.3 Position limit, JOG and E-stop function.

Relevant parameters
Parameters Name Specification

PR Control
P800 parameter Bit1： Software limit is valid

P806-P807 Positive limit Software limit positive position

P808-P809 Negative limit Software limit negative position

Position limit
P822 E-stop time Acceleration deceleration after position limit

P823 E-stop time Acceleration deceleration after E-stop

JOG Acceleration
P312 time Unit: ms/1000rpm

JOG Deceleration
P313 time Unit: ms/1000rpm

P604 JOG speed Unit: rpm

Forced E-stop STP 22h

SI Input terminal
Forward JOG JOG+ 23h
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ReverseJOG JOG- 24h

Forward
PL 25h
position limit

Reverse
NL 26h
position limit

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1、JOG
Manual point move function

2、Position limit and E-stop, apply to safe stop and so on condition.

9.4 Communication control mode

Communication control mode can realize same function as IO operation, Can flexible modify
parameters and trigger action to run, can control more than one operation by field bus, save the
wiring and good flexibility. Communications control includes two modes:Fixed trigger mode and
immediately trigger mode.
9.4.1 parameters setting
Parameters Name Specification

Pr0.01 Control Mode Setup Set Pr0.01=6 for Pr-Mode

Pr4.00 SI1 Input selection Set 383 for internal SERVO-ON

RS485 Communication mode selection，set 21 to select Modbus

protocol. Don't need to change.
For ELD2 485 communication , no need to change 21 to 53
Pr5.29 Communication mode For ELD5 485 communication , no need to change 21 to 53
For EL5 485 communication , need to change 21 to 53
For L7 485 communication , need to change 21 to 53

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Setting Setting
Baud rate Baud rate
value value
0 2400bps 4 38400bps
Communication band 1 4800bps 5 57600bps
Pr5.30 rate 2 9600bps 6 115200bps
3 19200bps
Baud rate deviation is 2400~38400bps±5%,
57600~115200bps±2%

Device No. Modbus sub-station address number.

Pr5.31
（16bit，485 address..0x6002）
Write 0x01P，P section positioning Write
0x020，homing
Write 0x021，The current location manually set to zero.
Pr8.02 PR trigger Write 0x040，e-stop
Read 0x000p，means positioning completed, can receive new data .
Read 0x01P、0x020、0x040 Means still no responding to commands.
Read 0x10P， means path is running.
Read 0x200 means instructions completed and wait for positioning.

Communication address mapping of PR-MODE

485 address Parameter Name Specification
0x6000 Pr8.00 PRcontrol setup HEX
0x6002 Pr8.02 PRcontrol register HEX
0x6006 Pr8.06 Positive software limit H Pulse
0x6007 Pr8.07 Positive software limit L Pulse
0x6008 Pr8.08 Negative software limit H Pulse
0x6009 Pr8.09 Negative software limit L Pulse
0x600a Pr8.10 Homing mode HEX
0x600b Pr8.11 Zero position H Pulse
0x600c Pr8.12 Zero position L Pulse
0x600d Pr8.13 Homing stop position H Pulse
0x600e Pr8.14 Homing stop position L Pulse
0x600f Pr8.15 High speed homing r/min
0x6010 Pr8.16 Low speed homing r/min
0x6011 Pr8.17 Homing acceleration ms/Krpm
0x6012 Pr8.18 Homing deceleration ms/Krpm
0x6016 Pr8.22 Position limit e-stop speed r/min
0x6017 Pr8.23 STP e-stop speed r/min
0x602a Pr8.42 Command positionH Read only
0x602b Pr8.43 Command positionL Read only
0x602c Pr8.44 Motor position H Read only
0x602d Pr8.45 Motor position L Read only
0x602e Pr8.46 Input IO status Read only
0x602f Pr8.47 Output IO status Read only
Pr9.00~Pr9.07 PR0 parameters
0x6200 Pr9.00 PR0 mode HEX
0x6201 Pr9.01 PR0 position H Pulse
0x6202 Pr9.02 PR0 position L Pulse

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0x6203 Pr9.03 PR0 speed r/min

