ACTION TECHNOLOGY INDÚSTRIA E COMÉRCIO ELETROELETRÔNICOS LTDA

SERVO DRIVE

A3/ A3P SERIES INSTRUCTION MANUAL

Preface ................................................................................................................................ 3
1. About the instruction manual .................................................................................... 3
2. Confirm the following items before unpacking. ........................................................ 3
3. Safety precautions .................................................................................................... 4
1. Product introduction and model selection ................................................................. 7
1.1 Introduction of nameplate and model name (For servo motor and drive) ............. 7
1.2 Parts name of servo motor and drive ..................................................................... 8
1.3 Model name of servo drive and motor.................................................................... 9
1.4 Model selection of peripheral braking resistor ..................................................... 10
1.5 Selection of cables and connector accessories for SV products ......................... 10
2. Product specifications ................................................................................................ 11
2.1 Servo drive specifications..................................................................................... 11
2.2 Motor specifications .............................................................................................. 17
3. Installation and size of servo motor and drive ......................................................... 24
3.1 Installation environment conditions ...................................................................... 24
3.2 Dustproof and waterproof ..................................................................................... 25
3.3 Installation method and space.............................................................................. 25
3.4 Dimensions of servo motor................................................................................... 27
3.5 Dimensions of servo drive (Same dimensions for A3D and A3P)........................ 32
4. Wiring explanation for servo motor and drive ......................................................... 34
4.1 Wiring diagram ..................................................................................................... 34
4.2 Drive connector and pins arrangement ................................................................ 37
4.3 Terminal arrangement and wiring color of motor connector................................. 39
4.4 RS-485 communication wiring description ........................................................... 41
5. Panel display and operation ....................................................................................... 44
5.1 Overview ............................................................................................................... 44
5.2 Part names ........................................................................................................... 44
5.3 Operation mode change ....................................................................................... 45
5.4 Status display mode ............................................................................................. 47
5.5 Alarm display mode .............................................................................................. 54
5.6 Parameter setting mode ....................................................................................... 55
5.7 Auto tuning mode.................................................................................................. 56
5.8 Parameter saving mode ....................................................................................... 59
5.9 Auxiliary function................................................................................................... 59
6. Parameter Description ................................................................................................ 62
6.1 Parameter list ....................................................................................................... 62
6.2 Parameter list for point table ................................................................................ 94
7. Timing chart ................................................................................................................. 95
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7.1 Power ON ............................................................................................................. 95

7.2 Servo OFF→ON ................................................................................................... 96
7.3 Servo stop ............................................................................................................ 96
7.4 At occurrence of alarm ......................................................................................... 98
7.5 Alarm reset ......................................................................................................... 100
8. Operation .................................................................................................................... 101
8.1 Preface ............................................................................................................... 101
8.2 Position control mode (Pulse position command input) ..................................... 106
8.3 Speed control mode (Analog speed command input) ........................................ 118
8.4 Speed control mode (Internal speed command) ................................................ 123
8.5 Torque control mode (Analog torque command input)....................................... 128
8.6 Position control mode(Internal position command)............................................ 133
8.7 Description of User I/O connector (CN1) terminal arrangements ...................... 134
8.8 Adjustment .......................................................................................................... 142
8.9 Home position return .......................................................................................... 150
9. Troubleshooting and countermeasures .................................................................. 174
9.1 Alarm display ...................................................................................................... 174
9.2 Alarm handling and alarm reset ......................................................................... 174
9.3 Troubleshooting .................................................................................................. 178
Appendix......................................................................................................................... 182
Appendix 1 Recommended wire/cable..................................................................... 182
Appendix 2 SV- A3 positioner function ..................................................................... 182
Appendix 3 SV- A3 special I/O setting...................................................................... 188
（
Appendix 4 Servo drive power connector L1/ L2/ L3, U/ V/ W wiring ............... 190 ）
Appendix 5 SV-A3/A3P series absolute system description .................................... 192

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Thank you for purchasing the ACTION TECHNOLOGY products.

This Instruction Manual provides instructions for advanced use of the SV-A3/A3P series servo motors.

●Before use, read this manual and manuals of relevant products fully to acquire proficiency in handling and operating the
product.

●Please read the safety precautions before using.

●Store this manual in a safe place so that you can take it out and read it whenever necessary.
●As for products under development, specifications are subject to change without notice.

Preface

Incorrect operation and handling, couldn’t have a full display of the various performance that designed, and may cause

hazardous conditions and shorten the service life. Please operate the product correctly before you have read through the

instruction manual correctly.

1. About the instruction manual

○, We make an effort to perfect this instruction manual, but if you have found some mistakes or uncertain points, please
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contact ACTION TECHNOLOGY at any time.

○, Please note the following items on the instruction manual

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●Danger exists as it’s the high-voltage device.

●There are some residual voltage on the terminals or the units after power OFF and it is dangerous.
●High temperature locally
●Disassembling is prohibited.
○, The product specifications and functions may change and increase, as the product performance upgraded. They are
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subject to change without notice.

○,4Plan to obtain the Certificate of safety specification for the product’s device, please consult our sales representative.
○, To extend the service life of motor and drive, it is necessary to use it under the correct conditions. Please follow the
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instruction manual for details.

○, The latest information should be recorded in the instruction manual and manual will be updated accordingly. If you need
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the latest version, please contact the ACTION TECHNOLOGY team.

○, Without the approval of company, it is forbidden to reprint some or all of the instruction manual.
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2. Confirm the following items before unpacking.

●Check if the products are the ones you ordered.

●Check if there are some damage to the products during transportation.
●Any questions, please contact the ACTION TECHNOLOGY team.

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3. Safety precautions

Please pay attention to the flowing safety precautions anywhere and any time during acceptance inspection, installation,

wiring, operation and maintenance.

Indicates that incorrect handling may result in death or severe injury.

Indicates that incorrect handling may result in medium or slight personal injury or physical damage.

Indicates “Prohibitions”(Indicates what must not be done.)

Indicates “Forced”.(Indicates what must be done.)

Installing and wiring

Do not connect the motor to the commercial power. To prevent fire or malfunction.

Do not place the combustibles around the servo motor and drive. To prevent fire.

Be sure to protect the drives through the case, and leave specified To prevent electric shock, fire or

clearances between the case or other equipment and the drive. malfunction.

Install it at the place free from excessive dust and dirt, water and oil mist To prevent electric shock, fire ,

malfunction or damage

Install the equipment to incombustibles, such as metal. To prevent fire.

Any person who is involved in wiring and inspection should be fully To prevent electric shock.

competent to do the work.

FG terminal of motor and drive must be grounded. To prevent electric shock.

Perform the wiring correctly after cut off the breaker. To prevent electric shock, injury,

malfunction or damage

Have the insulation processing when connecting cables. To prevent electric shock, fire or

malfunction.

Operation and running

During operation, never touch the internal parts of the drive. To prevent burns or electric shock.

The cables should not be damaged, stressed loaded, or pinched. To prevent electric shock, malfunction

or damage.

During operation, never touch the rotating parts of the servo motor. To prevent injury.

Do not install the equipment under the conditions with water, corrosive To prevent fire.

and flammable gas.

Do not use it at the location with great vibration and shock. To prevent electric shock, injury or

fire.

Do not use the servo motor with its cable soaked in oil or water. To prevent electric shock, malfunction

or damage

Operate the switches and wiring with dry hand. To prevent electric shock, injury or

fire.

Do not touch the keyway directly when using the motor with shaft-end To prevent injury.

keyway

Do not touch the motor and drive heat sink, as they are very hot. To prevent burns or parts damaged.

Do not drive the motor by external drive. To prevent fire.

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Other safety instructions

Confirm the equipment’s safety after the earthquake happens. To prevent electric shock, injury or

fire.

Installing and setting correctly to prevent the fire and personal injury when To prevent injury, electric shock, fire,

earthquake happens. malfunction or damage.

Provide an external emergency stop circuit to ensure that operation can To prevent injury, electric shock, fire,

be stopped and power switched off immediately. malfunction or damage.

Before wiring or inspection, turn off the power and wait for 5 minutes or To prevent electric shock.

more.

Installing and wiring

Please follow the specified combination of the motor and drive. To prevent fire or malfunction.

Do not touch the terminals of connector directly. To prevent electric shock or

malfunction.

Do not block intake and prevent the foreign matters from entering into the To prevent electric shock or fire.

motor and drive.

Fix the motor and have the test run away from the mechanical system. To prevent injury.

After confirming the operation, the motor can be securely mounted to

mechanical system.

The servo motor must be installed in the specified direction. To prevent injury or malfunction.

Install the equipment correctly in accordance with its weight and rated To prevent injury or malfunction.

output.

Operation and running

Do not climb or stand on servo equipment. Do not put heavy objects on To prevent electric shock, injury, fault

equipment. or damage.

The parameter settings must not be changed excessively. Operation will To prevent injury.

be instable.

When power is restored after an instantaneous power failure, keep away To prevent injury.

from the machine because the machine may be restarted suddenly

(design the machine so that it is secured against hazard if restarted).

Keep it away from the direct sunlight. To prevent malfunction.

Do not put strong impact on the motor, drive and motor shaft. To prevent malfunction.

The electromagnetic brake on the servo motor is designed to hold the To prevent injury or malfunction.

servo motor shaft and should not be used for ordinary braking.

Do not install or operate a faulty servo motor or drive. To prevent injury, electric shock or fire

Check the power specification. To prevent fault.

The electromagnetic brake may not hold the servo motor shaft. To ensure To prevent injury.

safety, install a stopper on the machine side.

A sudden restart is made if an alarm is reset with the run signal on. To prevent injury.

Connect the relay for emergency stop and for brake in series. To prevent injury or malfunction.

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Transportation and storage

Do not subject the equipment to the place with rain, waterdrop, poisonous To prevent malfunction.

gases or liquids.

Do not carry the servo motor by the cables, shaft or encoder during To prevent injury or malfunction.

transportation.

Do not drop or dump the motor during transportation and installation. To prevent injury or malfunction.

Store the unit in a place in accordance with the instruction manual. To prevent malfunction.

Other safety instructions

Please dispose the battery according to your local laws and regulations.

When disposing of the product, handle it as industrial waste.

Maintenance and inspection

Do not disassemble and/or repair the equipment on customer side. To prevent malfunction.

Do not turn on or switch off the main power frequently. To prevent malfunction.

Do not touch the servo drive heat sink, regenerative resistor, servo motor To prevent burns or electric shock.

etc. Their temperatures may be high while power is on or for some time

after power-off.

When the drive become faulty, switch off the control circuit and main To prevent fire.

power.

If the servo motor is to be stored for a long time, switch off the power. To prevent mis-operation and injury.

Warranty period

The term of warranty for the product is 12 months from the date of manufacture. It’s exceptional to brake motors as they are

warranted when acceleration / deceleration times is not beyond the specified service life.

Warranty coverage

This warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and

conditions and instructions that are stated in the instruction manual and user manual for the Product.

However, even during warranty period, the repair cost will be charged on customer in the following cases.

1) A failure caused by improper storing or handling, repair and modification.

2) A failure caused by the parts which have dropped down or damaged during transportation

3) A failure caused when the products have been used beyond the product specification

4) A failure caused by external factors such as inevitable accidents, including but not limited to fire, earthquake, lightning

stroke, windstorm disaster, flood, salt damage, abnormal fluctuation of voltage and other natural disaster.

5) A failure caused by the intrusion of water, oil, metal and other foreign matters.

The warranty coverage is only for the product itself. We assume no responsibilities for any losses of opportunity and/or profit

incurred by you due to a failure of the Product.

