AC Servo Drive

User Manual
 Safety Precautions
Before product storage, installation, wiring, operation, inspection or
maintenance, users must be familiar with and observe the following
important matters to ensure safe use of this product.

Danger Misuse can be dangerous and result in personal injury

or death.

Notice Misuse can be hazardous, result in personal injury or death,

and can damage equipment.

Prohibition Actions are strictly prohibited, otherwise the equipment

will be damaged or cannot be used.

1.Use occasion

Danger

1. It is forbidden to use the product where it is exposed to moisture, corrosive

gas, or flammable gas. Otherwise it may cause electric shock or fire.
2. It is forbidden to use the product in places exposed to direct sunlight, dust,
salt and metal powder.
3. It is forbidden to use the product in places where there is water, oil and
medicine dripping.

2.Wiring

Danger
1. Please ground the grounding terminal reliably. Poor grounding may cause
electric shock or fire.
2. Do not connect the 220V driver power supply to the 380V power supply,
otherwise it will cause equipment damage, electric shock or fire.
3. The U, V, W motor output terminals must be connected with the motor
connection terminals U, V, W in one-to-one correspondence, otherwise the
motor may overspeed and cause equipment loss and personal injury or death.
4. Please tighten the power supply and motor output terminals, otherwise it may
cause fire.
3.Operation

Notice
1. Before the mechanical equipment starts to operate, it must cooperate with the
appropriate parameter setting value. Failure to adjust to proper settings could
result in loss of control or malfunction of mechanical equipment.
2. Before starting operation, please confirm whether the emergency switch can be
activated at any time to stop.
3. Please first test whether the servo motor is running normally under no-load
condition, and then connect the load to avoid unnecessary loss.
4. Do not turn on and off the power frequently, otherwise it will cause overheating
inside the drive.

4.Running

Prohibition

1. When the motor is running, it is forbidden to touch any rotating parts, otherwise it
will cause casualties.
2. When the equipment is running, it is forbidden to touch the driver and motor,
otherwise it will cause electric shock or burns.
3. When the equipment is running, it is forbidden to move the connecting cable,
otherwise it will cause personal injury or equipment damage.

5. Maintenance and Inspection

Prohibition

1. It is forbidden to touch the inside of the driver and its motor, otherwise it will
cause electric shock.
2. When the power is turned on, it is forbidden to remove the driver panel,
otherwise it will cause electric shock.
3. Do not touch the wiring terminals within 5 minutes after the power is turned off,
otherwise the residual high voltage may cause electric shock.
4 It is forbidden to change the wiring or dismantle the servo motor when the
power is turned on, otherwise it will cause electric shock.

6.Use range

Notice
The products involved in this manual are for general industrial use, please do not
use them on devices that may directly endanger personal safety.
 目录

Chapter 1 Product Inspection and Installation .............................................................. - 1 -

1. 1 Product Inspection .................................................................................................... - 1 -
1.2 Product Front Panel.................................................................................................. - 2 -
1.3 Servo Installation method ...................................................................................... - 3 -
Chapter2 Servo Specifications ............................................................................................. - 6 -
2. 1 Servo Drive Specification ........................................................................................ - 6 -
2.2 Servo Drive Naming Rules..................................................................................... - 7 -
2.3 Servo Motor Naming Rules .................................................................................. - 7 -
2.4 Adaptation Table of Servo Drive and Motor .................................................. - 8 -
Chapter3 Drive and Motor Dimensions ............................................................................. - 9 -
3. 1 Servo Drive Dimension ............................................................................................. - 9 -
Chapter4 Drive System Wiring and Composition ........................................................ - 12 -
4. 1 Servo Drive Wiring Diagram ................................................................................ - 12 -
4.2 Servo Drive Terminal Pin...................................................................................... - 14 -
4.3 Servo Drive Main Circuit Connection............................................................... - 15 -
4.4 CN1 Control Signal ............................................................................................... - 17 -
4.5 CN2 Encoder Signal Terminal .......................................................................... - 28 -
4.6 CN3 and CN4 Communication Interface ...................................................... - 29 -
4.7 Anti-interference countermeasures for power wiring ................................ - 32 -
Chapter5 Operation Mode and Control Wiring Diagram ....................................... - 36 -
5. 1 Position Control Mode .......................................................................................... - 36 -
5.2 Speed Control Mode ............................................................................................. - 4 1 -
5.3 Torque Control Mode ........................................................................................... - 44 -
5.4 Origin Return Function and Related Parameter Description ................... - 47 -
5.5 Pre-run Inspection .................................................................................................. - 50 -
Chapter6 Operation and Display Interface.................................................................. - 51 -
6. 1 Drive Panel Instruction .......................................................................................... - 5 1 -
6.2 Main Menu ............................................................................................................... - 52 -
6.3 Parameter Setting Process .................................................................................. - 52 -
6.4 Monitor Status Content ........................................................................................ - 53 -

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 6.5 Analogue Zero Adjustment ................................................................................ - 54 -
6.6 Encoder Selection ................................................................................................... - 55 -
Chapter7 Parameter Function Description ................................................................. - 56 -
7. 1 PA Group Parameter ................................................................................................ - 56 -
7.2 P3 Multifunction Terminal Series Parameters ................................................ - 73 -
7.3 P4 Group Internal Position Command Series Parameter ............................ - 82 -
Chapter8 Fault Codes ........................................................................................................... - 88 -
Chanpter9 Alarm Handling Method ............................................................................. - 90 -

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 Chapter 1 Product Inspection and Installation AS100 Servo User Manual

Chapter 1 Product Inspection and Installation

1.1 Product inspection

This product has undergone a complete functional test before leaving the factory.
In order to prevent the product from being abnormal due to negligence during
product delivery, please check the following items in detail after unpacking:

● Check whether the servo drive and servo motor models are the same as the
ones you ordered.

● Check whether the servo driver and servo motor are damaged or scratched
during transportation. In case of damage during transportation, please do not
wire and transmit power.

● Check whether the servo driver and servo motor are loose or not. Whether
there are loose screws, whether the screws are not locked or fall off.

● Check whether the rotor shaft of the servo motor can be rotated smoothly by
hand. A motor with a brake cannot rotate directly.

● Check whether the servo operation manual is included.

● Check whether the drive accessories are included in the packing box.

If there is any inconsistency in the content, please contact the purchased agent.

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Chapter 1 Product Inspection and Installation AS100 Servo User Manual

1.2 Product Front Panel

This panel describes applicable models:AS100-400W ，AS100-750W

Figure 1.1 KS10 0 servo drive front panel introduction

No Terminal Function
① CN3、CN4 Communication terminals.
② CN1 Input and output control signal terminals.
③ CN2 Encoder signal terminal , connected to the motor encoder.
④ L1,L2 Main power input terminal.
Bus voltage indicator light. Used to indicate that the bus
⑤ CHARGE capacitor is charged. When the indicator light is on,
even if the main circuit power is off, the internal
capacitor of the servo unit may still have charge.
Therefore, do not touch the power terminals when the
light is on to avoid electric shock.
⑥ P,D,C,N Brake resistor connection terminal.
⑦ U,V,W Servo motor connection terminals. Connect the U, V, and
W phases of the servo motor.
⑧ PE Ground terminal. Connect to the power supply and motor
ground terminal for grounding treatment.

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Chapter 1 Product Inspection and Installation AS100 Servo User Manual

1.3 Servo installation method

1.3.1 Driver installation method

● Installation direction

The normal installation direction of the servo drive is vertical upright.

● Fixed installation

During installation, tighten the two M4 fixing screws at the rear of the
servo drive.

● Grounding

Be sure to ground the ground terminal of the drive, otherwise there may
be a risk of electric shock or interference resulting in wrong action.

● Routing requirements

When wiring the driver, please route the cable downwards (refer to the
figure below) to prevent liquid from flowing into the driver along the
cable when there is liquid attached to the cable.

Figure 1.2 Schematic diagram of servo drive cable routing requirements

● Installation interval

Please refer to Figure 1.3 for the installation distance between the drives
and other devices. Note that the minimum size is marked on the figure. In
order to ensure the performance and life of the drives, please leave as
much installation space as possible.

● heat dissipation

The servo driver adopts natural cooling method and forced cooling
method.

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Chapter 1 Product Inspection and Installation AS100 Servo User Manual
● Precautions for installation

When installing the electrical control cabinet, prevent dust or iron filings
from entering the servo drive.

Figure 1.3 Installation interval

1.3.2 Installation environment conditions

● Working environment temperature: 0~40℃; working environment
humidity: below 80% (no condensation).
● Storage ambient temperature: -40~50℃; storage ambient humidity: below
80% (no condensation).
● Vibration: below 0.5G.
● A well-ventilated place with little humidity and dust.
● No corrosive, flammable gas, oil gas, cutting fluid, cutting powder, iron
powder and other environments.
● A place free from water vapor and direct sunlight.

1.3.3 Motor installation method

● Horizontal installation: In order to prevent liquids such as water and
oil from flowing into the motor from the outlet end of the motor, please
place the cable outlet at the bottom.
● Vertical installation: If the motor shaft is facing upwards and the
reducer is attached, attention should be paid to prevent the oil in the
reducer from penetrating into the motor through the motor shaft.

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Chapter 1 Product Inspection and Installation AS100 Servo User Manual
● The extension of the motor shaft must be sufficient. If the extension is
insufficient, the motor will easily vibrate when it moves.
● When installing and removing the motor, do not hit the motor with a
hammer, otherwise the motor shaft and encoder will be easily damaged.

1.3.4 Motor rotation direction definition

The definition of the motor rotation direction described in this manual: Facing
the motor shaft, the rotation shaft counterclockwise (CCW) is forward rotation, and
the rotation shaft is clockwise (CW) is reverse rotation.。

Figure 1.4 Definition of motor rotation direction

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Chapter 2 Servo Specifications AS100 Servo User Manual

Chapter 2 Servo Specifications

2.1 Servo drive specification

Model AS100-400W AS100-750W

Output 0.05KW~0.4KW 0.75KW~1KW

Power

Main Single Phase AC220V-15%~ +10% 50/60Hz

circuit
input
power

0: Position control mode; 1: Speed control mode; 2: Torque control

Control
method mode; 3: Position-speed mixed control mode; 4: Position-torque
mixed control mode; 5: Speed-torque mixed control mode
Protectiv Overspeed/main power supply
e overvoltage/undervoltage/overcurrent/overload/encoder
function abnormality/control power supply abnormality/position out-of-
tolerance
Monitori Speed/current position/command pulse accumulation/position
ng deviation/motor torque/motor current/running status, etc.
function
1: Servo enabled 2: Alarm cleared 3: CCW drive disabled 4: CW drive
Control disabled
input 5: Deviation counter reset 6: Command pulse prohibited 7: CCW
torque limit 8: CW torque limit

Control Servo ready/servo alarm/positioning complete/mechanical brake

output
Energy Support built-in and external
braking
Applicabl Less than 3 times the motor inertia
e load
Display 5-digit LED digital tube display, 4 operation buttons
operation
Commun RS485
ication

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Chapter 2 Servo Specifications AS100 Servo User Manual
method

0：pulse+direction
1：CCW/CW pulse
Input
2：A/B two-phase quadrature pulse
Position
control 3：Internal position control
Enter Gear ratio numerator：1-32767
electronic
Gear ratio denominator：1-32767
gear ratio

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Chapter 2 Servo Specifications AS100 Servo User Manual

2.2 Servo Drive Naming Rules

AS 100 S - 40 - □□□

① ② ③ ④ ⑤

No Meaning
① AS series servo driver
② Power，100：0.05KW~1KW；200:1KW~2KW；300:2KW~4.5KW；
③ S: Simple servo, suitable for 17-bit single-turn absolute encoder
④ The specific power of the servo below 1KW, 40: 50W~400W; 75:
400W~750W
⑤ Special specifications: customized

2.3 Servo Motor Naming Rules

DM 80 - 024 30 A6 - TJA B
① ② ③ ④ ⑤ ⑥ ⑦
No Meaning
① Motor type, DM: economical servo motor.
② Frame size: 40(mm); 60(mm); 80(mm).

③ Rated torque (×0.1Nm): 048 means the rated torque is 4.8Nm.

④ Maximum speed (× 100rpm): 30 means the rated speed is
3000rpm.
⑤ Encoder resolution: A6: 17 bits absolute per turn
⑥ Connector Type: TJA: Amp Plug
⑦ B: with brake; Blank: without brake

1. For example, the performance parameter code 02430 means the rated
torque is 2.4Nm and the rated speed is 3000rpm.
2. Rated power calculation formula: P =0.1047×N×T
=0.1047×2.4×3000 =753.84W≈0.75KW, T is rated torque, N is rated
speed.

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Chapter 2 Servo Specifications AS100 Servo User Manual

2.4 Adaptation table of servo motor and servo driver

Power Rota With
Machine Model Adapt drive encoder
base (W) ting
spee
d
(rpm)
DN60-00630A6-TJAB) 200 3000

60mm DN60-01330A6-TJA(B) 400 3000 AS100-400W

DN60-01930A6-TJA(B) 600 3000 17-bit

single-turn
AS100-40 absolute
DN80-01330A6-TJA(B) 400 3000 AS100-75
encoder
80mm
DN80-02430A6-TJA(B) 750 3000 AS100-75

DN80-03230A6-TJA(B) 1000 3000

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Chapter 3 Drive and Motor Dimensions AS100 Servo User Manual

Chapter 3 Drive and Motor Dimensions

3.1 Servo Drive Dimensions

Figure 3.1 Outline Dimensions of KS1 0 0 Series

The base of AS100-40 has no cooling fa

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 Chapter 3 Drive and Motor Dimensions AS100 Servo User Manual

3.2 Motor Size

● Installation dimensions of 60-frame motor (see Figure 3.2 and Table 3-1)

Model DN60-00630A6-TJA DN60-01330A6-TJA DN60-01930A6-TJA

L（ mm) -- 90 --

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Chapter 3 Driver and Motor Dimensions AS100 Servo User Manual

● Installation dimensions of 80-frame motor (see Figure 3.3 and Table 3-2)

Model DN80-01330A6-TJA DN80-02430A6-TJA DN80-03230A6-TJA

.
L（ mm) -- 96 113.5

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Chapter 4 Drive System Wiring and Composition AS100 Servo User Manual

Chapter 4 Drive System Wiring and Composition

4.1 Servo System Wiring

4.1.1 Servo drive wiring diagram

Figure 4.1 Servo system wiring diagram

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Chapter 4 Drive System Wiring and Composition AS100 Servo User Manual

4.1.2 Wiring Instructions

Wiring precautions:
 The length of the cable is within 3m for the command cable and within 20m
for the encoder.
Check whether the power supply and wiring of L1 and L2 are correct.
For example, the drive that only supports single-phase 220VAC should not be
connected to 380VAC power supply.
The phase sequence of the motor output U, V, W terminals must correspond
to the corresponding terminals of the driver one by one. If the motor is connected
incorrectly, the motor may not turn or fly. The motor cannot be reversed by
exchanging the three-phase terminals, which is different from the asynchronous
motor.
Since the high-frequency switching current flows through the servo
motor, the leakage current is relatively large. The motor ground terminal
must be connected with the servo drive ground terminal PE and grounded
well.
 For the relay installed in the output signal, the direction of the absorbing
diode must be connected correctly, otherwise it will cause a malfunction and
cannot output the signal.
To prevent erroneous operation caused by noise, please add devices such
as insulating transformers and noise filters to the power supply.
Please arrange the power line (motor line, power line, etc. strong current
circuit) and the signal line at a distance of more than 30cm, and do not place
them in the same wiring duct.
 Please install a non-fuse circuit breaker so that the external power supply
can be cut off in time when the drive fails.
Because there is a large-capacity electrolytic capacitor inside the servo
driver, even if the power is cut off, there is still high voltage in the internal circuit.
After cutting off the power, wait at least 5 minutes before touching the driver
and motor.