0x6204 Pr9.04 PR0 acceleration ms/Krpm
0x6205 Pr9.05 PR0 deceleration ms/Krpm
0x6206 Pr9.06 PR0 pause time ms
0x6207 Pr9.07 PR0 trigger
0x6208~0x620f Pr9.08~Pr9.15 PR1 parameters
The same with Pr9.00~Pr9.07
0x6210~0x6217 Pr9.16~Pr9.23 PR2 parameters
The same with Pr9.00~Pr9.07
0x6218~0x621f Pr9.24~Pr9.31 PR3 parameters
The same with Pr9.00~Pr9.07
0x6220~0x6227 Pr9.32~Pr9.39 PR4 parameters
The same with Pr9.00~Pr9.07
0x6228~0x622f Pr9.40~Pr9.47 PR5 parameters
The same with Pr9.00~Pr9.07
0x6230~0x6237 Pr9.48~Pr9.55 PR6 parameters
The same with Pr9.00~Pr9.07
0x6238~0x623f Pr9.56~Pr9.63 PR7 parameters
The same with Pr9.00~Pr9.07
0x6240~0x6247 Pr9.64~Pr9.71 PR8 parameters
The same with Pr9.00~Pr9.07
0x6248~0x624f Pr9.72~Pr9.79 PR9 parameters
The same with Pr9.00~Pr9.07
0x6250~0x6257 Pr9.80~Pr9.87 PR10 parameters
The same with Pr9.00~Pr9.07
0x6258~0x625f Pr9.88~Pr9.95 PR11 parameters
The same with Pr9.00~Pr9.07
0x6260~0x6267 Pr9.96~Pr9.103 PR12 parameters
The same with Pr9.00~Pr9.07
0x6268~0x626f P9.104~Pr9.111 PR13 parameters
The same with Pr9.00~Pr9.07
0x6270~0x6277 Pr9.112-Pr119 PR14 parameters
The same with Pr9.00~Pr9.07
0x6278~0x627f Pr9.120-Pr127 PR15 parameters
The same with Pr9.00~Pr9.07

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9.4.2 485 communication Installation wiring

Bus connecror
Port Pin Signal

1，9 RDO+

2，10 RDO-

3，11 /

4，12 TXD
CN4
5，13 RXD
CN5
6，14 VCC5V

7，15 GND

8，16 /

连接器外壳 PE

Do not use CN3 communication port ，that is for parameters setting only

9.4.3 Fixed trigger mode

Fixed trigger mode is to config no more than 16 segments homing and path. Then, replace
CTRG and HOME with P8.02(trigger register) to start the operation path. This mode apply to
fixed motion and simple operation system.

As below procedure：
1. Firstly, config homing and path 0~ path 15 which need to run, can transmit parameter
configuration temporarily after power on, also can configured to save with upper computer.
2. Enable drive.
3. Implement choice and start of actions by write corresponding instructions into 0x6002 (P8.02) .
Write 0x01P, P segment positioning (write 0x010 to run path 0, write 0x013 to run path 3)
Write 0x020,homing
Write 0x021, current position manual set to zero.
Write 0x040, E-stop.
Read 0x000p, means positioning accomplished, can receive new data
Read 0x01P, 0x020, 0x040 means still does not response to instructions.
Read 0x10P, means path is running.
Read 0x200, means instruction accomplished and wait for positioning.

Set path 0 parameters as the table show , path 1~path15 parameters are the same as path0
Parameters Name Specification
P900 The model of the PR pat, to determine the action property according to
motion mode
Motion mode path 0 Bit0-3：TYPE: 0 No Action /1 position addressing /2 speed running/3
homing
Bit4: INS,0 do not interrupt /1 interrupt （All interrupt now）
Bit5: OVLP，0 do not overlap /1 overlap（Null）
Bit6-7: 0 absolute position /1 relative instruction /2 Relative to the
motor
Bit8-13： 0-15 Jump to the corresponding path
Bit14： JUMP: 0 do not jump /1 jump

P901-P902 Position P901 for high 16bit，P902 for low 16bit.

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P903 Speed running speed, rpm

P904 Acceleration time Unit: ms/1000rpm

P905 Deceleration time Unit: ms/1000rpm

P906 Pause time Pause time after Instruction stop

P907 Special Parameters Path 0 mapped to Pr8.02 directly，Other reserved

And so on Each path occupy eight parameters and so on

Set path 1~ path15 as same as path0 .