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1. Product introduction and model selection

1.1 Introduction of nameplate and model name (For servo motor and drive)

Servo motor nameplate

Servo driver nameplate

Model name

1) Servo motor

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2) Servo drive

1.2 Parts name of servo motor and drive

Figure 1.2.1 Parts name of servo motor

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Figure 1.2.2 Parts name of servo drive

1.3 Model name of servo drive and motor

Capacity Motor model Motor size Drive model Drive size

SV-A3 □□□□□-*HN** (Flange

installation size)

400W Low inertia L1.27 60 SD-A3W0400V2E-HN Frame A

High inertia H1.27

750W Low inertia L2.39 80 SD-A3W0750V2E-HN

High inertia H2.39

1kW Middle inertia M4.77 130 SD-A3W1000V2I-HN Frame B

High inertia H4.77

1.5kW Middle inertia M7.16 SD-A3W1500V2I-HN

High inertia M7.16

2kW Middle inertia M9.55 SD-A3W2000V2I-HN

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1.4 Model selection of peripheral braking resistor

Rated output 50W 100W 200W 400W 750W 1kW 1.5 kW 2 kW

Resistance ～ Ω
40 50 ～ Ω
40 50 ～ Ω
40 50 ～ Ω
40 50 ～ Ω
40 50 30 Ω 30Ω 20 Ω
Allowable 20W 20W 20W 20W 20W 40W 40W 60W

power

The Status monitoring mode on the setting panel can be used to confirm whether a regenerative resistor is needed. Select

「St_REG」on the setting panel to display 「in00_-」. When the display changes from 「in00_-」 to 「in00_A」, it means the
regenerative resistor is needed. For details, refer to [5.4 Status display mode [Regenerative resistor]].

Starting from low speed operation (20% of the max. speed) to the desired operation and observing if the display value

changes from 「in00_-」 to 「in00_A」 If 「in00_A」displays, a regenerative resistor is needed.

If the regenerative resistor is needed, refer to the installation of regenerative resistor. The use of regenerative resistor cannot

necessarily guarantee the performance. When heating temperature is too high, please increase the resistance, or the

permissible power.

1.5 Selection of cables and connector accessories for A3 products

● For 750W or less

Items Usage Model name Remark

1 Connector for drive and motor Power connector - SY-A3CNPW750W-HN

2 Cable for drive and motor Power cable - SY-A3CBPW750W0.5M-HN Length: 0.5m

Power cable - SY-A3CBPW750W1.5M-HN Length: 1.5m

Power cable - SY-A3CBPW750W3M-HN Length: 3m

Power cable - SY-A3CBPW750W4M-HN Length: 4m

Power cable - SY-A3CBPW750W5M-HN Length:5m

Power cable - SY-A3CBPW750W6M-HN Length:6m

Power cable - SY-A3CBPW750W7M-HN Length:7m

Power cable - SY-A3CBPW750W10M-HN Length: 10m

3 Brake connector Not available

4 Encoder cable terminal Encoder connector SY-A3CNEN750W-HN

5 Encoder cable - SY-A3CBEN750W0.5M-HN Length: 0.5m

- SY-A3CBEN750W1.5M-HN Length: 1.5m

- SY-A3CBEN750W3M-HN Length: 3m

- SY-A3CBEN750W5M-HN Length:5m

- SY-A3CBEN750W10M-HN Length: 10m

6 Encoder cable for absolute Not available

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● 1KW or more
Items Usage Model name Remark

1 Connector for drive and motor Power connector SY-A3CNPW0102K-HN

2 Cable for drive and motor Power cable - SY-A3CBPW0102K0.5M-HN Length: 0.5m

Power cable - SY-A3CBPW0102K1.5M-HN Length: 1.5m

Power cable - SY-A3CBPW0102K3M-HN Length: 3m

Power cable - SY-A3CBPW0102K5M-HN Length:5m

Power cable - SY-A3CBPW0102K10M-HN Length: 10m

3 Brake connector Not available

4 Encoder cable terminal Encoder connector SY-A3CNEN0102K-HN

5 Encoder cable - SY-A3CBEN0102K0.5M-HN Length: 0.5m

- SY-A3CBEN0102K1.5M-HN Length: 1.5m

- SY-A3CBEN0102K3M-HN Length: 3m

- SY-A3CBEN0102K5M-HN Length:5m

- SY-A3CBEN0102K10M-HN Length: 10m

6 Encoder cable for absolute - Not available Length: 0.5m

- Not available Length: 1.5m

- Not available Length: 3m

- Not available Length:5m

- Not available Length: 10m

7 50P pulse connector Pulse connector

2. Product specifications

2.1 Servo drive specifications

2.1.1 Common specifications

Table 2.1.1 Common specifications

Items Specification

Model Name 005 010 020 040 075 100 150 200

SV-A3 □□□-HN
SV- A3P□□□-HN

Applicable motor 50W 100W 200W 400W 750W 1kW 1.5kW 2kW

Dimension W(mm) 42 49 84

H(mm) 160 160 160

Common specification

D(mm) 135 135 135

Weight(Kg) 0.7 0.8 1.6

Input Main circuit ～

Single-phase 200 240V ±10% 50/60Hz ～
Three-phase 200 240V ±10%

power power [Note] For the control power, refer to Note 1. 50/60Hz

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Control A3: DC24V±10% 260mA (Typ.)/Inrush current is excluded. I/O power supply:24VDC±10%

power A3P: I/O power supply: 24VDC±10% 100mA 100mA The power is supplied from

The power is supplied from internal. internal.

Control type Three-phase PWM inverters sine-wave driven

Output Current 0.6 0.9 1.7 2.7 4.3 5.6 9.9 12.2

spec. (Arms)

Frequenc 0 ~ 400 0~333 0~300 0~250

y(Hz)

Encoder feedback 17-bit serial incremental/ absolute encoder

Control Input 8 points (24VDC, photocoupler insulation) Switched under control mode

signal Output 8 points (24VDC, photocoupler insulation , open-collector circuit output) Switched under control

mode

Analog Input 1 point ( ±10V) Switched under control mode

signal

Pulse Input RS-422 differential, open-collector circuit

signal Output A/B/Z-phase RS-422 differential

Open collector output enabled only for Z-phase alone.

Communication USB: Connection with PC (with [HCX-SETUP])

function RS-485: remote upper control communication (support multi-station)

Regeneration External regenerative resistor possible (Note 2)

function

Dynamic brake None(Note 3)

Control mode Position control, internal position control, speed control, internal speed control, torque control

Control input Servo ON, alarm reset, command input prohibition, deviation counter clear,

torque limit selection, CCW/CW drive prohibition

Control output Alarm state, servo ready, positioning complete, brake release, servo state,

torque limit output

Pulse Maximum ：
RS-422 differential 4Mpps

input command pulse Open collector: 200kpps

frequency

Input pulse signal Pulse+ direction, A-/B-phase orthogonal phase difference pulse, CW+CCW
Function

form pulse(note 4)

Command pulse ～ ～
A/B A : 1 65535 B : 1 65535 1/1000 < A/B < 1000

multiplication

Smoothing FIR filter

Intern Position control

Pulse Output pulse signal Encoder position pulse is output in the following manner:

output format A-/B-phase orthogonal phase difference pulse and Z-phase pulse is output in

RS-422 differential format, Z-phase pulse is output through open collector

Control input Servo ON, alarm reset, deviation counter clear, CW start, point selection 1, point
al

selection 2, point selection 3, point selection 4, home position sensor input

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Control output Alarm state, servo ready, brake release, servo state, torque limit output,

operation completion, home position reset completion

Operation mode Point table, communication operation, manual input pulse

Pulse Output pulse signal Encoder position pulse is output in the following manner:

output format A-/B-phase orthogonal phase difference pulse and Z-phase pulse is output in

RS-422 differential format, Z-phase pulse is output through open collector

Control input Servo ON, alarm reset, command inhibited(Zero speed clamp), torque limit

selection 2, CCW/CW rotation prohibition

Control output Alarm state, servo ready, brake release, servo ON, torque limit output

Analog input Speed Input voltage -10V to +10V (Maximum speed occurs at ±10V)
Speed control

command

input

Smoothing IIR filter, FIR filter

Pulse output Output pulse Encoder position pulse is output in the following manner:

signal format A-/B-phase orthogonal phase difference pulse and Z-phase pulse is output in

EIA-422 differential format, Z-phase pulse is output through open collector

Control input Servo ON, alarm reset, internal speed command –start 1 &2, internal speed
Internal speed control

command 8-phases, torque limit selection 2

Control output Alarm state, servo ready, brake release, servo ON, torque limit output

Pulse output Output pulse Encoder position pulse is output in the following manner:

signal format A-/B-phase orthogonal phase difference pulse and Z-phase pulse is output in

EIA-422 differential format, Z-phase pulse is output through open collector

Control input Servo ON, alarm reset, command input prohibition(zero torque command),

torque limit 2, CCW/CW drive prohibition

Torque control

Control output Alarm state, servo ready, brake release, servo state, torque limit output

Pulse output Output pulse Encoder position pulse is output in the following manner:

signal format A-/B-phase orthogonal phase difference pulse and Z-phase pulse is output in

EIA-422 differential format, Z-phase pulse is output through open collector

Robust observer Provided

Vibration control Provided

Auto-tuning Provided

Encoder output division and Provided

Common

multiplication

Tuning/function setting Adjusted via “HCX-SETUP” software

Protective Hardware overvoltage, power supply error, overcurrent, overtemperature, overload(refer to

function alarm subsection 2,1,1 overload detection description), encoder error

Software overspeed, too much position deviation, parameter error

alarm

～ °
Environmenta

Temperature Ambient temperature for use 0 55 C(Note 5, Note 6)

Ambient temperature for storage -20～65°C

Humidity Ambient humidity for use 20～85%RH or less(Without condensation)

l

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Ambient humidity for storage ～

20 85%RH or less(Without condensation)

Atmosphere for use& storage Indoors(Not subject to direct sunlight); free from corrosive

gas, flammable gas, oil mist, or dust

Altitude 1000m or less above sea level

Vibration ～
5.8m/s2(0.6G) or less, 10 60Hz(No continuous operation

allowed at frequency of resonance)

Dielectric strength 1 minute at 1500 VAC across the primary and FG

Points to note Grounding is mandatory. Class Ⅰrelevant products

Ⅱ
”Over voltage category ” relevant products

“Pollution degree2” relevant products

Note 1) 24VDC external power supply, as the control power, should meet the following specifications.

1. Use SELV power.

※SELV power: Safety Extra Low Voltage

Reinforced insulation is needed for safety extra low voltage, non-dangerous voltage and dangerous voltage

As the overcurrent protection for drive failure, please select the power supply of 100W or less.

Current consumption is the value of I/O signal without the connection of servo ON.

Increase the current consumption for the I/O signal occupied points in the actual usage.

Note 2) The installation of regenerative resistor can be confirmed by the set panel.

1. Select in the Status Display mode.

2. Show the regenerative state

3. When the device reaches the actual working speed from the low speed (about 20% of the highest speed), confirm the set

panel display is changed to

4. When the panel changes to , install the regenerative resistor according to [table 1.4.1 Model selection of
peripheral braking resistor].

5. The regenerative resistor value in table 2-2-2 cannot guarantee the performance. If the heating temperature is too high,

please choose the large and high power resistor.

Note 3) The brake is the dynamic brake function controlled by the software.

The brake function becomes invalid when the drive failure occurs or the power supply disconnect.

Note 4) Pulse command input is shown below.