4.1.3 Wire Specifications

Connection terminal Symbol Wire specification
Main circuit power L1、L2 1.5~4mm2
supply
Motor connection U、V、W 1.5~4mm2
terminal
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Chapter 4 Drive System Wiring and Composition AS100 Servo User Manual

Ground terminal 1.5~4mm 2

Control signal CN1 ≧0.14mm2(AWG26), including

terminal shielded wire
Encoder signal CN2 ≧0.14mm2(AWG26), including
terminal shielded wire
Brake resistor P、D/P、C 1.5~4mm2
terminal

Encoder cables must use twisted pairs. If the encoder

cable is too long (>20m), it will lead to insufficient power
supply of the encoder, its power supply and ground wire
can be connected by multi-wire or thick wire

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Chapter 4 Drive System Wiring and Composition AS100 Servo User Manual

4.2 Servo Drive Terminal Pin Distribution

Figure 4.2 Schematic diagram of AS100 terminal pin distribution

 The above diagrams are the pin layout of the drive body's own
terminals

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Chapter4 Driver System Wiring and Composition AS100 Servo User Manual

4.3 Servo Drive Main Circuit Connection

4.3.1 Main circuit terminal introduction

Figure 4.3 Main circuit terminal pin distribution

Name Symbol Description

L1、L2 Single Phase 220VAC -15%~ +10% ，50/60Hz

Main circuit power
input terminal NC Empty end

P、D When using the internal braking resistor,

short P and D
Brake resistor When using an external braking resistor, P
terminal
P、C and D are short-circuited and

disconnected, and then the external

braking resistor wires are connected

between P and C respectively. P and N are

prohibited from being connected.

U、V、W Connect to U, V, W phases of the servo

Motor motor.
connection The drive ground terminal is connected to the
terminal power supply and the motor ground terminal.

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Chapter4 Driver System Wiring and Composition AS100 Servo User Manual

The factory default internal braking resistor connection: P and D are

short-circuited.

4.3.2 Brake Resistor Wiring Instructions

If the internal braking resistor is used, the driver should short-circuit P and D,
that is, it can be used normally according to the factory state, as shown in Figure A.
If an external braking resistor is used, the short connection between P and D must
be disconnected first, and then the external braking resistor is connected across P
and C, as shown in Figure B:

Figure A Figure B

Precautions for braking resistor wiring:

 Do not connect the external braking resistor to the positive and
negative poles P and N of the busbar, otherwise it will cause explosion and
fire.
 Do not be less than the minimum allowable resistance value of
25Ω, otherwise it will cause the driver to alarm or damage the driver.
 Please install the external braking resistor on non-combustible
materials such as metal.

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Chapter 4 Drive System Wiring and Composition AS100 Servo User Manual

4.4 CN1 Control Signal Terminal

4.4.1 CN1 Description of control signal terminals
The CN1 control signal terminal provides the signals required to connect with the
upper controller, using the DB44 socket, and the signals include:
 4 programmable inputs
 4 programmable outputs
 Analog command input
 Command pulse input

4.4.2 CN1 Terminal Connector Pinout Diagram

Figure 4.4 The distribution diagram of CN1 terminal connection pins of the driver

24-26AWG gauge wire is recommended.

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Chapter 4 Drive System Wiring and Composition AS100 Servo User Manual

Figure 4.5 Schematic diagram of CN1 terminal pins of the driver

4.4.3 Description of position command input signal

Signal Name Pin Function
PULS+ 5 High-speed photoelectric isolation input, parameter
PULS- 21 PA14 setting working mode:

SIGN+ 6  Pulse+direction
Position
 CCW/CW Pulse
pulse SIGN- 22
 A, B two-phase quadrature pulse input
comma
 Internal position control input
nd
PULLHI 7 External 24V power input interface for command
pulse
GND 11 Internal digital signal ground
The host device side command pulse output circuit can be selected from two types:
differential driver output or open collector output. The maximum input frequency and
minimum pulse width are shown in the table below:
Pulse method Maximum frequency (pps) Minimum pulse width (us)
Differential 500k 1
Open Collector 200k 2.5

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Chapter 4 Drive System Wiring and Composition AS100 Servo User Manual

If the output pulse width of the host device is less than the
minimum pulse width value, it will cause the drive to receive
pulse errors.
The ports between PLUS and PLUS- and between SIGN+ and SIN-
only support signal level input below 5V, and external resistors must be
connected in series for signals exceeding 5V, otherwise the driver will be
damaged.

Schematic diagram of pulse command input circuit

1）When differential

2）When using open collector mode

A）When using the internal 24V power supply of the servo drive:

Common anode connection, such as: Mitsubishi PLC.

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Chapter 4 Drive System Wiring and Composition AS100 Servo User Manual

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Chapter 4 Drive System Wiring and Composition AS100 Servo User Manual

Common cathode connection: For example: Siemens PLC.

B）When using an external power supply:

Option 1: Use the driver internal resistor (recommended option)
Common anode connection:

Common
cathode
connection:

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Chapter 4 Drive System Wiring and Composition AS100 Servo User Manual

Option 2: Use an external resistor to the driver.

Common anode connection:

 Common cathode connection:

The selection formula of resistor R1:


VCC-1.5
=10m
R1+240
Table 4-1 Recommended resistance value of R1

VCC Voltage R1 Resistance R1 Power

24V 2.4KΩ 0.5W
12V 1.5KΩ 0.5W

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Chapter 4 Drive System Wiring and Composition AS100 Servo User Manual

4.4.4 Description of digital input and output signals

Symbol Pin Default Description
function
DI1 20 Servo
enable
DI2 4 Alarm clear

Forward Photoelectric isolation input,

DI3 19
drive programmable function, defined by
prohi P3 group parameters P3-0~P3-17.
Digital
input bited Note: The COM port is a common
Reverse anode or common cathode interface,
DI4 3
drive and the input level is 12V-24V. In
prohi position mode (internal position
bited mode) and non-position mode,
PULS- 21 connect 24V to pin 7, connect DI5 to
In position pin 21, connect DI6 to pin 22; or
SIGN- 22
mode
PULS+ 5 connect 0V to pin 7, connect DI5 to
(internal
pin 5, and connect DI6 to pin 6.
SIGN+ 6 position
PULLHI 7 mode)
and non-
position
mode

Digital
COM 16
input
signal
common
port
DO1+ 31
Z signal
DO1- 32 output
DO2+ 33
Digital Alarm Photoelectric isolation output,
output DO2- 34 Output
programmable function, defined by
DO3+ 35 P3 group parameters P3-20~P3-23.
Positionin
DO3- 36 g
complete
d

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Chapter 4 Drive System Wiring and Composition AS100 Servo User Manual

DO4+ 37
Electromag
DO4- 38 netic brake
Internal E0V 43 Internal Internal isolated 24V power
isolated 0V output, voltage range 20V~28V,
power E24V 44 Internal maximum output current
output 24V
100mA.

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Chapter 4 Drive System Wiring and Composition AS100 Servo User Manual

Schematic diagram of digital input circuit

Take DI1 as an example, the interface circuits of DI1~DI4 are the same.
1）When the upper device is a relay output
A) When using the internal 24V power supply of the servo drive:

B) When using an external 24V power supply:

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Chapter 4 Drive System Wiring and Composition AS100 Servo User Manual

2）When the host device is an open-collector output

A) When using the internal 24V power supply of the servo drive:

B) When using an external 24V power supply:

Notice:
 Mixing o f PNP and NPN inputs is not supporte d.

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Chapter 4 Drive System Wiring and Composition AS100 Servo User Manual

Schematic diagram of digital output circuit

Take DO1 as an example, the interface circuits of DO1~DO4 are the same.
1) When the host device is a relay input:

2) When the host device is optocoupler input:

 When the upper device is a relay, be sure to connect a freewheeling

diode, otherwise it may damage the DO port or cause strong signal
interference.
 The maximum allowable voltage and current capacity of the
optocoupler output circuit inside the servo drive are as follows:
 Voltage: DC30V
 Current: DC50mA

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Chapter 4 Drive System Wiring and Composition AS100 Servo User Manual

4.4.5 Description of analog command signal

Symbol Pin Function
AS+、AT+ 24
Analo
AS-、AT- 9 Analog input for speed/speed, range: -
g
AGND 25 10V~+10V.
com
mand
input

Schematic diagram of pulse command input interface

There are two connection methods of differential input and single-ended input,
and it is recommended to use differential input connection. Speed and torque
share one analog input, input range: -10V~+10V, input impedance about 10KΩ. It
is normal for the analog input to have a zero offset, which can be compensated by
parameters.

1）When analog differential input

2）When analog single-ended input

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Chapter 4 Driver System Wiring and Composition AS100 Servo User Manual

4.4.6 Brake Wiring Instructions

The brake is a mechanism that prevents the servo motor shaft from
moving when the servo driver is not running, and keeps the motor locked in
position, so that the moving parts of the machine will not move due to its own
weight or external force.

Schematic diagram of brake signal circuit

Brake wiring The connection of the brake input signal has no polarity, and
the user needs to prepare a 24V power supply. The standard wiring example of
brake signal BK and brake power supply is as follows:

Figure 4.6 Brake signal wiring diagram

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Chapter 4 Driver System Wiring and Composition AS100 Servo User Manual
4.5 CN2 Encoder Signal Terminal
4.5.1 Schematic diagram of CN2 terminal plug
Connection diagram of CN2 encoder signal terminal and motor encoder.
The terminal connected to the encoder uses a 6PIN socket, and the shape and
pin distribution are as follows:

Figure 4.7 CN2 encoder signal terminal

4.5.2 Encoder terminal signal description

Signal name Pin No. Function

5V 5 The 5V power supply for the encoder (provided by the

Encoder signal power 0V 6 driver), when the cable is longer than 20m, in order to
supply prevent the voltage drop of the encoder, the power
supply multi-wire connections or thick wires can be
used for ground wires.
Absolute encoder SD+ 1 Absolute encoder communication positive
communication positive terminal
terminal
Absolute encoder SD- 2 Absolute encoder communication negative
communication negative terminal
terminal
Empty end NC 3 Reserve

Empty end NC 4 Reserve

Shielded wire protection Plug metal shell Connecting the Encoder Wire Shield
ground

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Chapter 4 Driver System Wiring and Composition AS100 Servo User Manual

4.6 CN3 and CN4 Communication Interface

4.6.1 Communication port wiring diagram

Figure 4.8 Schematic Diagram of Communication Port Wiring

4.6.2 Definition of communication port pins

Through the CN3 and CN4 ports on the drive, the communication connection
between the drive and the PC, PLC and the drive can be realized, and the port pins
of CN3 and CN4 are defined as follows:
Pin No. CN3 Name CN4 Name Icon
1 NC empty end NC empty end
2 E0V CAN signal ground E0V CAN signal ground
3 CAN H CAN bus interface CAN H CAN bus interface
4 RS485 - RS485 RS485 - RS485
Communication Communication
5 RS485+ RS485+
Interface Interface
6 CAN L CAN bus interface CAN L CAN bus interface
7 GND 485 signal ground GND 485 signal ground
8 NC empty end NC empty end

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Chapter 4 Driver System Wiring and Composition AS100 Servo User Manual

Notice：
 It can be connected to a PC or host computer controller through
a dedicated serial port cable, and hot plugging is prohibited.
 It is recommended to use twisted pair or shielded wire, the
wire length is less than 2 meters.
 When multiple machines are connected in series, CN3 is connected
to CN4 of the previous drive, and CN4 is connected to CN3 of the
next drive.
 When using RS485 bus communication, when the 485 signal ground
of the host computer is connected to the earth (PE), please connect
the PE terminal of the host computer to the drive terminal through
a reasonable grounding method. In this case, it is forbidden to
connect the 485 signal ground of the host computer to the 485
signal ground (GND) of the drive, otherwise the drive may be
damaged.

4.6.3 485 Communication Network Connection Instructions

1. 485 communication connection with PLC
When using 485 communication network, the connection cables between the driver and PLC
are as follows:

A B
Figure 4.9 Schematic diagram of communication cable between servo driver and PLC
Table 4-2 The pin connection relationship between the servo driver and the
PLCcommunication cable

Driver side RJ45 (A side) PLC side (B side)

Signal name Pin No. Signal name Pin No.
RS485+ 5 RS485+ 5
RS485- 4 RS485- 4
GND 7 GND 7
PE（Shielding layer） case PE（Shielding layer） case

2. 485 communication connection of multi-machine parallel connection

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Chapter 4 Driver System Wiring and Composition AS100 Servo User Manual
When the 485 communication network is used, the connecting cables for multi-
machine parallel connection of the servo drive are as follows:

A B
Figure 4.10 Schematic diagram of multi-machine parallel connection cables of servo drives
Table 4-3 Pin connections of communication cables for multi-machine parallel connection of servo drives
Driver side RJ45 (A side) Driver side RJ45 (B side)
Signal name Pin No. Signal name Pin No.
RS485+ 5 RS485+ 5
RS485- 4 RS485- 4
GND 7 GND 7
PE（Shielding layer） Case PE（Shielding layer） Case
3.485 Communication Grounding Precautions
When using RS485 communication, the example of connecting the GND
terminal of the host device with the GND terminal of the servo drive is shown in the
figure below:

Figure 4.11 Schematic diagram of 485 communication connection

When using RS485 communication, the signal ground of the host device is
connected to the ground as shown in the figure below:

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Chapter 4 Driver System Wiring and Composition AS100 Servo User Manual

Notice：
 The PLC has a built-in 485 communication terminal resistor.

 It is recommended that the shielding layer be grounded at one end.

 Do not connect the GND terminal of the host device with the E0V

terminal of the servo drive, otherwise the machine will be damaged.