Implement choice and start of actions by write corresponding instructions into 0x6002 (P8.02) , to
chose which path to run .
9.4.4 Immediately trigger method
Fixed trigger is limited by 16 segment position, but immediately trigger method is flexible. It is
written to the current path at each time, at the same time trigger the operation of this path. Realize
position, speed , homing and such actions by a data frame.
This method adopt PR0 to implement, PR0 has 8 data in total, the last data P9.07 of it will
mapped to P8.02, write in 0x10 can trigger PR0 operation immediately, realize data trigger running
immediately.

Operating steps:
1. Firstly, configure homing and path which need to run, can power on and send parameter
configuration temporarily, also can configure and save with upper computer. (homing must be
configured)
2. Enable drive.
3. Operate fixed path by P8.02
4. Or write in immediate data by P9.00-9.07, and P9.07=0x10, implement immediately running path
0.
For example：
Order sending orders （Master->Slave） return command (Slave->Master）

0~31
1 ID Sub-station No. ID Sub-station No. 0~31

0x10
2 FC Function code FC Function code 0x10

3 0x62 0x62
ADDR Address ADDR Address
4 0x00 0x00

5 0x00 0x00
NUM1 0x08 NUM Actually written data
Data quantity Word quantity
6 0x08

0x10 Lo
7 NUM2 Data quantity Byte CRC check code
Hi

8-9 P9.00 Mode XXXX

10-11 P9.01 High position XXXX

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12-13 P9.02 Low position XXXX

14-15 P9.03 Speed XXXX

16-17 P9.04 Acceleration XXXX

18-19 P9.05 Deceleration XXXX

20-21 P9.06 Delay time XXXX

22-23 P9.07 Trigger control 0x0010

24 Lo
CRC Check code
25 Hi

Please refer to parameter specification for specific data setting.

9.4.5 Test Pr-Mode with Serial debugging assistant

Disconnect and close the debugging software，Test PR mode with Serial debugging assistant software
PR mode communication trigger function description
9.4.5.1 Fixed trigger mode
Fixed trigger mode is to configure no more than 16 segments homing and path. Then, replace
CTRG and HOME with P8.02 (trigger register) to start the operation path. This mode apply to
fixed motion and simple operation system.

As below procedure：
1. Firstly, configure homing and path 0~ path 15 which need to run, can transmit parameter
configuration temporarily after power on, also can configured to save with upper computer.
2. Enable drive.
3. Implement choice and start of actions by write corresponding instructions into 0x6002 (P8.02) .
Write 0x01P, P segment positioning (write 0x010 to run path 0, write 0x013 to run path 3)
Write 0x020,Homing
Write 0x021, current position manual set to zero.
Write 0x040, E-stop.
Read 0x000p, means positioning accomplished, can receive new data
Read 0x01P, 0x020, 0x040 means still does not response to instructions.
Read 0x10P, means path is running.
Read 0x200, means instruction accomplished and wait for positioning.
9.4.5.2 Immediately trigger method
Fixed trigger is limited by 16 segment position, but immediately trigger method is flexible. It is
written to the current path at each time, at the same time trigger the operation of this path. Realize
position, speed , homing and such actions by a data frame.
This method adopt PR0 to implement, PR0 has 8 data in total, the last data P9.07 of it will mapped
to P8.02, write in 0x10 can trigger PR0 operation immediately, realize data trigger running
immediately.
Operating steps:
1. Firstly, configure homing and path which need to run, can power on and send parameter
configuration temporarily, also can configure and save with upper computer. (homing must be
configured)
2. Enable drive.
3. Operate fixed path by P8.02
4. Or write in immediate data by P9.00-9.07, and P9.07=0x10, implement immediately running path 0.