Table 2.1.2

Parameter Input signal Signal name The minimum necessary time range (t1, t2, t3, t4, t5, t6)

No.32.0 pulse Positive direction Negative direction

command input

mode

0 Pulse ·direction Pulse

(Initial value) Command pulse CMD_PLS

Direction

CMD_DIR

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1 AB-phase A-phase

orthogonal phase CMD_PLS

pulse B-phase

CMD-DIR

2 Positive direction CCW CMD-PLS

pulse CW CMD-DIR

Negative

direction pulse

■Max. pulse frequency and minimum pulse width of command input pulse signal.
Input pulse signal I/F Max. pulse frequency The minimum necessary time [µs]

t1 t2 t3 t4 t5 t6

Differential interface 4Mpps 0.125 0.125 2.5 0.25 0.125 0.125

Open collector circuit interface 200kpps 2.5 2.5 2.5 5.0 2.5 2.5

※The rise and fall time of command pulse input signal should be 0.1µs or less.
※The pulse is counted from Low to High.
※Pulse command input filter selection(No.33.0) should be set according to the input frequency.
Note 5) Use the screws to fix the drive by the mounting holes according to section 3 [Installation direction and space] to leave

enough space to prevent high temperature.

Note 6) Ambient temperature for 2kW drive(Model name: SV-A3/A3PH9.55KS-HN)

2.1.2 Overload detection characteristics

For SV-A3/A3P series servo drives, when the motor torque exceeds the torque values in the overload detection characteristics,

overload protection will start which outputs overload alarm and the motor stops emergently.

Figure 2.1.1 Overload detection characteristics

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2.2 Motor specifications

2.2.1 Common specifications

Table 2.2.1 Common specifications

200V~230V AC

Items Unit Specifications

Voltage V 280VDC

Model name - 50W 100W 200W 200W 400W 400W

(SV-X3/X3P □□□□□-HN**) Middle Middle Middle High Low High

inertia inertia inertia inertia inertia inertia

Flange installation size mm □40 □40 □60

Mass Without brake kg 0.4 0.5 0.9 1.0 1.3 1.5

With brake 0.6 0.8 1.4 1.5 1.8 2.0

Rated output W 50 100 200 400

Rated torque N·m 0.16 0.32 0.64 1.27

Max. instantaneous torque N·m 0.56 1.12 1.91 3.82

Rated current Arms 0.6 0.9 1.7 2.7

Max. instantaneous current Arms 2.1 3.2 5.1 8.1

Rated speed r/min 3000 3000

Max. speed r/min 6000 5000

Torque constant ．
N m/Arms 0.25 0.36 0.417 0.498

Induced voltage constant of MV(r/min) 8.8 12.5 14.5 17.4

each phase
Common speci.

Rated power Without kW/s 5.6 13.6 23.9 9.3 58.7 23.5

change rate brake

With brake 4.7 12.3 19.5 8.6 51.9 22.4

Mechanical Without ms 2.60 1.69 1.12 2.87 2.60 1.66

time constant brake

With brake 3.06 1.87 1.37 3.12 0.75 1.75

Electrical time constant ms 0.64 0.76 1.99 2.47

Motor rotor Without ×10kg·m 2

0.045 0.074 0.17 0.43 0.28 0.70

Inertia brake

With brake 0.053 0.082 0.21 0.47 0.31 0.74

Permissible Radial load N Refer to [2.2.2 Output shaft permissible load]

load Axial load N

Encoder 17 bit serial communication (EIA422)

Usage Holding(Note: not for braking)

specifications
Encoder

Power supply - SELV power, reinforced insulation should be performed from the

dangerous voltage.

Rated voltage V DC24V±10%

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Rated current A 0.25 0.3

Static friction torque N·m 0.16 or 0.32 or 1.27 or more

more more

Absorption time ms 35 or less 50 or less

Release time ms 20 or less 15 or less

Release voltage V 1VDC or more

Rated time Continuous

Ambient temperature for use ～ ℃

0 40 (Without condensation)

Ambient humidity for use 20～85%RH(Without condensation)

Ambient temperature for -20～65℃(Highest temperature guaranteed: 80 degrees, 72hours)

storage

Ambient humidity for storage ～

20 85%RH (Without condensation)

Atmosphere for use/storage Indoors(Not subject to rainwater or direct sunlight); free from corrosive gas, flammable

gas, flammables, grinding fluid, oil mist, or dust

Insulation class Class B

Insulation resistance 1000 VDC megger 5MΩ or more

Dielectric strength 1500 VAC for 1 minute

Altitude 1000m or less above sea level

Ambient conditions

Vibration class V 15(JEC2121)

Vibration resistance 49 m/s2 (5G)

Impact resistance 98 m/s2 (10G)

Protective class IP65

Points to note Grounding is mandatory. Class Ⅰrelevant products

Ⅱ
”Over voltage category ” relevant products

“Pollution degree2” relevant products

Brake lines have polarity. Red: connected with +24V. Black: connected with GND,

200V~230V AC

Items Unit Spec.

Voltage V 280VDC

Model name - 750W 750W 1kW 1kW 1.5kW 1.5kW 2.0kW

(SV-X3/X3P □□□□□-HN**) Low High Middle High Middle High Middle

inertia inertia inertia inertia inertia inertia inertia

Flange installation size mm □80 □130

Mass Without kg 2.5 2.7 5.6 7.6 7.0 9.0 8.4

brake

With 3.3 3.5 7.0 9.0 8.4 10.4 9.8

brake

Rated output W 750 1000 1500 2000

Com

mon

Rated torque N·m 2.39 4.77 7.16 9.55

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Max. instantaneous N·m 7.1 14.3 21.5 28.6

torque

Rated current Arms 4.3 5.6 9.9 12.2

Max. instantaneous Arms 12.9 16.8 30 36.6

current

Rated speed r/min 3000 2000

Max. speed r/min 4500 3000

Torque constant ．
N m/Arms 0.61 0.88 0.81 0.85

Induced voltage constant MV(r/min) 21.33 30.9 28.4 29.6

of each phase

Rated Without kW/s 64.1 35.9 50.0 9.2 76.9 13.8 104.9

power brake

change With 52.8 32.1 36.5 8.6 61.4 13.3 87.9

rate brake

Mechanical Without ms 0.53 0.94 0.76 4.17 0.60 3.32 0.58

time brake

constant With 0.64 1.06 1.05 4.43 0.75 3.46 0.69

brake

Electrical time constant ms 4.3 10.1 12.2 8.2

Motor rotor Without ×10kg·m 2

0.89 1.62 4.56 24.9 6.67 37.12 8.70

Inertia brake

With 1.08 1.81 6.24 26.4 8.35 38.65 10.38

brake

Permissible Radial N Refer to [2.2.2 Output shaft permissible load]

load load

Axial load N

Encoder 17 bit serial communication (EIA422)

Usage Holding(Note: not for braking)

Power supply - SELV power, reinforced insulation should be performed from the dangerous

voltage.

Rated voltage V DC24V±10%

Encoder specifications

Rated current A 0.4 1.0

Static friction torque N·m 2.39 or more 9.55 or more

Absorption time ms 70 120

Release time ms 20 30

Release voltage V 1VDC or more

Rated time Continuous

Ambient conditions

Ambient temperature for ～ ℃

0 40 (Without condensation)

use

Ambient humidity for ～

20 85%RH(Without condensation)

use

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Ambient temperature for ～ ℃

-20 65 (Highest temperature guaranteed: 80 degrees, 72hours)

storage

Ambient humidity for ～

20 85%RH (Without condensation)

storage

Atmosphere for Indoors(Not subject to rainwater or direct sunlight); free from corrosive gas, flammable gas,

use/storage flammables, grinding fluid, oil mist, or dust

Insulation class Class B

Insulation resistance 1000 VDC megger 5MΩ or more

Dielectric strength 1500 VAC for 1 minute

Altitude 1000m or less above sea level

Vibration class V 15(JEC2121)

Vibration resistance 49 m/s2 (5G)

Impact resistance 98 m/s2 (10G)

Protective class IP65

Points to note Grounding is mandatory. Class Ⅰrelevant products

Ⅱ
”Over voltage category ” relevant products

“Pollution degree2” relevant products

Brake lines have polarity. Red: connected with +24V. Black: connected with GND,

2.2.2 Output shaft permissible load

Figure 2.2.1 Output shaft permissible load

Permissible load Unit 50W 100W 200W 400W 750W 1kW 1.5kW 2kW

Permissible radial N 68 68 245 245 392 490 490 490

load

Permissible axial load N 58 58 98 98 147 196 196 196

2.2.3 N-T characteristics

Figure 2.2.2 N-T characteristics

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2.2.4 Encoder specifications

Table 2.2.3 Encoder specifications

Items Description Remarks

Motor Model Name M □□□□□□□ M □□□□□□□ -

N**(17 bit) A**(17bit)

Power supply voltage VCC ～

DC 4.5V 5.5V Ripple voltage 5% or less

External power supply BAT - ～

DC 2.4V 5.5V -

External capacitor CAP - DC 2.4V～5.5V -

Current consumption 160mA(Typ.) Inrush current are excluded.

State of low power consumption - Typ 10µA The battery voltage is 3.6V at

motor stop at room temperature

Single revolution resolution Absolute 131,072(17bit ） -

Multi-revolution count - 65,536 Count -

Maximum speed 6,000 r/min -

Input/ Output form Differential transmission -

Count-up direction CCW -

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Table 2.2.4

Item Description

Motor Model Name M □□□□□□□N**(17 bit) M □□□□□□□A**(17bit)

Transmission method Half-duplex asynchronous serial communication

Communication speed 2.5Mbps

Table 2.2.5

Item Description

Working temperature 0~85℃

Resistance to external magnetic field ±2mT(20G) or less

Note 1) Up-counting direction

※Look from the front flange, rotate as counterclockwise, that is CCW.

[Note]

※When the motor rotates under 180 degree, single revolution accuracy decreases.
※When use the motor with brake, please follow the brake voltage specified in the manual.
※When the brake voltage is under 12V or use under the reverse polarity, single revolution accuracy decreases.
2.2.5 About oil seal

Please use oil seal to prevent the entry of oil into the servo motor via the output shaft when using motor with gear box. All the

SV-A3/A3P series motors are installed with the oil seal.

3. Installation and size of servo motor and drive

3.1 Installation environment conditions

About the environmental conditions, make sure to follow the company’s instructions. If you need to use the product outside the
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scope of the environmental conditions, please consult ACTION TECHNOLOGY Corporation in advance.

○, Keep it away from the direct sunlight.

1

○,2 Drive must be installed in the cabinet.

○, Keep it away from the water, oil (cutting oil, oil mist) and moisture.
3

○, Do not install the equipment under the conditions with water, corrosive and flammable gas.
4

○, Free from the dust, iron powder, cutting powder and so on.
5

○, Keep it away from the area with high temperature, excessive vibration and shock.
6

3.2 Dustproof and waterproof

The servo drive is non-waterproof structure. Protection level of motor (excluding the connector) is IP65 according to IEC

34-5(International Electrotechnical Commission).

3.3 Installation method and space

Impact & load

①The impact that the motor can stand should be less than 200m/s2（20G）. Don’t apply excessive impact load to the motor
during transporting, installing and disassembling. And do not hold encoder, cable and connector to transport the motor.

②The pull claw device must be used when removing the belt pulley and coupler from the motor
Combination with mechanical system

①The motor specification in the user manual has specified the permissible load to the motor shaft. Exceeding the permissible
load will shorten the shaft life and cause damage to the shaft. Please use coupling which could fully absorb eccentric load.