4.7 Anti-interference countermeasures for power wiring

To suppress interference, please take the following measures:
 The length of the command input cable should be less than 3m, and the length of
the encoder cable should be less than 20m.
 Use as thick a wire as possible for the ground wiring. (2.0mm² or more)
 Please use a noise filter to prevent radio frequency interference. When using in a
residential environment or an environment with strong power interference, please
install a noise filter on the input side of the power line.

In order to prevent erroneous actions caused by electromagnetic interference, the

following processing methods can be used:
1) Install the host device and noise filter near the servo driver as much as possible.
2) Install surge suppressors on the coils of relays, solenoids, and magnetic
contactors.
3) When wiring, separate the strong current line from the weak current line, and
keep a distance of more than 30cm. Do not put in the same pipe or bundle together.
4) Do not share the power supply with electric welding machines, electrical
discharge processing devices, etc. When there is a high-frequency generator nearby,
install a noise filter on the input side of the power line.

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Chapter 4 Driver System Wiring and Composition AS100 Servo User Manual

4.7.1 Example of anti-interference wiring and grounding treatment

1. Example of anti-interference wiring

Figure 4.12 Example of anti-interference wiring

2. Grounding
To avoid possible electromagnetic interference problems, please ground as follows.
1) Grounding of the servo motor housing
Please connect the grounding terminal of the servo motor and the grounding terminal
PE of the servo driver together, and ground the PE terminal reliably to reduce potential
electromagnetic interference problems.
2) The shielding layer of the encoder cable is grounded
Please ground both ends of the shielding layer of the motor encoder cable.
4.7.2 How to use the noise filter
In order to prevent the interference of the power line and weaken the influence of the
servo driver on other sensitive equipment, please according to the size of the input current,
Select a corresponding noise filter at the power input. Also, install noise filters on the power
lines of peripheral devices as necessary. When installing and wiring the noise filter, please
observe the following precautions to avoid impairing the actual use effect of the filter.

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Chapter 4 Driver System Wiring and Composition AS100 Servo User Manual

Please arrange the input and output wiring of the noise filter separately, and do not
put them in the same pipeline or bundle them together.

Figure 4.13 Example diagram of separated wiring for noise filter input and output wiring

Route the ground wire of the noise filter separately from its output power wire.

Figure 4.14 Schematic Diagram of Separation of Noise Filter Ground Wire and Output Wiring

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Chapter 4 Driver System Wiring and Composition AS100 Servo User Manual

The noise filter needs to be grounded separately with a thick wire as short as
possible, and do not share a ground wire with other grounding equipment.

Figure 4.15 Schematic diagram of single point grounding

Noise filter ground wire installed in the control cabinet.

When the noise filter and the servo driver are installed in the same control cabinet, it
is recommended to fix the filter and the servo driver on the same metal plate to
ensure that the contact part is conductive and well-bonded, and the metal plate
should be grounded.

Figure 4.16 Schematic Diagram of Noise Filter Ground Wire Treatment

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Chapter 5 Operation Mode and Control Wiring Diagram AS100 Servo User Manual

Chapter 5 Operation Mode and Control Wiring Diagram

According to the command mode and operation characteristics of the servo drive,
it can be divided into three operation modes: position control operation mode, speed
control operation mode and torque control operation mode, etc.
In position control mode, the moving displacement is generally determined by
the number of pulses, and the external input pulse frequency determines the rotation
speed. Since the position mode can strictly control the position and speed, it is
generally used in positioning devices. It is the control mode with the most servo
applications, mainly used in manipulators, placement machines, engraving, milling
and engraving, CNC machine tools, etc.
The speed control mode is to control the rotation speed through analog setting,
digital setting and communication setting, and it is mainly used in some constant
speed occasions. For engraving and milling machine applications, the host computer
adopts position control mode, and the servo driver adopts speed control mode.
The torque control mode is to control the magnitude of the torque through
analog given, digital given, and communication given. It is mainly used in winding
and unwinding devices that have strict requirements on the force of the material, such
as some tension control occasions such as winding devices or fiber-pulling equipment.

5.1 Position Control Mode

5.1.1 Description of position mode

Figure 5.1 Block diagram of position control mode

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Chapter 5 Operation Mode and Control Wiring Diagram AS100 Servo User Manual

The position mode is a common working mode of the servo drive, and its main
usage steps are as follows:
1) Correctly connect the power supply of the servo main circuit and the control
circuit, as well as the motor power line and the encoder line. After power-on, the
servo panel displays "r 0", which means that the servo power supply and the
encoder wiring are correct.
2) Perform a servo JOG test run by pressing the button to confirm whether the
motor can run normally.
3) Refer to Figure 5.2 wiring instructions to connect the pulse direction input and
pulse command input in the CN1 terminal and the required DI/DO signals, such as
servo enable, alarm clear, positioning completion signal, etc. 4) Make position mode
related settings. Set the DI/DO used according to the actual situation.
5) The servo is enabled, and the position command is issued by the host computer to
control the rotation of the servo motor. First make the motor rotate at a low speed,
and confirm whether the direction of rotation and the electronic gear ratio are
normal, and then adjust the gain.
5.1.2 Position mode wiring

Figure 5.2 Position mode wiring diagram

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Chapter 5 Operation Mode and Control Wiring Diagram AS100 Servo User Manual

 The internal +24V power supply voltage range is 20V~28V, and

the maximum operating current is 100mA. If you use an external
24V power supply, please connect the external power supply
+24V to pin 16 (COM), and connect the external power supply 0V
to pin 43 (E0V)
 The DO output power supply needs to be prepared by the user, and the power
supply range is 5V~24V. DO port maximum allowable voltage DC30V,

5.1.3 Parameters to be adjusted in position control mode

Gain and smoothing filter parameter adjustment
Required Parameter Description parameter value factory
parameters default
PA4 control mode selection 0 0

PA9 Position proportional gain 1-1000 80

PA19 Position command smoothing filter 0-1000×0.1ms 100

PA100 Command filter selection 0-1 0

  DI input related parameter adjustment

Required Parameter Description parameter value factory default
parameters
PA11 Number of command pulses for one revolution of 0-30000 10000
the motor
PA12 Position command pulse electronic gear first 1-32767 0
molecule
PA13 Position command pulse electronic gear 1-32767 10000
denominator
PA14 Position command pulse input method 0-3 0

PA15 The direction of the position command pulse is 0-1 0

reversed
PA59 Command pulse effective edge 0-1 0

PA77 Position command pulse electronic gear ratio 1-32767 0

second numerator
PA78 Position command pulse electronic gear ratio third 1-32767 0
numerator
PA79 Position command pulse electronic gear ratio 1-32767 0
fourth numerator
PA80 Command direction signal effective level 0-1 0

PA81 Command pulse PULS signal filtering 0-15 4

PA82 Command pulse SIGN signal filtering 0-15 4

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Chapter 5 Operation Mode and Control Wiring Diagram AS100 Servo User Manual

DO Output related parameter adjustment

Required Parameter Description Parameter value Factory default
parameters
PA16 Positioning complete range 0-3000 pulse 130

PA17 Position out-of-tolerance range detection 0-30000× 100 pulse 6000

PA18 Invalid location error 0-1 0

PA83 CWL, CCWL direction prohibition mode 0-1 0

PA84 Positioning completed hysteresis 0-32767 65

PA85 Positioning Proximity 0-32767 6500

PA86 Positioning close to hysteresis 0-32767 650

Input and output related parameter adjustment

.
Required Parameter Description Parameter value Factory
parameters
default
PA55 Input terminal active level control word 0000-1111 0000
PA57 Output terminal active level control word 0000-1111 0000
PA58 IO input terminal debounce time constant 1-20ms 2
P3-0 Digital input DI1 function 0-99 1
P3-1 Digital input DI2 function 0-99 2
P3-2 Digital input DI3 function 0-99 3
P3-3 Digital input DI4 function 0-99 4
P3-15 Digital input DI forced active 1 00000000- 00000000
11111111
P3-16 Digital input DI forced active 2 00000000- 00000000
11111111
P3-17 Digital input DI forced active 3 00000000- 00000000
11111111
P3-20 Digital output DO1 function 0-99 18
P3-21 Digital output DO2 function 0-99 3
P3-22 Digital output DO3 function 0-99 5
P3-23 Digital output DO4 function 0-99 8
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 Chapter 5 Operation Mode and Control Wiring Diagram AS100 Servo User Manual

Internal position Pr mode position command description and related

parameters
The source of Pr position command is to use parameters (P4-2, P4-3)-(P4-23, P4-24) 8
sets of built-in position command registers, which can be used with external I/O (CN1,
POS0-POS 2 and CTRG) Choose one of eight groups to use as a position command:
Position Corresponding Movement
command POS2 POS1 POS0 CTRG parameters Illustrate speed
register
P4-2 Number of turns(+/- P4-4
P1 0 0 0 ↑ 30000)
（V1）
P4-3 Pulse(+/-max cnt)
P4-5 Number of turns(+/- P4-7
P2 0 0 1 ↑ 30000)
（V2）
P4- 6 Pulse(+/-max cnt)
P4-8 Number of turns(+/- P4-10
P3 0 1 0 ↑ 30000)
（V3）
P4-9 Pulse(+/-max cnt)
P4-11 Number of turns(+/- P4-13
P4 0 1 1 ↑ 30000)
（V4）
P4-12 Pulse(+/-max cnt)
P4-14 Number of turns(+/- P4-16
P5 1 0 0 ↑ 30000)
（V5）
P4-15 Pulse(+/-max cnt)
P4-17 Number of turns(+/- P4-19
P6 1 0 1 ↑ 30000)
（V6）
P4-18 Pulse(+/-max cnt)
P4-20 Number of turns(+/- P4-22
P7 1 1 0 ↑ 30000)
（V7）
P4-21 Pulse(+/-max cnt)
P4-23 Number of turns(+/- P4-25
P8 1 1 1 ↑ 30000)
（V8）
P4-24 Pulse(+/-max cnt)

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Chapter 5 Operation Mode and Control Wiring Diagram AS100 Servo User Manual

 Status of POS0-2: 0 means the contact is open (open), and 1 means

the contact is closed (closed). CTRG ↑ represents the moment when
the connection changes from open circuit (0) to open circuit (1). max
represents the command pulse for one revolution of the motor.
 Absolute position registers are widely used, which is equivalent to a
simple program control. The user can easily complete the periodic
operation by using the above table. For example, the position
command P1 = 10 turns, P2 = 20 turns, the position command P1 is
issued first, and then the position command P2 is issued. The
difference between the two is as follows:

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Chapter 5 Operation Mode and Control Wiring Diagram AS100 Servo User Manual

5.2 Speed control mode

5.2.1 Speed Mode Description

Figure 5.3 Speed Control Mode Block Diagram

The main steps to use speed mode are as follows:

1) Correctly connect the power supply of the servo main circuit and the control
circuit, as well as the motor power line and the encoder line. After power-on, the
servo panel displays "r 0", which means that the servo power supply and the
encoder wiring are correct.
2) Perform a servo JOG test run by pressing the button to confirm whether the
motor can run normally.
3) Refer to Figure 5.4 for wiring instructions to connect the required DI/DO signals
in the CN1 terminal, such as servo enable, alarm clear, and fixed
bit complete signal, etc.
4) Enter travel speed mode related settings. Set the DI/DO used according to the
actual situation.
5) The servo is enabled, and the position command is issued by the host computer
to control the rotation of the servo motor. First make the motor rotate at a low
speed, and confirm whether the direction of rotation and the electronic gear ratio
are normal, and then adjust the gain.

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Chapter 5 Operation Mode and Control Wiring Diagram AS100 Servo User Manual

5.2.2 Velocity Mode Wiring

Figure 5.4 Speed mode wiring diagram

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Chapter 5 Operation Mode and Control Wiring Diagram AS100 Servo User Manual

5.2.3 Parameters to be adjusted in speed control mode

Relevant parameters to be adjusted in speed control mode
Required Parameter Description Parameter value Factory
parameters default
PA4 control mode selection 1 0
PA5 speed proportional gain 5-2000Hz 150

PA6 speed integral constant 1-1000ms 75

PA22 Internal and external speed command 0-5 0

selection
PA24 internal speed 1 -6000-6000r/min 100

PA25 internal speed 2 -6000-6000r/min 500

PA26 internal speed 3 -6000-6000r/min 1000

PA27 internal speed 4 -6000-6000r/min 2000

PA28 Arrival speed 0-3000r/min 3000

PA40 acceleration time constant 1-10000ms 100

PA41 Deceleration time constant 1-10000ms 100

PA42 S-type acceleration and deceleration 0-1000ms 0

time constant
PA43 Analog speed command input gain 10-3000r/min/v 300

PA44 The direction of the analog speed 0-1 0

command is reversed
PA45 Analog speed command zero offset -5000-5000 0
compensation
PA46 Analog speed command filter 1-300Hz 300
PA75 Zero speed detection point 0-1000r/min 10

PA76 Speed consistent setting value 0-1000r/min 10

PA87 Arrival speed hysteresis 0-5000r/min 30

PA88 arrival velocity polarity 0-1 0

PA92 Zero speed detection hysteresis 0-1000r/min 5

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Chapter 5 Operation Mode and Control Wiring Diagram AS100 Servo User Manual

5.3 Torque Control Mode

5.3.1 Torque Mode Description

Figure 5.5 Block Diagram of Torque Control Mode

The main steps of using the torque mode are as follows:

1) Correctly connect the power supply of the servo main circuit and the control
circuit, as well as the motor power line and the encoder line. After power-on, the
servo panel displays "r 0", which means that the servo power supply and the
encoder wiring are correct.
2) Perform a servo JOG test run by pressing the button to confirm whether the
motor can run normally.
3) Refer to Figure 5.6 for wiring instructions to connect the required DI/DO signals
in the CN1 terminal, such as servo enable, alarm clear, positioning completion
signals, etc.
4) Make torque mode related settings. Set the DI/DO used according to the actual
situation.
5) The servo is enabled, and the position command is issued by the host computer to
control the rotation of the servo motor. First make the motor rotate at a low speed,
and confirm whether the direction of rotation and the electronic gear ratio are
normal, and then adjust the gain.