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Demonstrate with immediately trigger method

An example of MODBUS communication frame format operation is shown below:
Order sending orders （Master->Slave） return command (Slave->Master）

0~31
1 ID Sub-station No. ID Sub-station No. 0~31

0x10
2 FC Function code FC Function code 0x10

3 0x62 0x62
ADDR Address ADDR Address
4 0x00 0x00

5 0x00 0x00
NUM1 0x08 NUM Actually written data
Data quantity Word quantity
6 0x08

0x10 Lo
7 NUM2 Data quantity Byte CRC Check code
Hi

8-9 P9.00 Mode XXXX

10-11 P9.01 High position XXXX

12-13 Low position XXXX

P9.02

14-15 P9.03 Speed XXXX

16-17 P9.04 Acceleration XXXX

18-19 P9.05 Deceleration XXXX

20-21 P9.06 Delay time XXXX

22-23 P9.07 Trigger control 0x0010

24 Lo
CRC Check code
25 Hi

Open the serial debugging software

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Set the correct communication format, the baud rate must be 38400, and the status light is red
when the serial port is opened successfully
Fill in the data frame format in the sending area (according to relevant motion commands), and
the last two bit bit data are CRC check codes, Instead of entering directly, click the check button of the
corresponding send area to generate automatically, which is shown in figure 31 86

Absolute position：3F 10 62 00 00 08 10 00 01 00 01 86 A0 01 F4 00 64 00 64 00 00 00 10 31 86
3F slave ID 63
10 function code，write multi data
Example for writing 2 data as blow:
FC=0x10 write multi data
NO Send Recieve
1 ID Slave ID 0~31 ID Slave ID 0~31
2 FC Function 0x10 FC Function 0x10
3 code Hi code Hi
ADDR Address ADDR
4 Lo Address Lo
Hi Actually Hi
5 Data
quantity written
NUM1 NUM
Word Lo data Lo
6
quantity
Lo
Data
7 NUM2 quantity 2* NUM1 CRC check code Hi
Byte

8 Hi
DATA1
DATA1
9 Lo
10 Hi
DATA2
DATA2
11 Lo
12 Lo
CRC check code
13 Hi
62 00 first address mapped to Pr9.00
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00 08 8 consecutive operating addresses from 62 00 to 62 07，mapped to Pr9.00~Pr9.07

10 Hexadecimal data of the number of data，8 register，each address data is divided into high
and low bits， 8*2=16
00 01 data written down to the first addresses of 6200 mapped to Pr9.00
Motion Model，Absolute positioning mode
00 01 86 A0 data written down to the second and third addresses of 6201 mapped to Pr9.01；6202
mapped to Pr9.02
Hexadecimal data of position=100000plus. All positions in PR mode are in units of
10000P/r，therefore, 00 01 86 A0 represents ten turns of motor rotation
01 F4 data written down to the fourth addresses of 6203 mapped to Pr9.03
Hexadecimal data of Speed=500r/min
00 64 data written down to the five addresses of 6204 mapped to Pr9.04
Hexadecimal data of acceleration time=100ms
00 64 data written down to the six addresses of 6205 mapped to Pr9.05
Hexadecimal data of deceleration time=100ms
00 00 data written down to the seven addresses of 6206 mapped to Pr9.06
Hexadecimal data of the delay time=0ms
00 10 data written down to the eight addresses of 6207 mapped to Pr9.07 ，to trigger the action，
Immediately trigger method（1P，Immediately trigger path-P，The sample Pr9.00~9.07 is
the positioning related data of path-0）
31 86 the verification code, do not have to directly input, click the corresponding send area
verification button automatically generated
The final analysis is as follows: speed is 500r/min, acceleration and deceleration time is 100ms, and
the position of absolute positioning is 10 rotation

3F 10 62 00 00 08 10 00 01 00 00 00 00 01 F4 00 64 00 64 00 00 00 10 3B 73
The final analysis was performed at a speed of 500r/min, acceleration and deceleration time of 100ms,
and the position of absolute positioning 0 rotation was taken

Homing：3F 06 60 02 00 21 33 0C （Back to origin high-speed, low-speed, and back to zero mode can
be set in the eighth set of parameters, using default values this time）
Caution：In Pr mode, the origin induction switch is connected to the driver, which is different from the
impulse control. Limited by conditions, only the current position can be demonstrated to the
customer：Write 0x021，The current location manually set to zero.。
The frame format function is：
3F slave ID 63
06 function code，write single data
NO Send Recieve
1 ID Slave ID 0~31 ID Slave ID 0~31
2 FC Function 0x06 FC Function 0x06
3 code Hi code Hi
ADDR Address ADDR Address
4 Lo Lo
5 Hi Actually Hi
Data
quantity written
6 DATA Lo DATA Lo
Word data
quantity
7 Lo Lo

8 CRC check code Hi CRC check code Hi

60 02 register address，mapped to Pr8.02

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00 21 the data write into the register，Write 0x021，The current location manually set to zero.
Write 0x01P，P section positioning
Write 0x020，homing
Write 0x021，The current location manually set to zero.
Write 0x040，e-stop
33 0C the verification code, do not have to directly input, click the corresponding send area
verification button automatically generated

After the current position is set to zero manually, you can click absolute positioning again to send it
manually, indicating that the current position is set to zero manually

JOG is IO input, there is no communication control method, you can push users to write relative
positioning data in real time, and trigger inching motion immediately instead.