②The stress on the encoder cable should be less than 6kgf during assembling.
③The bending radius of power cable and encoder cable should be R20mm and more.
Installation direction and clearance of drives

Leave sufficient space around the drive to ensure the heat dissipation and convection in the cabinet when installing the drive.

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●Install the drives in the vertical direction. Please use two M5 screws to fix the drive, master drive and slave drive
respectively which is less than 800W Please use three M5 screws to fix the drive and master drive respectively which is

more than 1kW.

●In order to ensure that surrounding temperature between internal boards is not more than 55℃, cooling fan or cooler need
to be installed to reduce the temperature, when the drives are installed in the sealed cabinet.

●The temperature on the surface of cooling plate would be 30℃ higher than the surrounding temperature.
●Use heat-resistant material for the wiring and isolate wiring from the machine and other cables which are easily affected by
the temperature.

●The service life of servo drive depends on the temperature around the electrolytic capacitor. When the electrolytic capacitor
is close to the service life, the static capacity will decrease and internal resistance will increase. Consequently, it will lead to

overvoltage alarm, malfunction caused by noise and components damage. The service life of electrolytic capacitor is approx. 5

to 6 years under the condition 「average annual temperature 30℃, load rate 80% and operation of less than 20 hours a day on
average 」
Additional instructions

①The motor shaft is covered with anti-rust oil before leaving factory. Please have the antirust treatment again to the shaft to
prevent it from rust when installing load.

②Never disassemble the encoder or motor.

③The GND of 24VDC input and the grounding cable of device can be connected to each other.
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※Please use the same power supply for control voltage(24V and GND) and upper control device.
④Do not remove or maintain the encoder battery until the main power supply is switched OFF.
⑤After switching off the main power supply, please note that there is residual voltage of approx. 30 seconds on the power
components.

⑥Do not replace the fuse.

⑦The servo drives of more than 750W are installed with a cooling fan on the right side. Do not touch or block the ventilation
ports of servo drive

3.4 Dimensions of servo motor

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3.5 Dimensions of servo drive (Same dimensions for X3D and X3P)

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4. Wiring explanation for servo motor and drive

4.1 Wiring diagram

4.1.1 Wiring diagram

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[Points for correct wiring]

※ 24VDC and 200VAC input (main circuit) power supply should be wired from the same 200VAC main power supply.
※ Do not access switch between 24VDC power supply and drive. If you need switch, put it on the 200VAC cable of 24VDC
input power supply.

※ A twisted-pair shielded cable should be used when I/O cable length is over 50cm.
※ The encoder cable should be less than 20m.

① Please note that there is high voltage in the solid line of wiring diagram when wiring and using.
② The broken lines in the wiring diagram indicates the non-dangerous voltage circuit.
4.1.2 Connection of servo drive and motor

Items Description

Peripheral device Conform to European EC Directive. Select the device which meets corresponding standards

and install them in accordance with User’s Manual.

Installation environment Install the servo drive to the environment which conform to Pollution degree 2 or 1 of

IEC60664-1.

Power supply 1: 200 ～ This product can be used under the conditions that conform to IEC60664-1 and overvoltage

230VAC (main circuit) category Ⅱ.

Power supply 2: 24VDC The specification of 24VDC external power supply should satisfy the following conditions.

♦control power supply of drive ※

Using SELV power supply( ) and power less than 150W. This is the CE corresponding

♦I/O power supply conditions.

♦Power supply for brake ※SELV: safety extra low voltage

release (Reinforced insulation is needed for safety extra low voltage, non-dangerous voltage and

dangerous voltage.)

Wiring Please use withstand voltage cables which are equivalent to AWG18/600V or AWG14/600V

for motor power cable, encoder cable, AC220 input cable, FG cable and main circuit power

distribution cable under multi-axis drive structure respectively when drives are less than

750W or more than 1kW .

Breaker Switch off the power supply to protect power cord when overcurrent occurs.

Make sure to use the breaker between power supply and interference filter that conforms to

IEC specification and UL recognition in accordance with the User manual.

Please use the breaker with leakage function recommended by ACTION TECHNOLOGY in

order to meet EMC standards.

Noise filter To prevent the outside interference from power cables.

Please use the interference filter recommended by ACTION TECHNOLOGY in order to

meet EMC standards.

Magnetic contactor Switch main power supply (ON/OFF). And use it after installing a surge absorber.

Surge absorber Please use the surge absorber recommended by ACTION TECHNOLOGY in order to meet

EMC standards.

Interference filter for signal Please use the interference filter recommended by ACTION TECHNOLOGY in order to

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cable / ferrite filter meet EMC standards.

Regenerative resistor This product is not equipped with regenerative resistor.

The external regenerative resistor is necessary when the internal capacitor cannot absorb

more regenerative power. Confirm the regenerative status on the panel. When the

regenerative voltage alarm is ON, a regenerative resistor is needed.

For the reference specification of regenerative resistor, please refer to user manual.

Use a built-in thermostat and set overheat protect circuit.

Grounding This product belongs to Class 1 and need grounding protection.

Using protection grounding terminal. Grounding should be executed by the case and cabinet

that conforms to EMC.

The following symbol indicates the protection grounding terminal.

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4.2 Drive connector and pins arrangement

4.2.1 Drive connector terminal

Figure 4.2.1 Drive connector terminal

Table 4.2.1 Terminal arrangement of drive connector/ A3 750W or less

Name Symbol Pin No. Signal name Contents

Regenerative B1/B2/L1 1 B1 P interface of regenerative resistor

resistance connection /L2 2 B2 N interface of regenerative resistor

Single-phase 200VAC 4 L Primary Power 1

input 5 N Primary Power 2

Motor power output U/V/W 1 U Motor power U phase output

2 V Motor power V phase output

3 W Motor power W phase output

Encoder CN2 1 VCC Encoder power supply 5V output

2 GND Signal grounding

3 NC -

4 NC -

5 +D Encoder signal: data input/output

6 -D Encoder signal: data input/output

- FG Connect SHIELD to the connector housing

PC communication CN3 1 VBUS USB power supply

2 D- USB data-

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3 D+ USB data+

4 NC -

5 GND USB signal grounding

24V power supply and CN4 1 24V Drive control power supply 24V input

communication 2 G24 Drive control power supply GND input

3 485 485 signal from upper control device Multi-station

communication

4 /485 /485 signal from upper control device Multi-station

communication

5 SG Communication signal grounding

External fan CN14 1 24V 24V for external fan

2 G24 GND for external fan

3 NC -

User I/O CN1 Refer to “Chapter 8 Operation”

Table 4.2.2 Terminal arrangement of drive connector/ A3 1kW or more,A3P 750W or less

Name Symbol Pin No. Signal name Contents

Regenerative -/B1/B2 1 - -

resistance connection 2 B1 P interface of regenerative resistor

3 B2 N interface of regenerative resistor

Three-phase 200VAC L1C/L2C 1 L1C Control power AC input

input L1/L2/L3 2 L2C Control power AC input

3 L1 Primary power 1

4 L2 Primary power 2

5 L3 Primary power 3

(Do not connect it when single-phase used)

Motor power output U/V/W 1 U Motor power U phase output

2 V Motor power V phase output

3 W Motor power W phase output

Encoder CN2 1 VCC Encoder power supply 5V output

2 GND Signal grounding

3 NC -

4 NC -

5 +D Encoder signal: data input/output

6 -D Encoder signal: data input/output

- FG Connect SHIELD to the connector housing

PC communication CN3 1 VBUS USB power supply

2 D- USB data-

3 D+ USB data+

4 NC -

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5 GND USB signal grounding

24V power supply and CN4 1 24V Drive control power supply 24V input

communication 2 G24 Drive control power supply GND input

3 485 485 signal from upper control device Multi-station

communication

4 /485 /485 signal from upper control device Multi-station

communication

5 SG Communication signal grounding

User I/O CN1 Refer to “Chapter 8 Operation”

4.3 Terminal arrangement and wiring color of motor connector

4.3.1 Motor connector and pins arrangement (750W or less)

Figure: 4.3.1 Motor connector and pins arrangement

Table 4.3.1 Cable list (For motor of 750W or less)

Name Cable

Motor power input AWG18

note 1
Brake AWG22

Encoder (Incremental) ：
Power supply AWG22

：
Signal AWG24

Encoder (Absolute) ：
Power supply AWG22

：
Signal AWG24

Note 1 For the motor with brake

Table 4.3.2 For the motor of 750W or less

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Name Pin Signal Contents Wiring color

No. name

Motor power 1 U Motor power U phase Red

input 2 V Motor power V phase White

3 W Motor power W phase Black

4 FG Motor housing grounding Green

Brake 1 BRK+ Brake power supply 24VDC Yellow

( ※ 1) 2 BRK- Brake power supply GND Blue

Encoder(incr 1 - NC -

emental) 2 +D Serial communication data + data White (red point)

3 -D Serial communication data - data White (black point)

4 VCC Encoder power supply 5V Orange (red point)

5 GND Signal ground Orange (black point)

6 SHIELD Shielded wires Black

Encoder(Abs 1 BAT ※ 2)
External battery ( Yellow (black point)

olute) 2 +D Serial communication data + data White (red point)

3 -D Serial communication data - data White (black point)

4 VCC Encoder power supply 5V Orange (red point)

5 GND Signal ground Orange (black point)

6 SHIELD Shielded wires Black

※1 For motor with brake.

※2 External capacitor and battery are taking GND as the reference potential.
4.3.2 Motor connector and pins arrangement (1kW or more)

Figure 4.3.2 Motor connector and pins arrangement (1kW or more)

Table 4.3.3 Cable list (for motor of 1kW or more)

Name Cable

Motor power input AWG14

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Brake note 1 AWG18

Encoder (Incremental) ：
Power supply AWG22

：
Signal AWG24

Note 1 For the motor with brake

Table 4.3.4 For the motor of 1kW or more

Name Pin Signal Contents Remark

No. name

Motor power A U Motor power U phase

input B V Motor power V phase

C W Motor power W phase

D FG Motor housing grounding

Brake 1 BRK1 Brake power supply 24VDC

( ※ 1) 2 BRK2 Brake power supply GND

Encoder(incr 1 VCC Encoder power supply 5V output

emental) 2 GND Signal ground

3 - NC

4 - NC

5 +D Serial communication data + data

6 -D Serial communication data - data

7 - NC

8 - NC

9 - NC

10 SHIELD Shielded wires

Encoder(Abs 1 VCC Encoder power supply 5V output

olute) 2 GND Signal ground

3 CAP ※2)
External capacitor (

4 BAT External battery (※2)

5 +D Serial communication data + data

6 -D Serial communication data - data

7 IC Internal connection (※ 3)
8 IC Internal connection (※ 3)

9 GND Signal ground

10 - NC

※1 For motor with brake.

※2 External capacitor and battery are taking GND as the reference potential.
※3 Internal connection (IC) has been connected internally. Do not connect it with any other wires.
4.4 RS-485 communication wiring description

The wiring between the drives and setting method of communication address are shown below. When using multi-station

communication(the upper controller is wired with one servo drive), the parameters of multiple servo drives can be changed

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and the waveform of position deviation and rotation speed can be monitored by the upper controller.

The communication condition shown below.

Table 4.4.1

Communication

Electrical specifications EIA485

Communication method Asynchronous serial

communication(half-duplex)

Communication speed 57.6 kbps

Data bit 8 bit

Peer bit None

Stop bit 1 bit

Alarm detection CRC16-CCITT

Transmission data 8 bit binary

Data length 35 bytes or less

L1= 5m(max)

The wiring length between the upper controller and drive CN1 should be 5m or less.