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Chapter 5 Operation Mode and Control Wiring Diagram AS100 Servo User Manual

5.3.2 Torque Mode Wiring

Figure 5.6 Torque mode wiring diagram

Chapter 5 Operation Mode and Control Wiring Diagram AS100 Servo User Manual

5.3.3 Parameters to be adjusted in speed control mode

The torque control mode needs to adjust the parameters
Required Parameter Description Parameter value Factory
parameters default
PA4 control mode selection 2 0
PA29 Analog torque command input gain Set as needed 30
PA32 Internal and external torque command 0-2 0
selection
PA33 The input direction of analog torque 0 0
command is reversed
PA39 Analog torque command zero offset 0 0
compensation
PA50 Speed limit during torque control Set as needed Rated
speed
PA64 Internal Torque 1 -300-300 0
PA65 Internal Torque 2 -300-300 0
PA66 Internal Torque 3 -300-300 0
PA67 Internal Torque 4 -300-300 0
PA83 Prohibited way 0-1 0
PA89 reach torque -300%-300% 100
PA90 Arrival torque hysteresis 0%-300% 5
PA91 Arrival torque polarity 0-1 0

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Chapter 5 Operation Mode and Control Wiring Diagram AS100 Servo User Manual

5.4 Origin return function and related Parameter Description

5.4.1 Related setting parameters

Required Parameter Description Parameter Factory default
parameters value
P4-32 Origin detector type and search 0-5 0
direction setting
P4-33 Short-distance movement method 0-2 0
setting to reach the origin
P4-34 Origin trigger start mode 0-2 0
P4-35 Origin stop mode setting 0-1 0

P4-36 The first high-speed homing speed 1-2000 1000

setting r/min
P4-37 The second low-speed homing speed 1-500 r/min 50
setting
P4-38 Origin return offset circles +/-30000 0
P4-39 Origin return offset pulse number +/-max cnt 0

5.4.2 Origin return offset pulse number

A. Origin trigger start mode（P4-34）
The origin trigger start mode is divided into two categories: automatic execution of
origin return function and contact trigger origin return function:
P4-34=0: Turn off the homing function. When P4-34 is set to 0, no matter what
other settings are, the homing function cannot be started.
P4-34 =1: Automatically execute the origin return function when the power is
turned on. This function is only valid once when the power supply and servo start
are turned on, that is, it is used under the working condition that the return to origin
does not need to be repeated during the servo operation. Using this function can
omit an input contact used to perform homing.
P4-34 =2: The homing function is triggered by the SHOM input contact. When
setting this function, any register in the input pin function planning registers (P3-
0~P3-3) must be set as the SHOM trigger origin input function. The SHOM contact
can be triggered at any time during the servo operation, and the homing function
can be performed.

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Chapter 5 Operation Mode and Control Wiring Diagram AS100 Servo User Manual

B. Origin detector type and search direction setting（P4-32）

Home detectors can use left or right limit switches as the home reference point,
and can also use additional detectors such as proximity or shutter-type switches as
the home reference point. When the servo motor only moves within one revolution,
the Z pulse can also be set as the origin reference point.
P4-32 =0: search for the origin in the forward direction, and take the CCWL
limit input point as the rough reference point of the origin. When the origin
positioning is completed, CCWL will turn into limit input function. Subsequent re-
triggering will generate a limit warning. When using the limit input point as the rough
reference point of the origin, it is recommended to set the return to search for the Z
pulse (P4-33 =0) as the precise mechanical origin.
P4-32 =1: Reverse the direction to find the origin, and use the CWL limit input
point as the rough reference point of the origin. After the origin positioning is
completed, CWL turns into a limit input function. Subsequent re-triggering will
generate a limit warning. When using the limit input point as the rough reference
point of the origin, it is recommended to set the return to search for the Z pulse (P4-33
=0) as the precise mechanical origin.
P4-32 =2: search for the origin in the direction of forward rotation, and use
ORGP (external detector input point) as the reference point of the origin, at this time,
the precise mechanical origin can be set to return to search (P4-33 =0) or not to return
to search (P4-33 =1) Z-phase pulse. When the Z-phase pulse is not used as the
mechanical origin, the positive edge of ORGP can also be set as the mechanical origin
(P4-33=2).
P4-32=3: Reverse the direction to find the origin, and use ORGP (external
detector input point) as the reference point of the origin. At this time, the exact
mechanical origin can be set as the Z-phase pulse of return search (P4-33 =0) or no
return search (P4-33 =1). When the Z-phase pulse is not used as the mechanical origin,
the positive edge of ORGP can also be set as the mechanical origin (P4-33=2).
P4-32 =4: Directly search for the single-turn absolute position zero point in the
forward direction. This function is usually used for the motion control of the servo
motor within the range of one revolution. At this time, no external detection switch is
required.
P4-32 =5: Reverse the direction and directly search for the single-turn absolute
position zero point. This function is usually used for the motion control of the servo
motor within the range of one revolution. At this time, no external detection switch is
required.

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Chapter 5 Operation Mode and Control Wiring Diagram AS100 Servo User Manual

C. Short-distance movement method setting to reach the origin（P4-33）

P4-33 =0: After finding the reference origin, the motor turns back and searches
for the nearest single-turn absolute position zero point at the second speed as the
mechanical origin.
P4-33 =1: After finding the reference origin, the motor turns to the second
speed and continues to search for the nearest single-turn absolute position zero point
as the mechanical origin.
P4-33 =2: Find the rising edge of the detector ORGP as the mechanical origin
and stop by deceleration, which is applicable to the setting of P4-32 value 2 and 3;
or find the zero point of the single-turn absolute position and stop by deceleration ,
applicable to the setting of P4-32 value 4 and 5.

D.Origin stop mode setting (P4-35)

P4-35 =0: After the origin detection is completed, the motor decelerates and
pulls back to the origin. After the origin detection signal is obtained during the
second speed operation, the motor decelerates and stops. After stopping, move to the
mechanical origin position at the second-stage speed.
P4-35 =1: After the origin detection is completed, the motor will decelerate and
stop in the forward direction. After the origin detection signal is obtained during the
second-stage speed operation, the motor decelerates and stops. The position overrun
after stop is no longer corrected, and the position of the mechanical origin will not
change due to the difference in the position overrun.

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Chapter 5 Operation Mode and Control Wiring Diagram AS100 Servo User Manual

5.5 Pre-run inspection

Please first disengage the load connected to the servo motor, the coupling
connected to the shaft of the servo motor and its related accessories. Make sure that
the servo motor can work normally without load before connecting the load to
avoid unnecessary danger.
Before running please check to make sure:
1) There is no obvious damage on the appearance of the servo drive;
2) The wiring terminals have been insulated;
3) There are no conductive objects or flammable objects such as screws or
metal sheets inside the drive, and no conductive foreign objects at the wiring ports; 4)
The servo drive or external braking resistors are not placed on flammable objects;
5) The wiring is completed and connected correctly.

The driver power supply, auxiliary power supply, grounding terminal, etc. are wired
correctly; the wiring of each control signal cable is correct; the wiring of each limit switch and
protection signal is correct.
1) The enabling switch has been placed in the OFF state;
2) Cut off the power circuit and the emergency stop alarm circuit to maintain the path;
3) The applied voltage reference of the servo driver is correct.
When the controller does not send a running command signal, power on the
servo driver. Check and make sure:
1) The servo motor can rotate normally without vibration or excessive running
sound;
2) The parameters are set correctly, unexpected actions may occur depending on
the mechanical characteristics, please do not over-set extreme parameters;

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Chapter 6 Operation and Display Interface AS100 servo user manual

Chapter 6 Operation and Display Interface

6.1 Drive Panel Instructions

6.1.1 panel composition

The panel consists of 5 LED digital tube displays and 4keys SET.
It is used to display various states of the system, set parameters, etc. Operations are
layered operations, which are expanded layer by layer from the main menu.

Figure 6.1 Driver panel display interface

6.1.2 Key Description

Symbol Name Function

Increase key Increase the serial number or value; long press has a
repeat effect
Down key Decrease the serial number or value; long press has a
repeat effect
Exit key menu exit; operation cancel

SET Enter Key Operation Confirmation

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Chapter 6 Operation and Display Interface AS100 servo user manual

6.2 Main menu

The first layer is the main menu, with a total of 8 operation modes, key
change mode,Press the set key to enter the second layer,To perform specific
operations, press the key to return to the main menu from layer 2.

Figure 6.2 Main menu operation block diagram

6.3 Parameter Setting Process

Parameters are represented by parameter segment + parameter number, the
hundreds digit is the segment number, the tens digit and the ones digit are the
parameter number. For example, for parameter PA53, the segment number is "PA", the
parameter number is "53", and the display shows "PA-53".
Select parameter setting "P-" in the main menu, press SET key to enter the
parameter setting mode.First, press the key to select the parameter
segment , after selecting , press the SET key to enter the parameter number
selection of this segment. Next, press and to select the parameter number,
after selection, press SET to display the parameter value.
Use the keys to modify the parameter value. Press the or key once, the
parameter will increase or decrease by 1, press and keep ,Parameters can be
continuously increased or decreased. When the parameter value is modified, press the
SET key, the decimal point of the LED digital tube on the far right will light up and
flash twice, that means the modification is completed, and the modified value will be

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Chapter 6 Operation and Display Interface AS100 servo user manual

reflected in the control immediately (some parameters need to be saved and then
powered on again to take effect).
6.4 Monitor status content
The first layer is used to select the operation mode , there are 8
Select "dp--" in the first layer, and press SET key to enter monitoring mode.
There are 23 display states in total,The user selects the desired display mode
with the and keys , and then presses the SET key to enter the specific display
state.

Monitoring Operate Surveillance Description

method example
P-5pd Motor speed 1000r / min

P-PP5
current location 124580
P - PP5

position command 124581

P-Epa E H
Position deviation 4 pulses
P-EPP

Motor torque 70%

Motor current 2.3A

Current control mode 0: position control mode

Speed corresponding to analog input in

speed mode 500 r/min。

Torque corresponding to analog input in torque

mode 50 %。

Rotor absolute position 3265.

P-RPP

P- In Input terminal

Output terminal

P-LdE Bus voltage 336V

Alarm 4

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Chapter 4 Drive System Wiring and Composition AS100 Servo User Manual

Monitoring Operate Surveillance Description

method example
Relay open state

P - -L Relay off state

Relay alarm status

The main circuit is running normally

rn.-PF The main circuit is not charged

The main circuit is charging but the servo

is not enabled

rn-Er Main circuit alarm

Bus voltage is normal

Bus voltage is too low

Alarm exists

Motor absolute position 876543210

P-H5.

6.5 Analog zero adjustment

After using this operation, the drive will automatically detect the analog zero offset and
write the zero offset value into parameter PA39 (or PA45). This operation has saved the
zero offset parameters in EEPROM, so there is no need to perform parameter writing
operation.
First select “A-A0” for analog zero adjustment, and press SET to enter.Then adjust to
zero by selecting the speed analog 、 “A-SPd”or torque analog zero adjustment "A-
Trq", after selecting the operation, press and hold the SET key for more than 3 seconds, and
activate the operation after "done" is displayed.After finishing, press the key again to return
to the menu selection state.。

6.6 Encoder selection

Select "F-res" to reset the encoder and set the multi-turn information of the encoder to
zero. By setting the parameter value of P3-36, the single-turn information can be
cleared to achieve the purpose of setting the origin; select "F-clr ” to clear the alarm of
the encoder, and the No. 53 alarm caused by the battery power failure can be cleared
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Chapter 4 Drive System Wiring and Composition AS100 Servo User Manual
by this operation. After selecting the operation, press and hold the SET key for more
than 3 seconds until "done" is displayed to activate the operation.After finishing, press
again to return to the menu selection state.
6.7 Restoring parameter default values
When the following situations occur, please use the function of restoring default
parameters (factory parameters):
 The parameters are messed up and the system cannot work normally.
The steps to restore the default parameters are as follows:
All parameters are restored to default values, and parameters modified by users are also
restored to factory default.

27
 AS100 Servo User Manual
Chapter 7 Parameter Function Description

Chapter 7 Parameter Function Description

7.1 PA Group Parameters

Parameter Factory
No. Name Function
range default

1. The user password is 315.

0 Password 2. Model code is 385. 0-9999 315

This parameter is read-only and cannot

See Table
Model code be modified. The driver automatically
1 recognizes the motor model, no need 40-80 7-1
to choose.

Software
The software version number can be
2 version
viewed, but not modified.

Table 7-1

Drive AS100-40 AS100-75

40-00130 80-01330

40-00330 80-02430

60-00630 80-03230

60-01330 --
60-01930 --
80-01330 --

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

Parameter Factory
No. Name Function
range default

0：Display motor speed；

1：Display the lower 5 digits of the
current position；
2：Display the high 5 digits of the
current position；
3：Display the lower 5 digits of the
position command (command pulse
accumulation amount)；
4：Display the high 5 digits of the
position command (command pulse
accumulation amount)；
5：Display position deviation lower 5
digits；
6：Display position deviation high 5
digits；
Initial
3 0-25 0
display state 7：Display motor torque；
8：Display motor current；
9：Current control method；
10：Displays the current temperature；
11：Display speed command；
12：Display torque command；
13：Displays the lower 5 digits of the
absolute position of the rotor in one
revolution；
14：Displays the upper 5 digits of the
absolute position of the rotor in one
revolution；
15：Display input terminal status；
16：Display output terminal status；
17：Display encoder input signal；
18：Display the main circuit bus voltage
value；

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description
19：display alarm code；
20：Display logic chip version number；
21：Display the relay pull-in state；
22：Display running status；
23：Display external voltage status;
24：Display the lower 5 digits of the
absolute value；
25：Display the high 5 digits of the
absolute value position.

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

Parameter Factory
No. Name Function
range default
This parameter can be used
to set the control mode of
the driver:
0：Position control mode；
1：Speed control mode；
2：Torque control mode；
3：Position speed mixed control
Control mode mode；
4 selection 0-6 0
4：Position torque hybrid control
mode；
5：Speed torque hybrid control
mode；
6：Encoder zero mode.
1. Sets the proportional gain of the
speed loop regulator.
2. The larger the setting value, the
higher the gain and the higher the
stiffness. The parameter values are
determined according to the
Speed
specific servo drive system model
proportional 5-2000
and load conditions.
5 gain 150
Generally, the larger the load Hz
inertia, the larger the setting value.
3. Under the condition that the
system does not generate
oscillation, set it as large as
possible.
1. Set the integral time constant
of the speed loop regulator.
2. The smaller the setting value,
Speed the faster the integration speed
1-1000
integral and the stronger the system
6 75
constant resistance to deviation, that is, the ms
greater the stiffness, but if it is
too small, overshooting will easily
occur.
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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

1. Set the torque command filter

characteristics.
2. Used to suppress resonance
caused by torque.
3. The smaller the value, the lower
the cutoff frequency, and the
smaller the vibration and noise
generated by the motor. If the load
inertia is large, the setting value can
be appropriately reduced. If the
Torque filter
value is too small, the response will
7 20-500% 100
be slowed down, which may cause
oscillation.
4. The larger the value, the higher
the cut-off frequency and the
faster the response. If higher
torque response is required, the
setting value can be increased
appropriately.