Speed：3F 10 62 00 00 08 10 00 02 00 00 00 00 03 E8 00 64 00 64 00 00 00 10 41 78

3F slave ID 63
10 function code，write multi data
62 00 first address mapped to Pr9.00
00 08 8 consecutive operating addresses from 62 00 to 62 07，mapped to Pr9.00~Pr9.07
10 Hexadecimal data of the number of data，8 register，each address data is divided into high
and low bits， 8*2=16
00 02 data written down to the first addresses of 6200 mapped to Pr9.00
Motion Model，Speed mode
00 00 00 00 data written down to the second and third addresses of 6201 mapped to Pr9.01；6202
mapped to Pr9.02.Hexadecimal data of position=0plus. All positions in PR mode are in
units of 10000P/r，therefore, 00 00 00 00 represents 0 turns of motor rotation in Speed
mode
03 E8 data written down to the fourth addresses of 6203 mapped to Pr9.03
Hexadecimal data of Speed=1000r/min
00 64 data written down to the five addresses of 6204 mapped to Pr9.04
Hexadecimal data of acceleration time=100ms
00 64 data written down to the six addresses of 6205 mapped to Pr9.05
Hexadecimal data of deceleration time=100ms
00 00 data written down to the seven addresses of 6206 mapped to Pr9.06
Hexadecimal data of the delay time=0ms
00 10 data written down to the eight addresses of 6207 mapped to Pr9.07 ，to trigger the action，
Immediately trigger method（1P，Immediately trigger path-P，The sample Pr9.00~9.07 is the
positioning related data of path-0）
41 78 the verification code, do not have to directly input, click the corresponding send area
verification button automatically generated
The final analysis is as follows: speed=1000r/min, acceleration and deceleration time is 100ms,
Speed mode

9.5 Upper computer operation

Upper computer is used for drive parameter setting and save, steps for debugging is:
1. Three-loop control parameters. According to the position mode debugging method.
2. Set the work mode to be PR mode（Pr0.01=0），Internal SERVO-enabled （Pr4.00=383），set the
distribution of IO register P4.0-P4.13) Confirm the running direction and so on.
3. Setting up the PR basic control parameters through upper computer's "PRmode" interface.
Include: trigger setting, software limit, JOG function, homing function, e-stop function and so on.

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4. Setting up the PR positioning path parameters through upper computer's "PR mode" interface,
include:

For the convenience of the positioning model expressing, use mnemonic symbol to express, su
ch as:
_P , ABS , SJ1 means that path is position addressing, position value is absolute position, jump
to No.1 path with delay, and can not interrupt running.
!V , ABS , SJ1 means that path is speed running, jump to No.1 path with delay, and can
interrupt running.
_HOME means that path is homing movement.
_END means that path is E-stop.

5．Test run
After confirming that the parameters are set correctly, the test begins. The interface is shown
below
Click the number marked red in the figure and click start to run according to the speed in the path
parameter configuration diagram. Click the corresponding number and click to run at the configured
speed. If not, check that the parameters are set correctly

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PR-mode manual operation diagram

9.6 RS485 Parameter address

Parameter Address （decimalism） Address（HEX） Data Width
Pr0.00~Pr0.24 0~24 0x0~0x18 16 bit data
Pr1.00~Pr1.39 25~64 0x19~0x40
Pr2.00~Pr2.29 65~94 0x41~0x5E
Pr3.00~Pr3.29 95~124 0x5F~0xD6
Pr4.00~Pr4.49 125~174 0x7D~0xFE
Pr5.00~Pr5.39 175~214 0xAF~0xD6
Pr6.00~Pr6.39 215~254 0xD7~0xFE
Pr7.00~Pr7.91 255~349 0xFF~0x15D
Pr8.00~Pr8.49 24576~24625 0x6000~0x6031
Pr9.00~Pr9.127 25088~25215 0x6200~0x627F