L2=250mm(max)

The wiring length between each drives CN4 should be 250mm or less.

Terminal resistance

Connect the terminal resistor between the place A and B of CN4 or between 43pin and 44pin of CN1 to the last drive and to

the upper controller.

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Figure 4.4.1 Multi-station connection example

The wiring between the drives are shown as above. And daisy-chained connection should be performed between the drive

connector CN4 and the upper controller.

[Communication address setting]

When using multi-station communication, set the different communication address for each drive according to the following

steps. There are two setting methods: by set panel and dedicated software [HCX-SETUP].

Input 24V control power supply after wiring, then operate as the following steps For wiring, refer to section 4.1[Wiring

diagram].

[Setting method by set panel]

①Press the MODE button three times from the initial display status. The leftmost display on the LCD (6 digits) is [P] to come to
the parameter setting mode. There is 3 digits, the point(.) and 1 digit on the right side of [P]. And the rightmost display is blank

or [r]. The parameter number is represented by 3 digits, the point(.) and 1 digit.

②Press the UP/DOWN and SHIFT button, when [P004.0r] shows, press SET button to display the current setting value. The
initial value is [1].

③Press the UP/DOWN and SHIFT button and input the expected communication address. Setting range is from 1 to 32.
④Press the SET button to RAM, the indicator changes from flicker to lit.
⑤Press the MODE button three times to display [SAVE_P].
⑥Press the SET button, the [P] in [SAVE_P] flicker. When the parameter is stored in the EEPROM normally, [nr_End]
displays.

⑦Notes: Cut off the power supply to the servo drive(Note1). Before restart the power supply, the servo drive operates as the
former communication address.

⑧Set the communication address to the other drive as the same way described from ① to ⑦. When the single-axis drive are
used in parallel, please set the communication address by the set panel of the servo drive.

[Setting method by HCX-SETUP]

①The servo drive details will display on the screen of Communication Setting. The initial value of communication address is 1
②Tick it in [Select], and click [Connect] button to communicate with the servo drive.
③Select [Parameter] and click [Get] button to read the parameter from the servo drive.
④The communication address of servo drive will display in the parameter “No.4.0 communication address”. The initial value is
[1] when delivery from the factory. Input the expected communication address in the [Value]. Setting range: 1 to 32.

⑤Press the [Set] and [Write] button to set the parameters to the servo drive.
⑥Tick it in the [Communication setting] and press [Disconnect] to disconnect the communication.
⑦Notes: Cut off the power supply to the servo drive(Note 1). Before restart the power supply, the servo drive operates as the
former communication address.

⑧Set the communication address to the other drive as the same way described from ① to ⑦. The PC communication
connector CN3 on the drive to be set should be connected to the PC via USB cable.

Note 1: The control power for the A3 750W or less is the external 24VDC. Disconnect the 24VDC when restart. The control

power supply for A3PA 1KW or less and A3 1KW or more is supplied from internal. Disconnect the main power supply to the

drive when restart.

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5. Panel display and operation

5.1 Overview

The functions of operation panel are as follows:

a) Status display (Status display mode)

b) Alarm display (Alarm display mode)

c) Parameter setting (Parameter setting mode)

d) Auto tuning (Auto tuning mode)

e) Parameter saving (parameter saving mode)

f) Auxiliary functions (JOG function mode, parameter clearing mode, encoder clearing mode)

5.2 Part names

Table 5.2.1 Set panel for drive

Items Description

MODE Change operation mode and parameters.

SET Item or value select/confirm

UP Selected value (flicker) increase

UP (long-press) Selected value (flicker) increase rapidly

DOWN Selected value(flicker) decrease

DOWN(long-press) Selected value(flicker) decrease rapidly

SHIFT Selected cursor moves left.

SHIFT+DOWN The screen lock/unlock

SHIFT+UP Reset the servo drive

SHIFT+S, long press for The servo drive enabling ON/OFF

2s or more

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5.3 Operation mode change

The operation procedures of changing operation mode by set panel are shown below.

Turn on the control power to the drive, the set panel will show . Press the MODE button once, it will show Speed

feedback(motor speed r/min). Press the MODE button once again, it comes to the Status display mode and shows 「dP_St」.
When press the MODE button again, it will come to Alarm display mode, Parameter setting mode, Auto tuning mode,

Parameter saving mode in turn. Press the MODE button again, it returns to the Status display mode. Press the SET button to

come to the selection of operation mode.

Figure 5.3.1

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5.4 Status display mode

The operation procedures of Status display mode are shown below.

Press the “MODE” button twice from the beginning to get into status display mode and 「dP_St」 displays. Model code and
serial number can be checked in this mode.

「St_」 when press “SET” button. As for the meaning of status mark,
Status mark number will be displayed on the right side of

refer to 「Status display list」 or 「Status description」. The status mark number will display alternatively when press “UP” or

“DOWN” button. When status displays, press "SET" button to display its value.

Model code and serial number will be displayed after the status when press “UP” or “DOWN” button. The status mark number

「Pt_[AAA]」 and serial number displayed on 「Ps_[AAA]」. In the

will display alternatively. Model code will be displayed in

display _[AAA], 「Jot」indicates the motor, 「drv」indicates the drive and 「Enc」indicates the encoder.

Figure 5.4.1

Table 5.4.1 Status display list

Mark number Status

Parallel I/O status

Display the bit number of assigned parallel IO.

For details, refer to [About parallel I/O status]

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℃
Temperature at the control part[ ].

Temperature at the control part of servo drive.

Command pulse input (position)[pulse]

To confirm the number of pulse from upper controller.

Command pulse input (speed)

Differential of Command pulse input (position)

Less than 750W: [pulse/160µs], more than 1kW: [pulse/200µs]

Analog command input(command value)[r/min]

By adding input filter and gain, the analog speed command from

upper control device can be regarded as input value of speed

command.

Positioning completion

0: during positioning; 1: positioning completed.

ABS position command [pulse]

Display the position command value according to the command

pulse

ABS position feedback[pulse]

Display the motor position feedback by encoder according to

command pulse

Command position deviation[pulse]

Display the difference value between the position command and

position feedback according to command pulse.

Position command[pulse]

Pulse command input(position). The command value input after

division and multiplication smoothing in internal position command.

Encoder pulse.

Position feedback [pulse]

The actual position values detected by encoder.

Position differential [pulse]

Display the differential between position command value and position

feedback value.

Speed command [r/min]

The value input into the position and speed control of drives.

Speed feedback [r/min]

Motor speed detected by encoder.

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Speed deviation[r/min]

Differential between speed command and speed feedback value.

Torque command[0.1%]

The corresponding rated torque of 1000 is 100%, and corresponding

rated torque of 3000 is 300%.

Load ratio[digit]

Permissible value is about 1000(load ratio 100[%]), overload error

occurs when the load continuously exceed 1440s.

Encoder/Rotor mechanical angle (1 rotation) [pulse]

1 rotation absolute angle data of rotor output by the encoder

Encoder/Rotor mechanical angle (integrate) [pulse]

Multi-rotation integrate angle data of rotor output by the encoder

when using absolute encoder.

Regenerative status

Display regeneration status.

For details, refer to [4-4-4 Regenerative status].

Main circuit voltage[0.1V]

Display the main circuit voltage.(reference value)

※Display only in the model「DA2□□2*」

Model code of servo drive.

Display the model code of servo drive.

Model code of servo motor.

Display the model code of servo motor.

Model code of encoder.

Display the model code of encoder.

Serial number of servo drive.

Display the serial number of servo drive.

Serial number of servo motor.

Display the serial number of servo motor.

Serial number of encoder.

Display the serial number of encoder.

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Table 5.4.2 Corresponding display for the letters

[About LCD display]

The LCD can display the parameter of more than 6 digits and shows the following screens. Take the positive value

「123456789」and negative value 「-123456789」as example..

1) Screen 1 Display lower 5 digits(lower)

Positive Negative

2) Screen 2 Display upper 5 digits(middle)

Positive Negative

3) Screen 3 Symbol display(upper)

Positive(Display「＋」) 「 」)
Negative(Display -

Starting from the right (lower bits) digit, the select cursor moves left when press “SHIFT” button. When the fifth digit flashes ,

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press “SHIFT” button and it comes to the next screen. Press “SHIFT” button in Screen 3(Symbol display) and it comes back to

Screen 1(Display for lower 5 digits). That is to say, the screen changes the order of Screen 1(Display for lower 5 digits) →
Screen 2(Display for upper 5 digits) →Screen 3(Symbol display) →Screen 1 (Display for lower 5 digits). 「-」on the left
indicates digit position. 「＿」indicates the lower digits;「―」middle digits; 「￣」upper digits. When display negative values,

the left point at the button will always light from lower digit to upper digit. However this left point won’t light When the displayed

digital number is less than 6 even if it’s negative.,

[Parallel IO status]

Display the control signal input (8 points) and output (8 points) status of I/O connector (CN1).

The following table lists the signal name of I/O connector (CN1) and parallel IO status display. For the details of user I/O

connector(CN1), refer to 「8.7.1 Signal description」

Table 5.4.3

Display Signal name Contents

ot00 O1 (MBRK) O1 (Brake release output) Output status

ot01 O2 (SERVO) （ ）
O2 Servo output Output status
ot02 O3 (POSIN/-) （ ）
O3 Positioning completed /reserved Output status
ot03 O4 (-) O4（Reserved）Output status
ot04 O5 (-) O5（Reserved）Output status
ot05 O6 (OCZ) O6（Encoder Z phase Open collector output）Output status
ot06 O7 (SRDY) O7（Servo ready）Output status
ot07 O8 (ALM) O8（Alarm output） Output status
in00 I1 （SVON） I1（Servo ON Input） Input status
in01 I2 （RESET） I2（Alarm reset input） Input status
in02 I3 (HOLD/VCRUN1) I3（Command input inhibit/Internal speed command-Start 1）Input status
in03 I4 (PCLR/VCRUN2) I4（Deviation counter clearing input /Internal speed command-Start 2）Input

status

in04 I5 (-/VCSEL1) （
I5 Reserved/ Internal speed command—Speed command selection 1 Input ）
status
in05 I6 (CCWL/VCSEL2) （
I6 CCW drive restriction /Speed command selection 2 Input） Input status
in06 I7 (CWL/VCSEL3) I7（CW drive restriction / Speed command selection 3 Input） Input status
in07 I8 (TLSEL1) I8（Torque limit input）Input status
The operation procedures of parallel IO status are shown below.

Press the “UP” or “DOWN” button, the number will be displayed alternatively. When input signal displays, press “SHIFT”

button and it will shift to output signal 「ot00」. When output signal displays, press “SHIFT” button and it will shift to input signal
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「in00」.
Figure 5.4.3

[Regenerative status]

Display main circuit DC power supply of drive and the working status of regenerative power circuit.

When displays in the set panel, press SET button to show the following
Figure 5.4.4

Table 5.4.4 Display list of regenerative status

Display Name Description

ot00 Regenerative control output Indicates the drive working status of regenerative power circuit. When the signal is

ON, regenerative power is under the operation by regenerative resistor.

ot01 Reserved 『-』fixed

： ： ：
ot07 Reserved 『-』fixed
in00 When the DC voltage of main circuit reaches the regenerative voltage alarm, the

Regenerative voltage alarm signal is ON, which indicates the drive regeneration circuit may be on working state. A

regenerative resistor is recommended to be connected.

When voltage is less than regenerative threshold voltage, the signal is ON.