1. Set the speed detection filter

characteristics.
2. The smaller the value, the lower
the cutoff frequency and the
smaller the noise generated by
the motor. If the load inertia is
large, the setting value can be
appropriately reduced. If the value
is too small, the response will be
slowed down, which may cause
Speed detection oscillation.
8 20-500% 100
filter
3. The larger the value, the higher
the cut-off frequency and the
faster the speed feedback
response. If higher speed
response is required, the setting
value can be increased
appropriately.
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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

Parameter Factory
No. Name Function
range default
1. Set the proportional gain of the
position loop regulator.
2. The larger the setting value, the
higher the gain and the greater the
stiffness. Under the condition of the
same frequency command pulse, the
Position position lag is smaller. However, if the
proporti value is too large, it may cause
9 onal 1-1000 80
oscillation.
gain
3. The parameter values are
determined according to the specific
servo drive system model and load
conditions.

1. Set the number of command pulses

equivalent to one revolution of the
Number of motor.
command
pulses per 2. When this setting value is 0, PA-12
11 revolution of (position command pulse frequency 0-30000 10000
the motor division numerator) and PA-13 (position
command pulse frequency division
denominator) are valid.

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

1. Set the frequency division and

multiplication of the position command
pulse (electronic gear).
2. In the position control mode, by
setting the parameters of PA12 and
PA13, it can be easily matched with
various pulse sources to achieve the
user's ideal control resolution (ie
angle/pulse).
3. P ×G=N×C ×4 。
P: pulse number of input command;
G: electronic gear ratio; G=frequency
0-32767 0
division numerator/frequency division
denominator;
N:motor rotation number;
C:photoelectric encoder line number/
revolution, this system C=2500.
4. For example, when the input
command pulse is 6000, the servo
Position motor rotates once
command G=(N×C×4)/P=(1×2500×4)/6000=5/
pulse 3, then parameter PA12 is set to 5,
12 and PA13 is set to 3.
electronic
gear first 5. The numerator of command pulse
molecule electronic gear is determined by
Gear1 and Gear2. The denominator is
set by parameter PA13. The
combination is as follows:
DI signal {note}
Command pulse
Gear 2 Gear 1 electronic gear
denominator
First molecule
0 0
(parameter PA12)
Second molecule
0 1
(parameter PA 77)
Third molecule
1 0
(parameter PA 78 )
Fourth molecule
1 1
(parameter PA 79)
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 AS100 Servo User Manual
Chapter 7 Parameter Function Description
Note: 0 means OFF, 1 means ON.
Position
command
pulse
electronic
13 See parameter PA12. 1-32767 10000
gear
denomina
tor

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

Parameter Factory
No. Name Function
range default
1. Set the input form of the position
command pulse.
2. Set as one of the 3 input methods
by parameter:
0: pulse + direction;
1: CCW pulse/CW pulse;
2: A, B two-phase quadrature pulse
input;
Position
3: Internal position input.
instruction
14 pulse input Note: CCW is viewed from the axial 0-3 0
mode direction of the servo motor, rotates
counterclockwise, and is defined as
forward; CW is viewed from the axial
direction of the servo motor, rotates
clockwise, and is defined as reverse.
Set as:
The
command 0: normal;

15 pulse 1: The direction of the position 0-1 0

direction is command pulse is reversed.
reversed
1. Set the pulse range for positioning
completion under position control.
2. This parameter provides the basis
for the drive to judge whether
positioning is completed in position
control mode. When the number of
remaining pulses in the position
Positioning deviation counter is less than or equal 0-30000
16 complete 130
to the set value of this parameter, the pulse
range
COIN (positioning completion) of the
digital output DO is ON, otherwise it
is OFF. 3. The comparator has
hysteresis function. Set by parameter
PA84.
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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

1. Set the detection range of position

out-of-tolerance alarm.
Position
out-of- 2. In the position control mode, when 0-30000
tolerance the value of the position deviation × 100
17 6000
range counter exceeds the value of this pulse
detection parameter, the drive will give a
position alarm.
Set as:
0: Position out-of-tolerance alarm
Invalid detection is valid;

18 location 1: Position out-of-tolerance alarm 0-1 0

error detection is invalid, stop detecting
position out-of-tolerance errors.

60
 AS100 Servo User Manual
Chapter 7 Parameter Function Description

Factory
No. Name Function Parameter range
default
1. Smooth and filter the command
pulse, with exponential acceleration and
deceleration, and the value represents
the time constant.
2. The filter will not lose the input pulse,
but there will be command delay.
3. This filter is used for:
(1) The upper controller has no
acceleration and deceleration functions;
Position
(2) The frequency division and
command 0-1000 ×
19 smoothing multiplication of electronic gear is 100
filter relatively large (>10); 0.1ms

(3) The command frequency is low.

4. When the motor is running,
there are step jumps and unsteady
phenomena. 5. When set to 0, the
filter does not work.
Set as :
0: CCW, CW input prohibition is valid.
When the CCW drive prohibition switch
(FSTP) is ON, the CCW drive is allowed;
when the CCW drive prohibition switch
(FSTP) is OFF, the torque in the CCW
direction remains at 0;
The same goes for CW. If both CCW and
CW drive prohibition are OFF, a drive
prohibition input error alarm will be
Drive generated;
inhibit 1: Cancel CCW, CW input prohibition.
20 input 0-1 1
Regardless of the status of the CCW
invalid and CW drive prohibition switch, CCW
and CW drive are allowed. At the same
time, if both CCW and CW drive
prohibition are OFF, there will be no
drive prohibition input error alarm.

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

JOG
Set the running speed of JOG operation.
21 running 0-6000 r/min 100
speed
During speed control, set the source of
the speed command, parameter
meaning: 0: The analog speed
command is input from the analog port
AS+, AS-; 1: The internal speed
command is determined by the SP1
and SP2 input by the DI:

DI signal {note}
Source SP2 SP1 speed command
of Internal speed 1
speed 0 0
22 (parameter PA24) 0-5 0
comma Internal speed 2
nd 0 1
(parameter PA25)
Internal speed 3
1 0
(parameter PA26)
Internal speed 4
1 1
(parameter PA27)

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

2：Analog speed command + internal speed

command:
DI signal {note}
SP2 SP1 speed command
0 0 Analog speed command
0 1 Internal speed 2
(parameter PA2)

Note: 0 means OFF, 1 means ON. 3: JOG

speed command , it needs to be set when
performing jog (JOG) operation. 4:
Keyboard speed command , it needs to be
set when performing keyboard speed
regulation (Sr) operation. 5: IO terminal
controls jogging operation.
Set the maximum speed limit of the servo
motor. 0-6000r/
5000
Maximum 1. Independent of the direction of rotation. min

23 speed
2. If the set value exceeds the rated speed,
limit
the actual maximum speed limit is the rated
speed.

1. Set internal speed 1. -6000-

Internal 2. In speed control mode (PA22 =0), when 6000 100
24 speed 1 SP1 is OFF and SP2 is OFF, internal speed 1 r/min
is selected as the speed command.
1. Set internal speed 2. -6000-
Internal 2. In the speed control mode (PA22 =0), 6000 500
25 speed 2 when SP1 is ON and SP2 is OFF, internal r/min
speed 2 is selected as the speed command.
1. Set internal speed 3. -6000-
Internal 2. In speed control mode (PA22=0), when 6000 1000
26 speed 3 SP1 is OFF and SP2 is ON, internal speed 3 is r/min
selected as the speed command.

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

1. Set internal speed 4. -6000-

Internal 2. In speed control mode (PA22 =0), when 6000 2000
27 speed 4 SC1 is ON and SC2 is ON, internal speed 4 is r/min
selected as the speed command.

1. When the motor speed exceeds this

parameter, ASP (speed reached) of the 0-3000 3000
digital output DO is ON, otherwise it is OFF. r/min
Arrival
28 speed 2. The comparator has hysteresis
function, which is set by parameter
PA87. 3. Polarity setting function:

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

PA88 PA28 Comparators

0 >0 speed regardless of
direction
>0 Only detect forward
1 rotation speed
<0 Only detect reverse
speed
1. Set the proportional relationship between
the analog torque input voltage and the
10-100
actual running torque of the motor. 30
Analog (0.1v/
torque 2. The unit of setting value is 0.1v/100%. 100%)
29 command 3. The default value is 30, corresponding to
input gain 3v/100%, that is, inputting 3v voltage

produces 100% rated torque.

1. Set the user torque overload value, which
is the percentage of the rated torque, and
the torque limit value is regardless of the
direction, and both positive and negative 1-300 300
directions are protected.
User torque 2. In the case of PA31>9, when the motor
overload torque>PA30 and the duration>PA31, the
30 alarm value
drive will alarm, the alarm number is Err-29,
and the motor will stop. After the alarm is
generated, the driver must be powered on
again to clear the alarm.
User
torque 1. User torque overload detection time, in
0-32767 0
overload milliseconds.
31 alarm 2. When it is set to zero, the user torque
detection overload alarm will not work.
time

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description
In torque control, set the source of the torque
command:
0: Analog torque command, input from
analog ports AS+ and AS-. 1: Internal torque
command, determined by TRQ1 and TRQ2
input by DI:

DI signal {note}
Torque Torque command
32 TRQ2 TRQ1 0-1 0
command
0 0 Internal torque 1
source
(parameter PA64)
0 1 Internal torque 2
(parameter PA65)
1 0 Internal torque 3
(parameter PA66)
1 1 Internal torque 4
(parameter PA67)
2：Simulation torque instruction+internal
torque instruction:
DI signal {note}
Torque command
TRQ2 TRQ1
0 0 Analog torque
command
0 1 Internal torque 2
(parameter PA65)

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

1 0 Internal torque 3
(parameter PA66)
1 1 Internal torque 4
(parameter PA67)
Note: 0 means OFF, 1 means ON.
The input
direction Reverse the polarity of the analog torque
33 of analog input. 0-1 0
torque
command
is reversed
1. The setting value is the percentage of the
rated torque, for example, if it is set to 2
Internal
34 times of the rated torque, the setting value is 300
CCW 0-300%
200.
torque
2. This restriction is valid at any time.
limit
3. If the set value exceeds the maximum
overload capacity allowed by the system, the
actual torque is limited to the maximum
overload capacity allowed by the system.
1. The setting value is the percentage of the
rated torque, for example, if it is set to 2
Internal times of the rated torque, then the setting
35 -300-0% -300
CW value is -200.
torque
2. This restriction is valid at any time.
limit
3. If the set value exceeds the maximum
overload capacity allowed by the system, the
actual torque is limited to the maximum
overload capacity allowed by the system.

1. The setting value is a percentage of the

rated torque, e.g., if the setting is 1 times the
External rated torque, the setting value is 100.
36 CCW 0-300% 100
2. The limit is effective only when the CCW
torque torque limit input terminal (CCWL) is ON.
limit 3. When the limit is in effect, the actual
torque limit is the minimum of the maximum

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description
allowable overload capacity of the system,
the internal CCW torque limit, and the
external CCW torque limit.

Set the external torque limit value for the

servomotor in the CW direction.
1. The setting value is a percentage of the
External rated torque, e.g., if the setting is 1 times the
37 CW torque rated torque, the setting value is -100. -300-0% -100
limit 2. This limit is effective only when the CW
torque limit input terminal (CWL) is turned
ON.
3. When the limit is active, the actual torque
limit is the absolute minimum of the
maximum allowable overload capacity of the
system, the internal CW torque limit, and the
external CW torque limit.

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

Parameter Factory
No. Name Function
range default
Temperatur
38 e alarm Set the driver temperature to the upper 200-1350
value limit alarm value.
Simulation
torque -2000-
39 Zero bias compensation input of simulation 0
instructions torque input. 2000
zero bias
compensati
on
The setting value means the acceleration
Accelerati time of the motor from 0-1000R/min.
40 1-10000ms 100
on time 1. Steady deceleration characteristics are
constant linear.
2. Only used for speed control and
internal position control methods, other
control methods are invalid.
The setting value indicates the deceleration
Decelerati time of the motor from 1000-0R/min.
41 1-10000ms 100
on time 1. Steady deceleration characteristics are
constant linear.
2. Only used for speed control and
internal position control methods, other
control methods are invalid.
S -type plus
42 deceleratio Make the motor stable and stop, and set 0-1000ms 0
n time the S -shaped increase of speed -up curve.
constant

Input gain
Set the proportional relationship 10-3000
43 of 300
between the analog speed input voltage r/min/v
simulation
and the actual operation speed of the
speed
motor.
instructio
ns

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

The polar reverse of the analog speed input.

Simulation 1. When the setting is 0, the analog speed

44 speed instructions are positive, and the speed 0-1 0
instruction direction is CCW.
direction is 2. When setting to 1, the simulation speed
reversed instruction is positive, and the speed
direction is CW.

Simulatio
-5000-
45 n speed 0
Zero bias compensation input of analog 5000
instructio
speed.
n zero
bias
compensa
tion

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

Parameter Factory
No. Name Function
range default
Simulation 1. Low -pass filter input for analog speed
speed input.
1-1000
46 instruction 2. The larger the setting, the faster the 300
filter response speed of the speed input Hz
simulation, the greater the impact of the
signal noise, the smaller the setting, the
slower the response speed, and the smaller
the signal noise impact.
Mechanical 1. Define the delay time of the motor
brake operation from mechanical brake
action 0-200×
47 movement (output BRK from on to OFF) to 0
settings
when the cut off the motor current. 10ms
motor 2. This parameter should not be less than
stops
the delay time (TB) of mechanical braking
to avoid the small displacement or work fall
of the motor.
1. Define the delay time of cutting from
motor stops from motor current to
Mechanical
mechanical braking action (output BRK from
brake
on to off). 0-200×
48 action 50
settings 2. This parameter is to reduce the motor 10ms
when from a high -speed rotation state to a low
running speed, and then move the mechanical brake
motor to avoid damaging the brake.
operation 3. The actual action time is the time required
for the PA48 or motor to slow down to the
PA49 value, take the minimum value.
Mechanical 1.Define the speed value value of the
brake
motor operation from the motor current to 0-3000
49 action 100
speed the mechanical brake movement (output r/min
when terminal BRK from OFF).
motor 2. The actual action time is the time required
operation for PA48 or motor to slow down to the PA49
value, take the minimum value of the two.

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description
Torque
control 1. When the torque control is controlled, the 0-5000
50 3000
time speed motor is limited to the number of r/min
limit parameters.

2. It can prevent super -loading from

speeding.
Set as :
Servis
53 0: The enable signal is controlled by SON 0-1 0
forced
entered by DI;
enable 1: Software forced to enable.
enable
Servo can
be delayed
Define the time when the servo enable
54 to close the 0-30000ms 0
signal is closed, delay the time of cutting
time
the motor current.