Status monitoring
Sort Name Address Operation Unit Specification
status U phase current 0x187 R 0.1A
monitoring V phase current 0x188 R 0.1A
Status 0x191 R/W -- Refer to
monitoring specification2
pointer 1
Status 0x192 R/W --
monitoring
pointer 2
Status 0x193 R/W --
monitoring
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pointer 3
Status 0x194 R/W --
monitoring
pointer 4
Virtue input 1 0x197 R/W --
Virtue input 2 0x198 R/W --
Servo status 0x1F0 R --
Virtue output 0x1F1 R --
Status 0x1F3 R --
monitoring data
1
Status 0x1F4 R --
monitoring data
2
Status 0x1F5 R --
monitoring data
3
Status 0x1F6 R --
monitoring data
4

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Specification 2：
（2-1）Status monitoring：
status monitoring X pointer：
0x191~0x194，
status monitoring X Data：
0x1F3~0x1F6；X=1,2,3,4。
Status monitoring X data and status monitoring X pointer one-to-one correspondence. Status
monitoringX data feedback status monitoring.
X pointer points to the data. The corresponding data of status monitoring X pointer are as below:

Pointer value Name Unit Specification

0x03 Position deviation pulse

0x41 Speed feedback r/min

0x42 Speed deviation r/min

0x140 DC bus voltage 0.01V

0x180 Analog input 1 0.01V

0x200 SI1 Input port status -- =1:High level；=0：Low level

0x201 SI2 Input port status -- =1:High level；=0：Low level

0x202 SI3 Input port status -- =1:High level；=0：Low level

0x203 SI4 Input port status -- =1:High level；=0：Low level

0x204 SI5 Input port status -- =1:High level；=0：Low level

0x205 SI6 Input port status -- =1:High level；=0：Low level

0x206 SO1Output port status -- =1:High level；=0：Low level

0x207 SO2 Output port status -- =1:High level；=0：Low level

0x208 SO3 Output port status -- =1:High level；=0：Low level

0x209 SO4 Output port status -- =1:High level；=0：Low level

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（2-2）Virture INPU T1：0x197

Bit Name Symbol Operatio Specification

n
[0] Positive overtravel POT R/W =1：valid ；=0：invalid

[1] Negative overtravel NOT R/W =1：valid ；=0：invalid

[2] Servo enable SRV-ON R/W =1：valid ；=0：invalid

[3] Clear alarm A-CLR R/W =1：valid ；=0：invalid

[4] Reserved -- -- --

[5] Reserved -- -- --

[6] Position error clear CL R/W =1：valid ；=0：invalid

[7] Command pulse input is prohibited INH R/W =1：valid ；=0：invalid

[8] Reserved -- -- --

[9] Reserved -- -- --

[10] Reserved -- -- --

[11] Electronic gear selection 1 DIV1 R/W =1：valid ；=0：invalid

[12] Electronic gear selection 2 DIV2 R/W =1：valid ；=0：invalid

[13] Internal instruction speed choice 1 INTSPD1 R/W =1：valid ；=0：invalid

[14] Internal instruction speed choice 2 INTSPD2 R/W =1：valid ；=0：invalid

[15] Internal instruction speed choice 3 INTSPD3 R/W =1：valid ；=0：invalid

（2-3）Virtual INPUT2：0x198

Bit Name Symbol Operatio Specification

n
[0] Zero speed clamping ZEROSPD R/W =1：valid ；=0：invalid

[1] Torque instruction symbols VC-SIGN R/W =1：valid ；=0：invalid

[2] Torque instruction symbols TC-SIGN R/W =1：valid ；=0：invalid

[3] Forced alarm E-STOP R/W =1：valid ；=0：invalid

[4] Reserved -- -- --

[5] Position error clear CL-LAST R/W =1：valid ；=0：invalid

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[6]~[1 Reserved Reserved -- --

5]

（2-4）Servo status：0x1F0

Bit Name Symbol Operati Specification

on
[0] Reserved Reserved -- --

[1] Servo enable SRV-ON R =1：valid ；=0：invalid

[2] Servo error SRV-ERR R =1：valid ；=0：invalid

[3]~[ Reserved Reserved -- --

15]