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in01 When the DC voltage of main circuit reaches regenerative threshold voltage, the

Regenerative threshold signal is ON, which indicates the drive regeneration circuit is on working state. A

voltage regenerative resistor must be connected. If not, the power failure may occur.

in02 Reserved 『-』fixed

： ： ：
in07 Reserved 『-』fixed

Operating procedures of regenerative status are as follows.

Press the “UP” or “DOWN” button, the number will be displayed alternatively. When input signal displays, press “SHIFT”

button and it will shift to output signal 「ot00」. When output signal displays, press “SHIFT” button and it will shift to input signal
「in00」
Figure 5.4.5

Follow above operating procedures to confirm whether a regenerative resistor is needed or not. When the display changes

from 「in00_-」 to 「in00_A」, the regenerative discharge is opened and the regenerative resistor is needed. For details, refer
to [Regenerative resistor]. Starting from low speed (20% of the highest speed), operating the motor to the expected movement

slowly and observing if the display value changes from 「in00_-」to「in00_A」 If「in00_A」displays, a regenerative resistor
is needed. Operation panel displays as follow:

Need a regenerative resistor Do not need any regenerative resistor

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5.5 Alarm display mode

The following shows the operating procedures of alarm display.

Press the “MODE” button three times from the beginning, 「dP_Err」 indicates the alarm display mode. Press the “SET” button
to display the drive alarm status and 「Err.--」indicates no alarm. If an alarm has occurred, the corresponding alarm number is
「Err.」. For the details of alarm number, refer to the following [Alarm items]. If several alarms have
output on the right side of

occurred, press “UP” or “DOWN” button to display the alarm number.

When an alarm has occurs, 「Err.**」will be displayed on the operation panel except these four modes. (** indicates the alarm

number) ①Parameter setting mode, ②Auto tuning mode , ③In Parameter saving mode, ④Auxiliary functions, when press

“MODE” button and the display can change from this mode to another, 「Err.**」 will display.

For the remedies and reset method of alarm, refer to [9.2 Alarm disposal and reset].

Figure 5.5.1

Table 5.5.1 Alarm No.

Alarm No. Alarm description Alarm No. Alarm description

00 System error 16 Encoder error (receive data)

01 EEPROM data error 17 Encoder error(no response)

Encoder error (circuit)
02 Model code error 18

04 Overspeed 19 Encoder error (communication)

05 Speed deviation error 20 Encoder error(multi-rotation data)

06 Position deviation error 21 Encoder error(voltage drops)

07 Overload error 22 Power error (control power)

08 Command overspeed error 23 Switch circuit error

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09 Encoder pulse output frequency error 24 Overcurrent error

10 Internal position command overflow error/ 25 Inverter error 1

Home position return failure

11 Encoder error(multi-rotation counter 26 Inverter error 2

overflow)

12 Overheat 27 Current sensor error

14 Overvoltage 29 Power error (drive internal)

15 Power supply error(main circuit)

5.6 Parameter setting mode

The operating procedures of parameter setting are shown below.

When pressing “MODE” button three times from the initial display, 「P」will be displayed on the leftmost of LCD and it comes
to parameter setting mode. 3 digits, a decimal point, 1 digit and a blank will be displayed in turn on the right side of 「P」. The

combination of 3 digits, a decimal point and1 digit constitute the parameter No. Press UP or DOWN button to the parameter

No. to be set and press SET button to display the parameter value on the servo drive.

「」
For the details of parameter number, refer to [Section 6 Parameter Description]. When r is displayed on the rightmost side

, it means the drive power supply must be restarted after saving the parameter. For the methods of parameter saving, refer

to 「Section 5.8 Parameter saving mode」

Restart the power supply to the drive No need to restart the power supply to the drive

The operating procedures of parameter change are shown below. If parameters displayed, the rightmost LCD will flash and it

comes to the state that parameters can be input.

On the condition that parameter is beyond the range from -99999 to 99999(only for No.087.0 position deviation error

detection value), as said in [Status display mode] and [Signed 6-digit or more parameter on LCD], 5 digits can be displayed

every time. The flashing digit can be changed and press “SHIFT” to select the digit to be changed (flash). Parameter value can

be changed by pressing “UP” or “DOWN” button. Press “SET” button to set the parameter on the drive and the digit will no

longer flicker. If you do not want to change the parameter value and just confirm it, press “MODE” button to return. If the drive

is powered off, the parameter value will return to the state before change.

In order to save the parameter after change in the EEPROM of drive, refer to [Section 5.8 Parameter saving mode] for details.

Figure 5.6.1

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5.7 Auto tuning mode

Auto tuning mode includes 「Simple adjustment」 and 「Fine adjustment」.

「Simple adjustment」
Select gain level among 5, 10, 15, 20, 30 and then start auto tuning and setting automatically the expected inertia ratio to

achieve the desired operation. Meanwhile, the inertia ratio can be set manually. The most suitable gain can be set

corresponding to inertia ratio.

「Fine adjustment」
To achieve the optimum operation effect after Simple adjustment, some gain parameters need to be set. It’s generally

optimized in accordance with the order of gain level →Inertia ratio→FF1 gain. It can also be optimized more easily in
→ →
accordance with the order of integral gain FF2 gain damping ratio.

「A_TunE」(Auto tuning mode) will be displayed after press “MODE” button five times from the initial display status.
In auto tuning mode, parameters which are set in Parameter setting mode can be displayed after the 「Simple adjustment」
and 「Fine adjustment」.Please follow the procedures below to operate. This mode will show under position control or speed

control mode.

The parameter group that can be set in position control or speed control mode is as follows. If pressing “SHIFT” button in auto

tuning mode, [Parameter name] on the operation panel will shift to [Parameter number]

Table 5.7.1

Position control

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Display order Name Parameter name/ number

displayed on panel

1 Inertia condition P_GGLP / 113.1

2 Control gain setting P_GSET / 113.0

3 Inertia ratio P_inEr /102.0

4 conversion ratio of Inertia ratio P_inTr /104.0

5 Selection of real-time auto tuning P_TUEn /110.1

6 Control level P_CLEv /114.0

7 Integral gain P_inTE /119.0

8 First gain FF compensation P_GFF1/117.0

9 Second gain FF compensation P_GFF2/118.0

10 Damping ratio P_dAmP/103.0

Table 5.7.2

Speed control

Display order Name Parameter name/ number

displayed on operation panel

1 Control gain level P_GSET /129.0

2 Inertia ratio P_inEr /102.0

3 Setting of auto tuning P_ES7d /110.0

4 Selection of real-time auto tuning P_TUEn /110.1

5 Control level P_CLEv /130.0

6 Integral gain P_inTE /133.0

7 First gain FF compensation P_GFFS /132.0

8 Damping ratio P_dAmP/103.0

Figure 5.7.1

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5.8 Parameter saving mode

「SAVE_P」(Parameter saving mode) will be displayed on the panel if pressing ‘MODE” button six times from the beginning.
The new parameters, set in Parameter setting and auto tuning mode, can be written to EEPROM in the parameter saving

mode. Please note that the newly-set parameters, which have been set in Parameter setting and auto tuning mode but not

saved to EEPROM, will disappear and return to the value before after power-off.

The operating procedures of saving parameters are shown below.

Figure 5.8.1 Parameter saving mode

In parameter setting mode when change the parameters that need restarting 24VDC control power supply, please restart the

control power supply after the above procedures done. The changed parameters become effective after restart control power

supply.(For the models of 1kW or more, power off the main circuit power supply and restart it after the screen display is off)

5.9 Auxiliary function

will display after press the MODE button seven times from the initial status .
Please operate as the procedures shown in Figure 5.9.1.

Figure 5.9.1 Auxiliary function

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5.9.1 Drive connector terminal description

JOG function is function for test run without the commands output by the upper controller. Please use the test run function for

the purpose of adjustment. For details, please refer to [Chapter 8 Test run in HCX-SETUP User’s Manual].

Working conditions for JOG function

・The JOG function is available in the pulse command modes of position control and speed control mode. Control the
machines according to the corresponding gain of control modes. Do not use the JOG function in the internal position

command mode (point table, test run) and torque control mode of position control.
・When using JOG function in speed control mode/ internal speed command mode, the VCRUN1, VCRUN2, VCSEL1,
VCSEL2 and VCSEL3 of parallel I/O input become invalid.

・Input the 24VDC control power and servo ON signal from I/O connector.
Operating procedures

1. Display the according to the operating procedures as shown in Figure 5.9.1 Auxiliary function.
2. Set the following three parameters by the set panel or HCX-SETUP.

For the details of parameters, please refer to [Chapter 6 Parameter Description].

Table 5.9.1 Relevant parameter of JOG function

No. Parameters

385.0 JOG operation: Acceleration time

386.0 ※
JOG operation: Deceleration time( Note 1)

387.0 JOG operation: Target speed

3.Press SET button and show the .

4. Make the servo OFF by I/O

5. Long-press LEFT( ) button and show the . The alarm will occur if operating at the servo

ON. If the alarm occurs at this time, press MODE button and the display returns to and
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reoperate from procedures 3.

6. Press the UP button, the motor rotate in CCW direction; if Down button, in CW direction.
The motor rotates when pressing the button, and stops as releasing the button.

7. Make the servo OFF by I/O and shows to end the JOG operation. Then press MODE button and show
, which means the operation status changes from JOG to the general. If the servo is ON, the operation cannot

change from JOG operation to general operation status and the alarm will occur.

Note 1) Please note that if the JOG operation deceleration time is set longer, the time from pressing the UP or Down
button to stopping the motor will become longer correspondingly.

Note 2) If press the UP or Down button simultaneously, the motor will stop. If the unexpected operating status
happens, switch off the main circuit power or make the servo OFF to stop the operation.

Figure 5.9.2

5.9.2 Parameter clearing function

This function is to return the parameters to the factory settings. After clearing the parameters, restart the power supply and the

parameters will change to the factory settings.

The parameter clearing should be operated at the servo OFF. If the servo is ON, an alarm will occur .

Operation procedures

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1. Operate as the procedures in section 4.9 Auxiliary function and display the

2.Press the SET button and show the

3. Long-press the LEFT button, then display the and flicker, then change to

4. Restart the power supply and the parameter clearing is done.

Figure 5.9.3

5.9.3 Encoder clearing function

For details, please refer to [Reference SV-A3 /X3P series absolute system].

6. Parameter Description

6.1 Parameter list

This section gives a detailed description of the displayed parameters on the panel.

The column of 「No.」is the parameter number. Two numbers separated by “/” are the numerator and denominator number of
parameters. Take 034.0/036.0 as the example, 034.0 is the numerator number and 036.0 is the denominator number. [Basic

setting] in Parameter list are the initial setting values determined by the device. [Adjustment] indicates gain and other

parameters that need to be adjusted to get the expected operation. [Special setting] indicates the parameters set according to

the actual needs. The parameters with 「r」displayed on the right side of parameter number, are the ones that need to restart
the drive control power supply after saving. 「Yes」will be displayed in the parameters of 「Whether to restart 24VDC power

supply」. After saving the parameters in 「Parameter saving mode」, 「Whether to restart 24VDC power supply」will be

displayed for the parameters which are valid after restarting 24VDC power supply. For the models of 750W or less, the control

power is supplied from external 24VDC. For the models of 1kW or more, the control power is supplied from internal power and

please cut off 220V power of main circuit if restart needed.

<Notice>

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Each parameter has its setting range, but it also depends on the setting value of other parameter. There are some parameters

unable to set, even though they are in the setting range. The following is the interdependent parameter number.