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

Parameter Factory
No. Name Function
range default
1. Set the input terminal to reverse. Do
not take the opposite terminal, which is
valid when the switch is turned off, and
the switch is invalid when the switch is cut
Entry off.
55 terminal 2. Use 4 binary numbers to indicate that 0000-1111 0000
valid level the output terminal that 0 indicates that
control the output terminal does not reverse, and
word 1 indicates that the output terminal
represents the reverse. The input terminals
of binary numbers are as follows:

3 2 1 0
DI4 DI3 DI2 DI1
0: High level is effective;
1: Low level is effective.
1. Set out the output terminal to take the
opposite. Take the opposite terminal.
2. Represented by 4 binary numbers, the
output terminal that is 0 is not reversed,
Effective
and the output terminal of 1 represents is
57 level 0000-1111 0000
reversed.
control
word The input terminals of binary numbers are
as follows:
output
terminal 3 2 1 0
DO4 DO3 DO2 DO1
0: High level is effective;
1: Low level is effective.
1. Delide the filtering time for the input
IO input terminal.
58 terminal 1-20ms 2
2. The smaller the value, the faster the
to shake
terminal input response.
time
3. The larger the value, the better the
constant
interference performance of the terminal

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description
input, but the response becomes slower.

Instruction Set as :
59 pulse 0: The pulse rising edge is valid; 0-1 0
effective 1: The pulse decrease is valid.
edge
0: Soft retirement is invalid;
60 Soft reset 0-1 0
1: The soft residence is effective, and the
system will restart.
Set as :
System
61 0: The system alarm is invalid; 0-1 0
alarm
1: The system alarm is effective.
clearance

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

Parameter Factory
No. Name Function
range default
4: Single-turn absolute encoder; Determine
62 Coder selection 4-5
5: Multi-turn absolute encoder. by motor

1. Set the load inertia ratio for the

rotational inertia of the
63 Load inertia 1-500 100
corresponding motor.
ratio
2. The set value is:
=(( load inertia + rotational
inertia)/ rotational inertia) ×
100.
In the torque control mode (PA4=2),
64 Internal -300-300 0
torque 1 internal torque 1 is selected as the
torque command when TRQ1 OFF
TRQ2 OFF.
In the torque control mode (PA4
65 Internal -300-300 0
torque 2 =2), when TRQ1 ON TRQ2 OFF,
internal torque 2 is selected as the
torque command.
In the torque control mode (PA4=2),
66 Internal -300-300 0
torque 3 internal torque 3 is selected as the
torque command when TRQ1 OFF
TRQ2 ON.
In the torque control mode (PA4
67 Internal -300-300 0
torque 4 =2), when TRQ1 ON TRQ2 ON,
internal torque 3 is selected as the
torque command.
Modbus from
71 the machine Modbus communication from the 1-254 1
address address value of the machine.
MODBUS 48-1152
72 Modbus communication Potter rate. 96
communicati × 100
on baud rate

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

Set to: 0: 8, N, 2
(Modbus, RTU);
1: 8, E, 1 (MODBUS, RTU);
2: 8, O, 1 (MODBUS, RTU);
3: 8, N, 1 (MODBUS, RTU).
Modbus
73 This parameter determines the 0-3 0
communic
communication protocol. Number 8
ation
indicates the data bits transmitted 8
protocol bits; English letters N, E, O represents
selection the strangeness:
N: Indicates that this bit is not used;
E: Represents 1 occasion;
O: Represents 1 odd position.
Numbers 1 or 2 indicates that the
communication bit is 1 or 2.

When a communication signal is

74 Communication wrong, select: 0-1 0
error disposal
0: Continue to operate;
1: Alarm and stop operation.

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

1. When the motor speed is lower than

this parameter, the ZSP (zero -speed) 0-1000
75 Zero -speed 10
detection point ON of digital output DO, otherwise off. r/min
2. When the digital input DI's ZCLAMP
On on DI, the speed command value is
lower than this value, and the speed
instruction value is forced to zero.
Set the value When the difference between the actual
76 consistently speed and the instruction is less than 0-1000 10
this settings, the UCO2N (speed r/min
consistent) on the digital output DO,
otherwise OFF will be OFF.
Position
77 instruction See parameter PA12 for details. 0-32767 0
pulse
electronic
gear ratio
ratio second
molecules
Location
78 instruction See parameter PA12 for details. 0-32767 0
pulse
electronic
gear ratio
ratio third
molecules
Location
79 instruction See parameter PA12 for details. 0-32767 0
pulse
electronic
gear ratio
ratio fourth
element
Set as :
Instruction
80 0: High level positive direction; 0-1 0
direction
1: Low -level direction.
signal valid

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description
level

1. Enter Puls signal digital filtering on

the pulse. The larger the value, the
larger the filter time constant.

Instruction pulse 2. The maximum pulse input frequency

81 PULS signal filter of 500kHz (KPPS) when the default 0-15 4
value is, the larger the maximum pulse
input frequency of the value will be
reduced accordingly.
3. Used to filter the noise on the signal
line to avoid counting errors. If there is
an inaccurate phenomenon that is not
allowed, the parameter value can be
appropriately increased.
4. After the parameters are modified, it
must be saved, and re -call is effective.
1. Enter the SIGN signal digital filtering
to the pulse. The larger the value, the
Instruction greater the filter time constant.
82 0-15 4
pulse SIGN
2. The maximum pulse input frequency
signal filter
when the default value
500kHz (KPPS), the larger the maximum
pulse input frequency, the larger the
value will be reduced accordingly.

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

3. Used to filter the noise on the signal

line to avoid counting errors. If there is
an inaccurate phenomenon that is not
allowed, the parameter value can be
appropriately increased.
4. After the parameters are modified, it
must be stored, and the power is re -
called to be effective。
CWL, CCWL 1. When the mechanical limit is
direction is encountered by the mechanical limit
prohibited switch, when the CWL and CCWL limit
83 0-1 0
are triggered, the parameter is used to
select the prohibited method.
Parameter significance:
0: Restricting the torque of this
direction to 0;
1: Pulse input in this direction.
1. Set the position control to complete
the pulse range.
84 Positioning 2. When the number of remaining pulses 0-32767 65
completion in the position deviation counter is less pulse
than or or equal to the setting value of
this parameter, the COIN (positioning) on
the digital output DO, otherwise OFF will
be OFF.
3. The comparator has a differential
function, which is set by parameter PA85.
1. Set the position control of the
positioning near the pulse range.
2. When the number of remaining pulses
in the position deviation counter is less
85 Positioning than or equal to the setting value of this 0-32767 6500
proximity parameter, the number of NEAR pulse
range (positioning) on the digital output DO,
otherwise OFF will be OFF.
3. The comparator has a backless
function, which is set by parameter PA86.
4. When the position is about to be
completed, the upper machine accepts
the Near signal to prepare the next step.
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 AS100 Servo User Manual
Chapter 7 Parameter Function Description
The general parameter value is greater
than the scope of the positioning.

0-32767
86 Positioning Refer to the description of parameter 650
proximity PA85. pulse
tolerance
1. When the motor speed exceeds this
parameter, the ASP (speed reaches) on
the digital output DO, otherwise OFF will
be OFF.
87 Reach speed 0-5000 30
2. The comparator has a backless
return r/min
function.
3. Have the function of polar settings:

PA88 PA28 Comparators

0 >0 velocity regardless
of direction
>0 Only detect the
1 positive rotation
speed
<0 Only detect the
reverse speed
88 Reach velocity Refer to the description of parameter 0-1 0
polarity PA87.

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

1. When the motor torque exceeds this

parameter, ATRQ (Arrival of torque) of
the digital output DO is ON, otherwise
OFF.
-300%-
89 Arrival 2. The comparator has a differential 100
torque 300%
function, which is set by parameter
PA90.
3. Polarity setting function:

PA91 PA89 Comparator

0 >0 Torque independent
of direction
>0 Forward torque only
1
<0 Reverse torque only
1. When the motor torque exceeds this
parameter, ATRQ (Arrival of torque) of
the digital output DO is ON, otherwise
OFF.
90 Arrival 2. The comparator has a differential 0-300% 5
torque return function, which is set by parameter
PA90.
3. Polarity setting function:

PA91 PA89 Comparator

0 >0 Torque independent
of direction
>0 Forward torque only
1
<0 Reverse torque only
1. When the motor torque exceeds this
parameter, ATRQ (Arrival of torque) of
the digital output DO is ON, otherwise
OFF.
91 Arrival 2. The comparator has a differential 0-1 0
torque function, which is set by parameter
polarity
PA90.
3. Polarity setting function:

PA91 PA89 Comparator

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description
0 >0 Torque independent
of direction
>0 Forward torque only
1
<0 Reverse torque only

1. When the motor speed is lower than

92 Zero Speed this parameter, the ZSP (zero speed) ON 0-1000 5
Detection of digital output DO, otherwise off. r/min
Return 2. The comparator has a backless function.
1. Set the delay time for the
electromagnetic brake to turn on.
Delay time for 0-200
94 2. Define the delay time from motor 0
opening the ms
current turn-on to electromagnetic
electromagnet
brake release (DO output terminal BRK
ic brake
ON) when the system goes from the
disable state to the enable state.

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Chapter 7 Parameter Function Description

Code device resolution, 17th side of the

Motor
95 default believement 2 = 131072, setting 10-32 17
encoder
value is 17, please modify it carefully,
resolution
otherwise the error setting will cause the
speed.

This parameter represents the electrical

96 Electric pole pair 1-360 5
pole pair. Please modify it with caution,
otherwise the error setting will lead to a
speed.
Zero bias angle
The zero -position bias angle of the
97 of the motor 0-3600 216
encoder and the motor is determined
by the motor.

The maximum
99 The maximum occupy ratio settings 5-90 50
occupation during braking.
ratio during
braking
Position ring Set to :
filter selection
100 0: Digital moving average filter; 0-1 0
1: Exponential smoothing filter.
Position loop
The feedforward reduces the position
feed-forward
101 tracking error during position control. 0-100 0
gain
When set to 100, the position tracking
error is always 0 for any frequency of
command pulse.
Position loop The position loop feed-forward quantity
102 feed-forward is filtered to increase the stability of the 20-500 100
filtering time feed-forward control quantity.
constant

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

7.2 P3 Multifunction Terminal Series Parameters

7.2.1 P3 Group Series Parameter List
All P series drivers have 4 input terminals and 4 output terminals, and the input and
output definition values of the terminals can be changed through the P3 group series
parameter to complete various input and output definitions. (Input terminals are
active low by default)
Parameter Name Range Factory
default
P3-0 Digital input DI1 function 0-99 1

P3-1 Digital input DI2 function 0-99 2

P3-2 Digital input DI3 function 0-99 3

P3-3 Digital input DI4 function 0-99 4

P3-4 Digital input DI5 function 0-99 0

P3-5 Digital input DI6 function 0-99 0

P3-13 Set the low 16 -bit of the current -32768 - 32767 0

position value coordinates
P3-14 Set the high 16 -bit of the -32768 - 32767 0
current position value
coordinates
P3-15 Digital input di forced and 00000000-11111111 00000000
effective 1
P3-16 Digital input di forced and 00000000-11111111 00000000
effective 2
P3-17 Digital input DI forced and 00000000-11111111 00000000
effective 3
P3-18 Digital input di forced and 00000000-11111111 00000000
effective 4
P3-19 Digital input di forced and 00000000-11111111 00000000
effective 5
P3-20 Digital output DO1 function 0-99 18

P3-21 Digital output DO2 function 0-99 3

P3-22 Digital output DO3 function 0-99 5

P3-23 Digital output DO4 function 0-99 8

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

P3-30 Virtual input terminal control 0-2 0

P3-31 Virtual input terminal state value 00000000-11111111 00000000

P3-32 Virtual output terminal control 0-1 0

P3-33 Virtual output terminal state 0000-1111 0000

value

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

P3-38 Virtual IO input DI1 function 0-99 0

P3-39 Virtual IO input DI2 function 0-99 0

P3-40 Virtual IO input DI3 function 0-99 0

P3-41 Virtual IO input DI4 function 0-99 0

P3-42 Virtual IO input DI5 function 0-99 0

P3-43 Virtual IO input DI6 function 0-99 0

P3-44 Virtual IO input DI7 function 0-99 0

P3-45 Virtual IO input DI8 function 0-99 0

Notice:
1. P3-30 = 0, IO input is determined by DI1 ~ DI4 to determine 4 IO numbers,
corresponding parameters P3-0 ~ P3-3;
2. P3-30 = 1, IO input is determined by the virtual IOP3-31 to determine the
number of IO, and the corresponding parameter P3-38 ~ P3-45;
3.P3-30 = 2, IO input is determined by DI1 ~ DI4 and P3-31, and the number of
IO is 12, and the corresponding parameters P3-0 ~ P3-3 and P3-38 ~ P3-45.

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Chapter 7 Parameter Function Description

7.2.2 DI Function List

Input terminals (4 terminals correspond to P3 group parameters P3-0, P3-1, P3-2, P3-
3 respectively) Defined values.
Definition Symbol Function Functional analysis

0 NULL No function The input state has no effect on the system.

The servo enables to enter the terminal.

1 SON Servo Enable OFF: The servo drive cannot be used, the motor
does not connect the current;
ON: servo drive enable, motor current.
Clear input terminal:

2 ARST Alarm Clear There is an alarm that if the alarm allows the
removal, the input rising edge (OFF changes to
the moment) to remove the alarm.
Note: Only some alarms are allowed to be
cleared.
1. CCW driver forbidden input terminal:
OFF: Forbidden positive transfer (CCW) rotation;
ON: Allow positive rotation (CCW) rotation.
2. Used for mechanical limit itinerary protection,
functional parameters PA-20 control. Note that
the default value of PA-20 is ignored. If you need
to enable this function, you need to modify the
3 CCWL PA-20:
Forward drive
(1) When the PA-20 is 0, the function of entering
disable
the prohibited function is valid. Whether the CCW
is prohibited by PA-83 is controlled;
(2) When the PA-20 is 1, the input of the
prohibited function is invalid. Whether the CCW is
prohibited is not controlled by the PA-83.
3. When the prohibited function is valid (PA-20 is
0):
(1) When the PA-83 is 0, the positive torque is
limited to 0, and the positive pulse input is not
limited;
(2) When the PA-83 is 1, the input of the forward
pulse is prohibited.