（2-5）Virtual OUTPUT：0x1F1

Bit Name Symbol Operatio Specification

n
[0] Servo ready SRDY R =1：valid ；=0：invalid

[1] Reserved -- -- --

[2] Positioning completed INP R =1：valid ；=0：invalid

[3] Speed reach ATSPD R =1：valid ；=0：invalid

[4] Torque limit signals effective TLC R =1：valid ；=0：invalid

[5] zero-speed ZSP R =1：valid ；=0： invalid

[6] Velocity Matching VCOIN R =1：valid ；=0：invalid

[7] Reserved -- -- --

[8] Reserved -- -- --

[9] Position command have output or not PCMD R =1：valid ；=0：invalid

[10] Reserved -- -- --

[11] Reserved -- -- --

[12] Reserved -- -- --

[13] Speed command have output or not VCMD R =1：valid ；=0：invalid

[14] alarm signal ALARM R =1：valid ；=0：invalid

[15] Reserved Reserved -- --

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（3）Alarm signal

Sort Name Address Operation Unit Specification

Servo error alarm 0x1f2 R -- Refer to explain 3

Alarm
signal

Explain3
3：
Alarm signal define：ADD 0x1f2
The value of the bit Alarm List The value of the bit Alarm List
[11:0](HEX). [11:0](HEX).
High 4 bit [15:12] must be High 4 bit [15:12] must be
shielded shielded
0x000 No Alarm 0x190 excessive vibration
0x0E1/0x0E0 over-current 0x150 encoder line breaked
0x100 over-load 0x151/0x170 encoder data error
0x180 position error over-large 0x152 initialized position of
error encoder error
0x1A0 over-speed 0x240 CRC verification error
when EEPROM parameter
is saved
0x1A1 motor speed out of control 0x570
0x0D0 DC bus under-voltage 0x120 Resistance discharge
circuit over-load
0x0C0 DC bus over-voltage 0x153 encoder battery error
0x171/0x172 encoder parameters read 0x210/0x211/0x212 I/F input interface
error allocation error
Other values Refer to user manual

（4）Auxiliary function

Sort Name Address Operation Unit Specification

Control word 0x19A W / Refer to explain 4

Auxiliary function
Status word 0x1F7 R /
command 1

Explain4
3：
Auxiliary function operation procedure： Start the related functions by transmit control word, estimate

completion by querying status word

State word back to initial status automatically after been read. Auxiliary function as below.

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Address Control word Auxiliary function

0x19A 0x4444 Download default parameters（Except the motor parameters）

0x5555 Save parameters

0x7777 Remove the alarm ( can only clear purgeable alarm）

0x7788 Clear historical alarm

Address Control word Specification

0x1F7 0x5555 OK

others null

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Chapter 10 Order Guidance

10.1 Capacity Selection
To determine the capacity of servo system, we must consider the inertia of load, torque of load, the positioning
accuracy, the requirement of the highest speed, consider the selection according to the following steps:

1) Calculate Inertia of Load and Torque

You can refer to relative information to calculate inertia of load, torque of load, acceleration/deceleration
torque as the next step basis.

2) Identify Mechanical Gear Ratio

According to the maximum speed and the highest speed of the motor ,you can calculate the maximum of
mechanical reduction ratio, by using it and minimum of motor turning unit ,to calculate if they can meet the
requirements of the smallest position unit or not. If the positional precision is high, you can increase the
mechanical reduction ratio or select motor with higher capacity.

3) Calculate Inertia and Torque.

Convert mechanical reduction ratio of the load inertia and load torque to the motor shaft, while the result shall
be not 5 times more than motor inertia. If the requirements can’t be matched, you can increase the mechanical
reduction ratio (the actual maximum speed reducing) or select larger capacity motor.

10.2 Electronic Gear Ratio

In position control mode, the actual speed = command pulse velocity× G ×mechanical reduction ratio.
In position control mode, the actual load minimum displacement = minimum command pulse travel ×G
×mechanical reduction ratio.
【Note 】If the electronic gear ratio of G is not 1, gear ratio division may have the remainder, then there will
be position deviation existed, the maximum deviation is the minimum of rotation ( minimum resolution ).

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