No.102.0 Inertia ratio

No.103.0 Damping ratio

No.104.0 Conversion ratio of inertia ratio

No.115.0 Control gain 1 (Position control mode)

No.116.0 Control gain 2 (Position control mode)

No.117.0 （
Gain FF compensation 1 Position control mode）
No.118.0 Gain FF compensation 2（Position control mode）

No.119.0 Integral gain（Position control mode）

No.131.0 Control gain 1（Speed control mode）

No.132.0 Gain FF compensation 1（Speed control mode）

No.133.0 Integral gain（Speed control mode）

6.1.1 Parameters

Table 6.1.1 Parameters

Types Names No.

Common Control mode 2.0

parameters Command mode 3.0

Operation mode 9.0

Torque command range Switch 144.0

Value 1 147.0

Value 2 148.0

Torque limit output 144.1

Delay time for Servo off 237.0

Delay time for mechanical brake release 238.0

Selection of an encoder system 257.0

Encoder pulse output Rotation direction 272. 1

Division and Numerator 276. 0

multiplication Denominator 278. 0

RS-485 Switch 8.0

communication Address 4.0

Communication speed 6.0

Stop bit 6.1

Parity 6.2

Minimum response time 11.0

Error detection Position error Switch 65.0

Value 87.0

Delay time 89.0

Speed error Switch 65.1

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Value 90.0

Delay time 91.0

Encoder pulse output Upper limit for frequency 285.0

Delay time 286.0

Instantaneous voltage Delay time 305.0

drop

Drive restriction Settings 67.0

options Deceleration method 67.1

Stop status 67.2

Keep position deviation counting 67.3

Deceleration stop Method 224.0

Release condition 224.1

Operation time 226.0

Cancel deceleration stop 227.0

Power supply error Switch 224.2

Operation time 228.0

Torque command range 151.0

Adjustment Inertia ratio 102.0

Damping ratio 103.0

Auto tuning Mode switch 110.0

Project 110.1

Position control mode Control gain set 113.0

Inertia condition 113.1

Control level 114.0

Control gain 1 115.0

Control gain 2 116.0

Gain FF compensation 1 117.0

Gain FF compensation 2 118.0

Integral gain 119.0

Speed control mode Control gain set 129.0

Control level 130.0

Control gain 1 131.0

Gain FF compensation 1 132.0

Integral gain 133.0

Current control gain 193.0

Position Filter 1 Selection(*1) 66. 0

command filter Smoothing filter 1 average moving times 80. 0

Notch frequency 74. 0

Notch width 75. 0

High frequency gain 76. 0

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Notch depth 79. 0

Filter 2 Selection 82. 0

Notch frequency 83. 0

Notch width 84. 0

High frequency gain 85. 0

Notch depth 86. 0

Filter 3 Selection 82. 1

Notch frequency 357. 0

Notch width 358. 0

High frequency gain 359. 0

Notch depth 360. 0

Filter 4 Selection(*2) 66. 1

Smoothing filter 1 average moving times 81. 0

*1) The marking method varies from the drive version. The version of 3. 5. 1. 0 or before is marked with [Selection of position

command smoothing filter 1]

*2) The marking method varies from the drive version. The version of 3. 5. 1. 0 or before is marked with [Selection of position

command smoothing filter 2]

Types Names No.

Torque command Low-pass filter Switch 160. 0

filter Auto setting 160. 2

Time constant 162. 0

Notch filter Switch 160. 1

Frequency 168. 0

Width 169. 0

Depth 170. 0

Pulse command Input pulse types 32. 0

Rotation direction 32. 1

Input logic 32. 3

Division and Interpolation 32. 2

multiplication Numerator 34. 0

Denominator 36. 0

Input filter 33. 0

Feedforward Delay compensation 66. 3

Positioning Determination method 64. 0

completion Detection Range 68. 0

Speed 69. 0

Command input 70. 0

Detection delay time 71. 0

Internal position Operation mode 642. 0

Overflow detection 643. 0

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Point table Point No. output method 644. 0

Operation of point No. 0 646. 3

Command method 720. 0～

Operation conditions 720. 1～

Valid or Invalid 720. 3～

Position 722. 0～

Rotation speed 724. 0～

Acceleration speed 726. 0～

Deceleration speed 727. 0～

Dwell time 728. 0～

Positioning completion 729. 0～

Home position Home position DOG redetection operation 645. 3

return Moving direction 646. 0

Sensor DOG polarity 646. 1

Timeout limit Switch 646. 2

Time 659. 0

Torque limit Switch 647. 0

Value 656. 0

Home position return Press detection time 655. 0

Creep switch 647. 1

Operation speed 648. 0

Creep speed 649. 0

Acceleration/deceleration time 650. 0

Home position travel distance 651. 0

Home position data 653. 0

Home position return Phase Z invalidation distance 657. 0

Selection of home position base signal 645. 0

Selection of encoder phase Z 645. 1

Analog speed Offset Adjustment 62. 2

Value 60. 0

Rotation direction 62.0

Input filter Switch 62. 1

Numerator 48. 0

Denominator 49. 0

Input gain Numerator 50. 0

Denominator 51. 0

Speed limit CCW Numerator 52. 0

Denominator 53. 0

CW Numerator 54. 0

Denominator 55. 0

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Smoothing filter Switch 77. 0

Average travel time 78. 0

Internal speed Command method 388. 0

Acceleration time 390. 0

Deceleration time 391. 0

Speed 1 to 8 392. 0~

Analog torque Offset Adjustment 302. 2

Value 300. 0

Rotation direction 302. 0

Input filter Switch 302. 1

Numerator 288. 0

Denominator 289. 0

Input filter Numerator 290. 0

Denominator 291. 0

Torque limit CCW Numerator 292. 0

Denominator 293. 0

CW Numerator 294. 0

Denominator 295. 0

Speed limit 152. 0

Table 6.1.2 Parameter list

No Parameter Contents Whether to

restart control

power supply

002.0r [Basic setting] Control mode selection. Yes

Control mode Note) Do not change when servo is ON.

0= Position control mode

1= Speed control mode

2= Torque control mode

[Initial value] 0 (Position control mode)

[Setting range] 0 to 2

003.0r [Basic setting] Command mode selection Yes

Command mode 0= Zero command (select in position control/ speed control mode)

selection 1= Pulse command (Used in position control)

2= Analog command (Used in speed control)

3= Internal generation command (Used in speed control)

[Initial value] 1 (Pulse train command )

[Setting range] 0 to 3

004.0r [Basic setting] Set the communication address of servo drive. Yes

Communication Set to “1” when not using RS-485 multi-station communication. If using multi-station

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address communication, refer to 「RS-485 communication wiring」. Setting different values for
each axis.

[Initial value] 1

[Setting range] 1 to 32

006.0 [Basic setting] Set the speed for RS-485 communication. Yes

(Note 1) RS-485 Items Speed[bps] Items Speed[bps]

Communication 0 2, 400 3 19, 200
speed 1 4, 800 4 38, 400

2 9, 600 5 57, 600

[Initial value] 5

[Setting range] 0 to 5

006.1(Not [Basic setting] Set the stop bit for RS-485 communication. Yes

e 1) RS-485 0=1bi t

communication 1=2bi t

Stop bit [Initial value] 0

[Setting range] 0 or 1

006.2(Not [Basic setting] Set the parity for RS-485 communication. Yes

e 1) RS-485 0=None

communication 1=Even

Parity 2=Odd

[Initial value] 0

[Setting range] 0 to 2

008.0 [Basic setting] Select host communication mode. No

Selection of host 0= Disable

communication 1= RS-485 asynchronous serial communication

mode When connecting RS-485 signal cable and using RS-485 asynchronous serial

communication, select to “1”. If not, select to “0”.

If the USB is irrelevant to this setting, it can communicate anytime.

[Initial value] 0 (Disable)

[Setting range] 0 or 1

009.0 [Basic setting] Select the operation mode. No

Operation mode 0=I/O

selection 1=Communication

When select “1”, the signal assigned to the input port of parallel I/O can be operated by

HCX-SETUP. Then, the input of parallel I/O will become invalid. When select “0”, the

input of parallel I/O will become valid. At this time, the signal assigned to the input port

of parallel I/O cannot be operated by HCX-SETUP.

[Initial value] 0(I/O)

[Setting range] 0 or 1

011.0 [Basic setting] Set the minimum response time for RS485 communication Yes

RS485 The response time of drive can be adjusted according to the minimum response time.

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communication For details, refer to [Communication time] of [Communication interface].

minimum [Initial value] 3

response time [Setting range] 0 to 255

032.0r [Basic setting] Select pulse signal type of pulse command input. Yes

Pulse train 0= Pulse and direction: using pulse and direction input

command 1= Orthogonal phase difference: using orthogonal phase pulse (A-phase/B-phase)

input mode input

2= CCW/CW: using positive pulse and negative pulse

[Initial value] 0 (Pulse/direction)

[Setting range] 0 to 2

032.1r [Basic setting] Select rotation direction of pulse command input

Yes
Pulse train 0: CCW addition counting

command 1: CCW subtraction counting

Rotation direction [Initial value] 1 (CCW addition counting)

[Setting range] 0 or 1

032.2r [Basic setting] When setting command division/ multiplication, the command will be processed by Yes

With(out) use of smoothing interpolation automatically.

automatic 0= Disable

command 1= Enable

interpolation for [Initial setting] 1 (Enable)

division/ [Setting range] 0 or 1

multiplication

032.3 [Basic setting] Select the logic for pulse train input. Yes

Selection of Pulse 0= Positive logic : Up counting from Low to High

train input logic 1= Negative logic: Downing counting from High to Low

[Initial setting] 0 (Positive logic)

[Setting range] 0 or 1

033.0r [Basic setting] The function of input filter is to reduce the fault caused by noise. Select the pulse width Yes

Pulse command of passing pulse command input.

input filter 0= No filter

selection 1= Pulse width 25ns When pulse command is open collector

2= Pulse width 50ns circuit, it is recommended to set the best
3= Pulse width 100ns filter. The following table indicates the
4= Pulse width 150ns corresponding filter optimum value between
5= Pulse width 200ns input pulse frequency and pulse duty ratio.
6= Pulse width 300ns Select the best value according to input pulse
7= Pulse width 400ns frequency and pulse duty ratio.
8= Pulse width 600ns

9= Pulse width 800ns

10= Pulse width

1000ns

11= Pulse width 1200ns

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12= Pulse width 1600ns

13= Pulse width 2000ns

14= Pulse width 2300ns

15= Pulse width 3100ns

When the input frequency is high, please set the small passing pulse width. To improve

interference immunity, please set the large passing pulse width.

[Initial setting] 4 (Passing pulse width is 150ns or less)

[Setting range] 0 to 15

034.0r [Basic setting] Set the parameters of position command pulse division/ multiplication.
Yes
/ 036.0r Division/ When the number of upper command pulse and motor pulse per revolution is different,

multiplication calculate in terms of [(Numerator) / (Denominator )=(Number of pulse per servo motor

(Numerator / revolution) / (Number of host command pulse per revolution)

Denominator ) [Setting example]

The number of pulse per motor revolution is 131072[pulse/rev]. Numerator can be set

32768 by a quarter of 131072. Denominator can be set by a quarter of the number of

upper command per revolution. The corresponding parameter setting of the number of

upper command pulse per revolution is as follows.

Number of host Command division/ Command division/

command per multiplication multiplication

revolution (Numerator) (Denominator)

131072 1000(Initial value) 1000(Initial value)

16384 32768 4096

10000 32768 2500

4096 32768 1024

4000 32768 1000

[Initial value] (Numerator / Denominator ) =1000/1000

[Setting range] (Numerator) 1 to 65535, (Denominator) 1 to 65535.