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description
1. CW driver forbidden input terminal:
OFF: Forbidden positive transfer (CW) rotation;
ON: Allow positive rotation (CW) rotation.
4 CWL Reverse drive
2. Used for mechanical limit itinerary protection,
disabled
functional parameters PA-20 control. Note that
the default value of PA-20 is to ignore this
function. If you need to enable this function, you
need to modify the PA-20:
(1) When the PA-20 is 0, the input of the
prohibited function is valid. Whether the CW is
prohibited by the PA-83 is controlled;

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

(2) When the PA-20 is 1, the input of the prohibited

function is invalid. Whether the CW is prohibited is not
controlled by the PA-83.
3. When the prohibited function is valid (PA-20 is 0):
(1) When the PA-83 is 0, the reverse torque is limited
to 0, and the reverse pulse input is not limited;
(2) When the PA-83 is 1, the input of the reverse pulse is
prohibited.
OFF : CCW direction torque is not limited
by PA-36 parameters;
5 TCCW Forward Torque
ON: CCW directional torque is limited by
Limit
parameter PA-36.
NOTE: CCW directional torque is limited by
parameter PA-34 regardless of whether
TCCW is active or inactive.
OFF : CW direction torque is not limited by
PA-37 parameters;
6 TCW Reverse Torque
ON: CW direction torque is limited by
Limit
parameter PA-37.
Note: Whether TCW is active or inactive,
CW direction torque is still limited by
parameter PA-35.
The current conditions are met, the zero -
speed clamp function is opened (the speed
is forced to zero): Condition 1: Speed
7 ZCLAMP Zero -speed control mode (PA4 = 1), when selecting
clamp
external speed (PA22 = 0);
Condition 2: ZCLAMP on;
Condition 3: The speed instruction is lower
than the parameter PA-75.
When the above -mentioned conditions
are not met, the normal speed control is
performed.

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description
Under the control of speed or torque, the
8 CZERO Zero instruction speed or torque instructions are:
OFF: Normal instructions;
ON: Zero instructions.
Under the control of speed or torque, the
9 CINV command speed or torque instructions are:
inversion OFF: Normal instructions;
ON: The instructions are reversed.
10 SP1 Speed selection Under the speed control mode (PA4 = 1),
1 when selecting internal speed (PA22 = 1),
SP1 and SP2 combination to select
different internal speeds:
11 SP2 Speed selection SP2 = OFF SP1 = OF: Internal Speed 1
2 (Parameter PA-24)
SP2 = OFF SP1 = ON: Internal Speed 2
(Parameter PA-25) SP2 = ON SP1 = OFF:
Internal Speed 3 (Parameter PA-26)
SP2 = on SP1 = ON: Internal speed 4
(Parameter PA-27)

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

13 TRQ1 Torque selection In torque control mode (PA4=2 ), when

1 internal torque is selected (PA32=1), the
combination of TRQ1 and TRQ2 selects a
different internal torque: TRQ2=OFF
14 TRQ2 Torque selection TRQ1=OFF: internal torque 1 (parameter
2 PA-64) TRQ2=OFF TRQ1=ON: internal
torque 2 (parameter PA-65) TRQ2=ON
TRQ1=OFF: internal torque 3 (parameter
PA-66) TRQ2=ON TRQ1=ON: internal
torque 4 (parameter PA-67)
When the PA-4 is set to 3, 4, 5, it is in a
hybrid control mode, and the control mode
can be switched through this input
Composite terminal:
16 CMODE mode control (1) When PA-4 is 3, CMODE OFF is the
mode setting position mode; CMODE on is the speed
mode;
(2) PA-4 is 4, CMODE OFF, as a position
mode; CMODE on is the torque mode;
(3) PA-4 is 5, CMODE OFF is the speed
mode; CMODE on is a torque mode.
18 GEAR1 Electronic gear When the PA-11 is 0, the molecule of the
selection 1 Gear1 and Gear2 combination to select
different electronic gear ratios:
Gear2 = OFF GEAR1 = OFF: Molecular 1
19 GEAR2 Electronic gear (Parameter PA-12) Gear2 = OFF GEAR1 =
selection 2 ON: Molecular 2 (Parameter PA-77) Gear2
= On Gear1 = OFF: Molecular 3 (Parameter
PA-78) Gear2 = On Gear1 = ON: Molecular
4 (Parameter PA-79))

20 CLR Position In the position control mode, the position

deviation deviation counter clear the zero input
removal terminal.
In the position control mode, the position
21 INH Pulse Input instruction pulse prohibits the terminal:
Inhibit
Off: The instruction pulse input is valid;
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 AS100 Servo User Manual
Chapter 7 Parameter Function Description
ON: Instruction pulse input prohibition.

In the speed mode, at PA22 = 5, this signal

22 JOGP Positive inch is connected, the motor is inch in the
direction of the motor, and the speed is
set by PA21.
Note: This signal is connected at the same
time as the reverse inch movement, and the
inch -motion function is invalid.
In the speed mode, and PA22 = 5; this
23 JOGN Reverse inch signal is connected, the motor is inch inch,
and the speed is set by PA21.
Note: This signal is connected at the same
time as the positive inch movement, and the
inch -motion function is invalid.
Internal position
When the internal position register mode
27 HOLD control
is connected, the motor will stop running
command stop
(can only be used in the internal position
mode PA-14 = 3).

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

When the internal position register mode, after

Internal position selecting the internal position register to control
28 CTRG command trigger
the command (POS0-2), the signal is triggered,
and the motor runs according to the internal
position register command. When the digital
output zero -speed signal (ZSPD = 1), the next
trigger internal position command is accepted.
Select the corresponding relationship internal
position:
Correspo
Internal position Positi
POS2 POS1 POS0 CTRG nding
29 POS0 command on paramet
selection 0 com er
mand
P4-2
P1 0 0 0 ↑
P4-3
P4-5
P2 0 0 1 ↑
P4-6
P4-8
P3 0 1 0 ↑
Internal position P4-9
30 POS1 command
selection 1 P4-11
P4 0 1 1 ↑
P4-12
P4-14
P5 1 0 0 ↑
P4-15

P4-17
P6 1 0 1 ↑
P4-18
Internal position
31 POS2 command P4-20
P7 1 1 0 ↑
selection 2 P4-21
P4-23
P8 1 1 1 ↑
P4-24
In the internal position register mode, you need to
33 SHOM Start the original
point to return search for the original point. After this signal is
connected, the search origin function is activated

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description
(please refer to the setting of P4-34).

In the internal position register mode, when

34 ORGP The origin of the searching for the original point, the servo takes the
return position of this point as the original point after the
signal is connected (please refer to the setting of
the parameter P4-32).

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

7.2.3 DO Function List

Defined values for the output terminals (4 terminals corresponding to P3 group
parameters P3-20, P3-21, P3-22, P3-23):
Definition Symbol Function Functional analysis

1 ON Always active Forced output ON.

OFF : Servo main power is not connected or

2 RDY Servo Ready
there is an alarm;
ON : Servo main power is normal, no alarm.
OFF : Alarm;
3 ALM Alarm
ON : No alarm.
For speed and torque control
4 ZSP zero speed OFF : Motor speed is higher than parameter
PA-75 (regardless of direction);
ON: Motor speed is lower than parameter
PA-75 (regardless of direction).
For position control
5 COIN Position OFF : Position deviation is greater than
complete parameter PA-16;
ON: Position deviation less than parameter
PA-16.
For speed and torque control

6 ASP Speed arrival OFF : Motor speed is lower than parameter

PA-28;
ON: Motor speed is higher than parameter PA-
28.
There is a polarity setting function, refer to the
description of parameter PA-28.
Off: The motor torque is lower than the
7 ATRQ Torque arrival parameter PA-89;
ON: The motor torque is higher than the
parameter PA-89.
With polar settings, reference parameter PA-89
description.
OFF: Electromagnetic brake brake;
8 BRK Electromagnetic
brake ON: Electromagnetic brake release.

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

OFF: The servo motor is not running for

9 RUN Servo in
power;
operation
ON: Servo motor is running in power.
During position control,
10 NEAR Proximity of Off: Location deviation is greater than
positioning parameter PA-85;
ON: Location deviation small residue
parameter PA-85.
OFF: The torque of the motor does not reach
the limit value;
11 TRQL Torque
ON: The torque of the motor reaches the limit
restriction
value.
Torque restrictions through parameters PA-34,
PA-35, PA-36, PA-37.

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

During the torque control,

OFF: The speed of the motor does not reach
12 SPL Speed limit in
the limit;
progress
ON: The speed of the motor reaches the limit
value.
The speed limit method is set through
parameter PA-50.
Off: The absolute value of the actual speed and
13 VCOIN Speed
instruction speed is greater than PA76;
consistency
ON: The absolute value of the actual speed and
instruction speed is less than PA76.
OFF: When the original point returns, the signal
15 HOME The original
is not output;
point returns
to complete ON: When the original point returns, the signal
output.
OFF: When the internal position command is
not completed or the internal position
16 CMDOK command is not stopped, the signal is not
Internal
position output;
commands
completion ON: When the internal position command is
completed or the internal position command
stops, the signal is output after the P4-1
setting time.
OFF: When the z signal is invalid, do not output
18 ZOUT Z signal output
the signal;
ON: When the z signal is valid, the signal
output.

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

7.2.4 DI Mandatory Effective

There are five parameters in the P3 group parameters (P3-15, P3-16, P3-17, P3-18,
P3-19) can set digital input DI forced and effective.
(1) The corresponding function of P3-15 is expressed by 8 binary:
Digit Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

Functi CZERO ZCLAMP TCW TCCW CWL CCWL ARST SON

on

(2) The corresponding function of P3-16 is expressed by 8 binary:

Digit Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

Functi CMODE NULL TRQ2 TRQ1 NULL SP2 SP1 CINV

on

(3) The corresponding function of P3-17 is expressed by 8 binary:

Digit Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

Functi NULL JOGN JOGP INH CLR GEAR2 GEAR1 NULL

on
-
(4) The corresponding function of P3-18 is expressed by 8 binary:

Digit Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

Functi NULL POS2 POS1 POS0 CTRG HOLD NULL NULL

( )
on

(5) The corresponding function of P3-19 is expressed by 8 binary:

Digit Bit5 Bit4

Bit7 Bit6 Bit3 Bit2 Bit1 Bit0

Functi NULL NULL NULL NULL NULL NULL ORGP SHOM

on
Parameter significance:
Any one of the 5 Corresponding function Functional result
parameters
Unplanned Off (invalid)
0
Planned Determine by the signal
1 Unplanned or planned ON (forced and effective)

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

 Planning means that the number of references has been selected by the
input terminals in P3-0 ~ P3-3, but the opposite is not planned.

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Chapter 7 Parameter Function Description

7.3 P4 Group Internal Position Command Series Parameters

Parameter
Function Factory
No. Name range
default
Internal 0: Absolute position instruction;
P4-0 0-1 0
location 1: Increased position instruction.
instruction
control
mode
Internal 1. When the internal position command is
position completed or the internal position
command
completes command stops, after the delay time set by
digital the P4-1, the internal position of the
output 0-200
P4-1 internal position command is completed 0
delay ms
(CMDOK) this DO signal.
2. When the P4-1 delay time is set to 0,
when the DO signal zero-speed detection
(ZSPD) is set to 1, the internal position
command of the trigger signal is accepted
again.
3. When the P4-1 delay time is not 0, it is
set to 1 when the position command of
the inner part of the DO signal is
completed (CMDOK), and the internal
position command triggered by the DI
signal command to trigger (CTRG) is
accepted.

Position of
-30000-
P4-2 internal Set the number of positions in the internal 0
position position of the first section. 30000
command 1
Setting of
number of
turns

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

1. Set the number of pulse pulse in the

Setting of the position 1.
number of 2. Internal location instructions 1 = Setting +/-max
P4-3 pulses in the 0
value of the number of internal positions in
position circle .cnt/rev
the first section
for internal
+The number of pulse number setting
position
command 1 in the first section 1. (Max is a set of
motor to turn a circle of pulse, please
refer to the settings of PA-11 PA-12
PA-13).

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

Internal
position
P4-4 command Sets the travel speed of internal position 0-5000 1000
control 1 command control 1. r/min
travel speed
setting

Position
-30000-
P4-5 of internal Sets the number of position turns for the 0
position second internal position. 30000
command
2 Setting
of number
of turns
Internal
Position 1. Set the number of position pulses for the
Command 2 2nd internal position. +/-max
P4-6 0
Pulses in the .cnt/rev
2. Internal position command 2 = Setting
Position
Circle value for the number of turns of the 2nd
Number of segment internal position + Setting value for
pulses in the number of pulses of the 2nd segment
circle internal position.
Internal
position
P4-7 command Sets the travel speed of internal position 0-5000 1000
control 2 command control 2. r/min
travel speed
setting

Position of
-30000-
P4-8 internal Sets the number of position turns for the 3rd 0
position internal position. 30000
command 3
Setting of
number of
turns

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description
Internal
Position 1. Set the number of position pulses for the
Command 3 3rd internal position. +/-max
P4-9 0
Pulses in the .cnt/rev
2. Internal position command 3 = Setting
Position
Circle value for the number of turns of the 3rd
Number of segment internal position + Setting value for
pulses in the number of pulses of the 3rd segment
circle internal position.
Internal
position
P4-10 command Set the internal position command to control 0-5000 1000
control 3 the travel speed of 3. r/min
travel speed
setting

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

Position
-30000-
P4-11 of internal Sets the number of position turns for the 4th 0
position internal position. 30000
command
4 Setting
of number
of turns
Internal
Position 1. Set the number of position pulses for the
+/-max
P4-12 Command 4 4th internal position. 0
Pulses in the .cnt/rev
2. Internal position command 4 = Setting
Position
Circle value for the number of turns of the 4th
Number of segment internal position + Setting value for
pulses in the number of pulses of the 4th segment
circle internal position.
Internal
position
P4-13 command Setting the internal position command 0-5000 1000
control 4 controls the travel speed of 4. r/min
travel speed
setting

Position
-30000-
P4-14 of internal Sets the number of position turns for the 5th 0
position internal position. 30000
command
5 Setting
of number
of turns
Internal
Position 1. Set the number of position pulses for the
+/-max
P4-15 Command 5 5th internal position. 0
Pulses in the .cnt/rev
2. Internal position command 5 = Setting
Position
Circle value for the number of turns of the 5th
Number of internal position + Setting value for the
pulses in number of pulses of the 5th internal position.
circle

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description
Internal
position
P4-16 command Setting the internal position command 0-5000 1000
control 5 controls the travel speed of 5. r/min
travel speed
setting

Position
-30000-
P4-17 of internal Sets the number of position turns for the 6th 0
position internal position. 30000
command
6 Setting
of number
of turns

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

Internal
Position 1. Set the number of position pulses for the
+/-max
P4-18 Command 6 6th internal position. 0
Pulses in the .cnt/rev
2. Internal position command 6 = Setting
Position
Circle value for the number of turns of the 6th
Number of internal position + Setting value for the
pulses in number of pulses of the 6th internal
circle position.
Internal
position
P4-19 command Setting the internal position command 0-5000 1000
control 6 controls the travel speed of 6. r/min
travel speed
setting

Position
-30000-
P4-20 of internal Sets the number of position turns for the 7th 0
position internal position. 30000
command
7 Setting
of number
of turns
Internal
Position 1. Set the number of position pulses for the
+/-max
P4-21 Command 7 7th internal position. 0
Pulses in the .cnt/rev
2. Internal position command 7 = Setting
Position
Circle value for the number of turns of the 7th
Number of internal position + Setting value for the
pulses in number of pulses of the 7th internal
circle position.
Internal
position
P4-22 command Setting the internal position command 0-5000 1000
control 7 controls the travel speed of 7. r/min
travel speed
setting

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

Position
-30000-
P4-23 of internal Sets the number of position turns for the 8th 0
position internal position. 30000
command
8 Setting
of number
of turns
Internal
Position 1. Set the number of position pulses for the
+/-max
P4-24 Command 8 8th internal position. 0
Pulses in the .cnt/rev
2. Internal position command 8 = Setting
Position
Circle value for the number of turns of the 8th
Number of internal position + Setting value for the
pulses in number of pulses of the 8th internal
circle position.

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

Internal
position
P4-25 command Setting the internal position command 0-5000 1000
control 8 controls the travel speed of 8. r/min
travel speed
setting
0: Return to the origin in forward direction,
CCWL is the return origin;
Home
1: reversal direction origin regression, CWL is
P4-32 detector the regression origin; 0-5 0
types and
2: return to the origin in the forward direction,
finding
ORGP is the return origin;
direction
3: reverse direction origin return, ORGP as the
settings
return origin;
4: Forward rotation directly looking for the
absolute position of the zero point of a single
turn as the return to the origin;
5: Reverse rotation directly looking for the
absolute position of the zero point of a single
circle for the return to the origin.
0: After finding the reference home
position, go back and search for the zero
Setting of point of the absolute position of the
P4-33 the short single-turn as the mechanical home 0-2 0
distance position;
travel 1: After finding the reference home
method position, do not return and go forward to
to the find the absolute position zero point of
home one-turn as the mechanical home position;
position
2: After finding the reference home
position (ORGP rising edge or single-turn
absolute position zero point) as the
mechanical home position, decelerate and
stop.

0: The home return function is turned off;

Home 1: The home return function is automatically
P4-34 0-2 0
trigger executed when the power is turned on;
activation 2: The home return function is triggered by
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 AS100 Servo User Manual
Chapter 7 Parameter Function Description
mode the home search function (SHOM) input
contact.

0: After the home position detection is

Home completed, the motor decelerates and
P4-35 0-1 0
stop mode pulls back to the home position;
setting
1：After the completion of home detection,
the motor decelerates and stops in the
forward direction.
Set the first high speed home return speed.

First high
speed home
P4-36 return speed 1-2000 1000
setting r/min
(HSPD1)

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 AS100 Servo User Manual
Chapter 7 Parameter Function Description

Second low
speed home
Set the second low home return speed. 1-500
P4-37 return speed 50
r/min
setting
(HSPD2)
Number of
-30000-
P4-38 home return Set the number of home return offset turns. 0
offsets 30000
（HOF1）

Number of 1. Set the number of home return offset

pulses.
home
2. Parameter Function When HOF1 and HOF2
return are set to zero, the home position will be +/-max
P4-39 0
offset defined as one-turn absolute position zero or .cnt/rev
pulses ORGP according to the definition of the
home return mode; if the setting value is not
（HOF2） zero, the home position will be defined as
one-turn absolute position zero or ORGP
according to the above mentioned one-turn
absolute position zero or ORGP plus one
pulse offset HOF1 x 10000+HOF2 as the new
home position.

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Chapter 8 Fault Codes of AS100 Servo User Manual

Chapter 8 Fault Codes

Fault
symb Fault name Fault content
ol
-- Normal
1 Overspeed Servo motor speed exceeds the set value
2 Main circuit overvoltage Main circuit power supply voltage too high
3 Main circuit Main circuit power supply voltage too low
undervoltage
4 Position overshoot Position deviation counter value exceeds the
set value
5 Drive overheat Drive temperature too high
6 Speed amplifier Speed regulation saturated for a long time
saturation fault
7 Drive inhibit CCW/CW drive inhibit inputs are OFF
abnormality
8 Position deviation Absolute value of position deviation meter
counter overflow value exceeds 230
11 IPM module fault IPM Intelligent Module failure
13 Drive overload Servo driver and motor overload (transient
overheating)
14 Brake Failure Brake circuit malfunction
18 Relay switch fault The actual state of the relay does not match
the control state.
19 Brake delay error Pulse input when the brake is not open
20 EEPROM Error EEPROM error
21 FPGA module fault FPGA module function abnormality
23 Current acquisition Fault in current acquisition circuit
circuit fault
29 User torque overload The motor load exceeds the value and duration
alarm set by the user
Read/write encoder
38 The encoder cable is not connected properly or
EEPROM the encoder interface circuit is faulty.
communication
failure

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Chapter 8 Fault Codes of AS100 Servo User Manual

39 Data CRC Checksum Motor encoder has not yet written data , are 0
Error
40 Unsupported models The drive does not support this motor model
41 Need to switch motor The current motor does not match the model
model selected by the driver.
42 AC input voltage too AC input voltage is too low
low
47 Main circuit voltage too Main circuit voltage is too high at power-on
high at power-on
50 Encoder communication Communication between the driver and
error encoder is not established.
51 Encoder communication After the encoder establishes communication,
abnormality an interruption occurs and the connection is
disconnected.

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Chapter 8 Fault Codes of AS100 Servo User Manual

52 Encoder low battery Encoder battery low voltage alarm, information

voltage alarm not lost but need to be replaced as soon as
possible.
Encoder battery voltage error alarm, stored
53 Encoder battery voltage
error alarm information has been incorrect, need to reset
the encoder
54 Encoder error alarm Encoder non-battery alarm, but need to reset
the encoder.
55 CRC Checksum Error 3 The CRC check of the data received by the
times in a row encoder communication is incorrect 3 times in
a row.
56 MODBUS frame too The received MODBUS frame is too long.
long error
57 MODBUS Communication parameters are not set
communication format correctly or the address or value is incorrect.
abnormality
58 Single-turn position The drive has stored a position offset value for
value error a single revolution that exceeds the resolution
of the encoder.
59 Encoder reported CF The encoder has continuously reported a CF
error field error and needs to be reset.

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Chapter 9 Alarm Handling Methods AS100 Servo Drive User Manual

Chapter 9 Alarm Handling Methods

Alarm Alarm name Operational

code state Reason Methods of handling

Appears 1. Control circuit board 1. Change the servo drive.

when malfunction. 2. Change the servo
control 2. Encoder failure. motor.
power is
turned on
Input command pulse Set the input command
frequency is too high. pulse correctly.
Acceleration/deceleration
Increase the
time constant is too
1 exceed the acceleration/deceleration
Appears small, making the speed
speed limit time constant.
during overshoot too large.
motor
Input electronic gear ratio Set correctly.
operation
is too large.
Encoder malfunction. Change servo motor.
The encoder cable is Change encoder cable.
defective.

1. Reset the relevant

Servo system instability, gain value.
causing overshoot。
2. If the gain cannot be
set to the proper value,
reduce the load inertia
ratio.
1. Reduce the amount of
Excessive load. load.
Appears 2. Change to a higher
when the power drive and motor.
motor is 1. Encoder zero error. 1. Replace the servo
first motor.
2. Wrong motor UVW lead.
started
2. Ask the manufacturer
3. Wrong encoder cable
to reset the encoder zero
lead.
point.

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Chapter 9 Alarm Handling Methods AS100 Servo Drive User Manual

3. Correct wiring.

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Chapter 9 Alarm Handling Methods AS100 Servo Drive User Manual

Alarm Alarm Operational

code name state Reason Methods of handling

Appears
Circuit board malfunction. Change servo drive.
when
control
power is
turned on

Appears 1. Power supply voltage is

Check power supply.
Main circuit when too high.
2 overvoltage main 2. Power supply voltage
power is waveform is abnormal.
turned on
Brake resistor wiring Rewire.
disconnected.
1. Damaged brake
Change servo drive.
transistor.
Appears 2. Damage to internal
during braking resistor.
motor 1. Decrease the start-
operation stop frequency.
2. Increase the
Insufficient brake circuit acceleration and
capacity. deceleration time
constants.
3. decrease the torque
limit value.
4.Reduce the load inertia.
5. Change to a higher
power drive and motor.
Appears 1. Faulty circuit board. Change servo drive.
when 2. Damaged power supply
main fuse.
power is
3. Soft start circuit failure.
Main circuit turned on 4. Damaged rectifier.
3 undervoltage
1. Low power supply
Check power supply.
voltage.

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Chapter 9 Alarm Handling Methods AS100 Servo Drive User Manual
2. Temporary power failure
for more than 20ms.

Appears 1. Insufficient power supply Check the power supply.

during
capacity.
motor 2. Instantaneous power
operation down.
Radiator overheating. Check the load condition.

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Chapter 9 Alarm Handling Methods AS100 Servo Drive User Manual

Alarm Alarm Operational

code name state Reason Methods of handling

Appears
Circuit board malfunction. Change the servo drive.
when control
power is
turned on
Turn on the
main power
1. Encoder zero change. 1. Readjust the encoder
and control
line, input 2. Encoder malfunction . zero point.

4 The the pulse 2. Change the servo

location is command, motor.
terrible. the motor
does not
rotate or
reverses.
Appears Setting the position Increase the range of
during overshoot detection range positional overshoot
motor is small. detection.
operation Position proportional gain Increase the gain value.
is too small.
Insufficient torque. 1. Check torque limit
values.

2. Reduce load capacity.

3. Replace drive and

motor with higher
power.
Command pulse frequency Reduce the frequency.
too high.
Encoder zero point change. Readjust the changeover
encoder zero point.
Driver 1. Reduce drive
Appears 1. Circuit board malfunction.
5 overheating temperature.
during 2. Drive temperature is too 2. Change the servo
drive high. drive.
operation

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Chapter 9 Alarm Handling Methods AS100 Servo Drive User Manual

Speed 1. Reduce the load.

amplificat ]Appears 1. the load is too heavy. 2. Replace drive and
6 ion during 2. Motor is mechanically motor with higher power.
saturation motor jammed. 3. Check load mechanical
fault. operation parts.

Drive CCW / CW drive disable

7 Check the wiring.
inhibit input terminals are

abnormalit disconnected.

1. Check load
Position
deviation 1. Motor is mechanically mechanical parts.
8
counter stuck.
2. Check command
overflow 2. Input command pulse is pulse.
abnormal.
3. Check that the motor
rotates according to the
command pulse.

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Chapter 9 Alarm Handling Methods AS100 Servo Drive User Manual

Alarm Alarm Operational

code name state Reason Methods of handling

Appears
Circuit board malfunction. Change the servo drive.
when
control
power is
turned on
IPM module 1. Low supply voltage.
11 2. Overheating. 1. Check the drive.
failure
2. Re-energize the
power.
Appears
3. Change the servo
during
drive.
motor
Short circuit between drive Check wiring.
operation
UVWs.
Poor grounding. Ground properly.
Damaged motor Replace motor.
insulation.
1. Increase line filters.
Interference.
2. Move away from
sources of
interference.
Appears
Circuit board malfunction. Change the servo drive.
when control
power is
turned on
Run over rated torque. 1. Check the load.
2. Reduce the start/stop
frequency.
13 Overload 3. Reduce torque limit.
4. Replace drive and
Appears motor with higher
during power.
motor
Holding brake not applied. Check holding brake.

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Chapter 9 Alarm Handling Methods AS100 Servo Drive User Manual
operation 1. Adjust gain.
Motor oscillates erratically. 2. Increase
acceleration/deceleration
times.
3. Reduce load inertia.

1. One phase of the UVW is Check the wiring.

disconnected.
2. The encoder is incorrectly
connected.

14 Brake Brake circuit malfunction. Change the drive.

malfunction

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Chapter 9 Alarm Handling Methods AS100 Servo Drive User Manual

Alarm Alarm Operational

code name state Reason Methods of handling

18 Relay switch The relay is damaged. Return to factory for

failure repair.
Holding brake PA94 parameter value
19 Decrease the value of
delay not open is set too large , parameter PA94.
control pulse is
coming, holding brake
is not yet open.
Chip or board is 1. Replace servo drive.
damaged.
2. After repair, the drive
20 EEPROM error
model must be reset
(refer to PA10) and the
default parameters
restored.
21 FPGA module FPGA module functions Change the drive.
fault abnormally.
Current
23 Current acquisition Change the servo drive.
acquisition circuit malfunction.
circuit failure

User torque 1. PA30, PA31 1. Modify parameters.

29
overload alarm parameters are not 2. Overhaul machinery.
reasonable.
2. Unexpected large load
occurs.
Read/write
encoder 1. Encoder wire not
38 Check wiring.
EEPROM connected properly
communication 2. Faulty encoder
Failure interface circuit
Data CRC No data has been Write the motor
39
Checksum written to the motor parameters for the
Error encoder, all are 0. corresponding model
to the encoder.
40 Unsupported The drive does not Use the matching
models support this motor motor.
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Chapter 9 Alarm Handling Methods AS100 Servo Drive User Manual
model.

Motor model The current motor

41 Manually switch the
switching is does not match the model number to the
required. model selected by current model.
the drive.

AC input voltage When 1. Normal.

42 Check AC220V input.
too low running at 2. External AC voltage
power input too low.
down

High main 1. External AC voltage 1. Check AC220V

47
circuit voltage input too high. input.
at power-up
2. Main circuit 2. Change the drive.
malfunction.

Encoder The driver has not

50 Connect the encoder
communication established wires and reapply power.
communication with
error
the encoder.

Encoder After the encoder

51 Connect the encoder
communication communication is wires and reapply power.
established, there is an
abnormality
interruption and the
connection is
disconnected.

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 Chapter 9 Alarm Handling Methods AS100 Servo Drive User Manual

Alarm Alarm Opera

code name tional Reason Methods of
state handling
Encoder low Encoder battery low
52 Replace the encoder
battery voltage voltage alarm, information battery.
alarm is not lost but needs to be
replaced as soon as
possible.
Encoder battery voltage
Encoder battery The encoder battery is
53 voltage error error alarm, the stored
exhausted and must
alarm information has become
be replaced.
incorrect and the encoder
needs to be reset.

Encoder error Encoder non-battery

54 Reset encoder.
alarm alarm, but need to reset
the encoder.

CRC Checksum MODBUS communication

55 Change the drive.
Error 3 times in received data CRC
a row validation error 3 times in
a row.
1. Verify the frame length.
MODBUS 1. Communication protocol
56 2. Increase line filters to
frame too long mismatch.
keep interference away.
error 2. Interference.

MODBUS 1. Communication
57 Change the drive.
communication parameters are not set
format properly.
abnormality 2. Incorrect communication
address or value.
Circle position The drive's stored
58 Re-power up and start.
value error singleturn position
offset value exceeds the
encoder resolution.
Encoder The encoder continuously
59 Reset encoder.
reported CF reports a CF field error,
error requiring a reset of the
encoder.

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