Setting range of Division/ multiplication ratio is from 0.001 to 1000.Normal operation is

not guaranteed while division/ multiplication ratio is beyond setting range.

048.0 / [Adjustment] Low-pass filter parameter for smoothing analog speed command input. No

049.0 Analog command It is valid when input filter selection (No.062.1) is set “1”,.

input →
Parameter decrease Smoothing effect becomes stronger, command traceability

Filter parameter reduces.

(Numerator / →
Parameter increase command traceability increases, ， susceptible to interference
Denominator ) (Numerator / Denominator ) the value must be less than 1.

(Numerator / Denominator ) =1, filter invalid

[Initial setting] (Numerator / Denominator )= 16000/65535

～ ～
[Setting range] 0 65535/1 65535

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050.0 / [Adjustment] Gain of analog speed command input. No

051.0 Analog command When (Numerator) / (Denominator )=1 and ±10V analog command voltage is input,
input the highest rotation speed of motor can be reached.

Gain ※As for the highest rotation speed of motor, refer to 「Basic specification」
(Numerator / According to different choice of symbol and polarity for analog command voltage, the

Denominator ) rotation direction of motor is different.

Decreasing this value has the effect of decreasing proportional gain of position loop at

upper controller.

[Initial setting] (Numerator / Denominator )=1000/1000

～ ～
[Setting range] 0 65535/1 65535

052.0 / [Basic setting] Analog speed command CCW speed limit threshold value. No

053.0 Analog speed Analog command CCW speed limit = (the highest speed of motor) * (threshold

command CCW value(numerator))/ (threshold value(denominator))

speed limit [initial setting] (Numerator / Denominator )=5000/5000

threshold value ～ ～
[Setting range] 0 65535/1 65535

(Numerator /

Denominator )

054.0 / [Adjustment] Analog speed command CW speed limit threshold value. No

055.0 Analog speed Analog command CW speed limits = (the highest speed of motor) * (threshold

command CW value(numerator))/ (threshold value(denominator))

speed limit [initial setting] (Numerator / Denominator )=5000/5000

threshold value ～ ～
[Setting range] 0 65535/1 65535

(Numerator /

Denominator )

060.0 [Basic setting] When using manual adjustment to adjust offset value of analog speed command, set No

Analog speed the adjustment value. It’s valid when the offset adjustment is selected to “1= manual

command adjustment”. Adjust the corresponding analog speed command input to 0r/min at the

fixed offset value 0V input voltage.

<setting method>.

1. Servo ON (motor will rotate if offset exists)

2. When rotating at the speed of ±10r/min or less, set the value to ±50 to confirm
the operation.

「 」 「 」
(CCW direction, set to -50 ; CW direction, set to +50 .

3. Set the offset value while observing the motor operation. (If rotate at CCW direction,

setting values change in response to「-direction」. If rotate at CW direction, setting

values change in response to 「+direction」.

[Initial value] 0

[Setting range] -32768/32768

062.0 [Basic setting] Select rotation direction of analog speed command. No

Analog speed 0=Inputting negative voltage, the motor has CCW rotation; Inputting positive voltage,

command rotation the motor has CW rotation.

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direction 1= Inputting positive voltage, the motor has CCW rotation; Inputting negative voltage,

the motor has CW rotation.

[Initial value] 1 (Inputting positive voltage, the motor has CCW rotation)

[Setting range] 0 or 1

062.1 [Basic setting] Select analog speed command input filter. No

Select analog Input filter constant can be set in No.048.0, No.049.0.

speed command 0= Disable

input filter 1=Enable (one IIR filter)

[Initial value] 1 (Enable)

[Setting range] 0 or 1

062.2 [Basic setting] Select offset adjustment of analog speed command. No

Select offset 0=Auto tuning

adjustment type of 1=Manual tuning

analog speed Auto tuning works under the voltage which corresponds to 0r/min of speed command

command while servo ON.

Manual tuning means input offset manually to make sure input voltage 0Vcorresponds

to speed command 0r/min. . Offset value can be adjusted by parameter No.60.0(fixed

offset value).

[Initial value] 1 (manual tuning)

[Setting range] 0 or 1

064.0 [Basic setting] Select the output form of positioning completion signal. No

Judgment of 0=Position difference + speed

positioning 1=Position difference+ speed+ pulse command input(speed)

completion When selecting 0, after the position difference is in the positioning completion range

No.68.0 and speed is in the range of positioning completion speed No.69.0,,

positioning completion signal will be output.

When selecting 1, after the position difference, speed and pulse command

input(speed) are all in the range of positioning completion range No.68.0 ,

positioning completion speed No.69.0 and positioning pulse train command

input(speed) No.70.0 respectively, positioning completion signal will be output.

The delay time from positioning completion to output positioning completion signal can

be set in No.71.0.

[Initial setting] 0

[Setting range] 0 or 1

065.0 [Special setting] Select whether to use position difference error detection. Usually set value to “1”. No

With or without （Enable）

use of position Only when suing torque command limit, set to “0”. Set the position deviation value of

difference error error detection by No.87.0 and set the delay time from position error occurred to output

detection stop by No.89.0.

0=Disable

1=Enable

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[Initial value] 1 (Enable)

[Setting range] 0 or 1

065.1 [Special setting] Select whether to use speed deviation error detection. Usually set value is No

With(out) use of “1”.( Enable)

speed deviation Only when suing torque command limit, set “0”. Set the speed deviation value of error

error detection detection by No.90.0 and set delay time from speed error occurred to output stop by

No.91.0.

0= Disable

1=Enable

[Initial value] 1 (Enable)

[Setting range] 0 or 1

066.0r and [Adjustment] Select position command smoothing filter1 (No.66.0) and position command Yes

066.1r With(out) use of smoothing filter 2 (No.66.1)

position command 0=Disable

smoothing filter 1 1=Enable

and position Command will be smooth as shown below after using a smoothing filter.

command filter 2

[Adjustment method]

Used when command acceleration or deceleration are too fast.

Used to suppress device resonance when positioning. Measuring the resonant

frequency in torque command curve and setting a corresponding average movement

number in position command smoothing filter1 moving average time No,80 or position

command smoothing filter2 average movement number No.81, may inhibit

resonance. The relation between resonant frequency and average movement

number is stated under parameter specification of No.80 and No,81.

[Notes] This parameter can be set after more than 1.5s when the command pulse input

is 0. And the servo must be off while setting. If there is pulse input or residual pulse

setting, position difference will occur.

[Initial setting] Command smoothing filter 1 is ‘0”. (Not used)

Command smoothing filter 2 is ‘1”.(Used)

[Setting range] 0 or 1

066.3 [Special setting] Enable/Disable Feed forward delay compensation in position control mode. Yes

With(out) the Feed 0=Disable

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forward delay 1= Enable

compensation in <Note> Generally set to “1”. Do not make the changes and cannot be done on setting

position control panel.

mode [Initial setting] 1 (Enable)

[Setting range] 0 or 1

067.0r [Adjustment] Select the drive restriction options Yes

Selection of drive Note) Do not modify the parameter while the servo is ON.

restriction options 0=Invalid

1=CW restriction.

2=CCW restriction.

3= CW/CCW restriction.

[Initial setting] 0 (Invalid)

[Setting range] 0 to 3

067.1 [Basic setting] Select deceleration method at drive restriction input. No

Selection of Note) Do not modify the parameter while the servo is ON.

deceleration When using deceleration method No.67.1 and stopping method No.67.2, please follow

method at drive the following combination methods.

restriction input 0=Free-run

1=Short brake

2= Prompt stop

Combin Deceleration method Stopping method

ation No.67.1 No.67.2

1 0: Free-run 0: Free-run

2 1: Short brake 0; Free-run

3 2: Prompt stop 1: zero clamp

4 2: Prompt stop 0: Free-run

[Initial setting] 1

[Setting range] 0 to 2

067.2 [Basic setting] Select stop status at drive restriction. No

Selection of stop Note) Do not modify the parameter while the servo is ON.

status at drive When using deceleration method No.67.1 and stopping method No.67.2, please follow

restriction the above combination methods.

0= Free-run

1= zero clamp

[Initial setting] 1

[Setting range] 0 or 1

067.3 [Basic setting] Select position difference counter status at drive restriction No

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Selection of Note) Do not modify the parameter while the servo is ON.

position difference 0= Keep

counter status at 1=Clear

drive restriction [Initial setting] 1

[Setting range] 0 or 1

068.0 [Basic setting] As the reference of outputting positioning completion signal to upper controller, this No

Positioning parameter is the pulse width for judging positioning completion.

completion range The setting value should be less than the number of positioning judge pulse of upper

controller.

[Initial value] 40[Pulse] （±40[pulse]）

[Setting range] 0 to 32767

069.0 [Basic setting] As the reference of outputting positioning completion signal to upper controller, this No

Positioning parameter is the speed limit for judging positioning completion.

completion speed The setting value should be less than the number of speed limit of upper controller.

[Initial value]

：
750W or less 2 [pulse/160 s] μ （±2 [pulse/160μs] ・・・5.72[r/min]
1kW or more ： 2 [pulse/200μs] （±2 [pulse/200μs]）・・・4.58[r/min]
[Setting range] 0 to 32767

070.0 [Basic setting] As the reference of outputting positioning completion signal to upper controller, this No

Positioning parameter is the pulse command input(speed) for judging positioning completion

completion pulse [Initial setting]

command input ： 0 [pulse/160μs] （±0 [pulse/160μs]）

750W or less

(speed) 1kW or more：0 [pulse/200μs] （±0 [pulse/200μs]）

[Setting range] 0 to 32767

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071.0 [Basic setting] Select the delay time from positioning completion to output signal to upper controller. No

Delay time of [Initial value]

positioning ： μ ・・・3.2ms
750W or less 20 [160 s]

completion 1kW or more：16 [200μs]・・・3.2ms

detection [Setting range] 0 to 65000

074.0 [Basic setting] Set the notch frequency for Position command filter 1. Yes

(Note 1) Position command [Valid condition] Set the selection of position command filter 1(No. 66. 0) to 2.

filter 1 Notch [Initial value] 10

frequency [Setting range] 10 to 2, 000

075.0(Not [Basic setting] Set the notch width for Position command filter 1. Yes

e 1) Position command Small= Narrow

filter 1 Notch width Big= Wide

[Valid condition] Set the selection of position command filter 1(No. 66. 0) to 2. (notch

filter)

[Initial value] 512

[Setting range] 128 to 2, 048

076.0(Not [Basic setting] Set the high-frequency gain for Position command filter 1. Yes

e 1) Position command Small= Vibration suppression is more effective.

filter 1 Big= Operate more faster.

High-frequency [Valid condition] Set the selection of position command filter 1(No. 66. 0) to 3. ( γ
gain -notch filter)

[Initial value] 100[%]

[Setting range] 50 to 200

077.0 [Adjustment] Choose whether to use speed command smoothing filter. The average movement time No

With(out) the use can be set in No.78.0.

of speed 0=Disable

command 1=Enable

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smoothing filter [Initial value] 0

[Setting range] 0 or 1

078.0 [Adjustment] Set the average movement time of speed command smoothing filter. No

Average It can be used when No.77.0 is effective.

movement time of [Initial value] 100 [ms]

speed command [Setting range] 1 to 1000

smoothing filter

079.0 [Basic setting] Set the notch depth for Position command filter 1. Yes

(Note 1) Position command Small= More deeper (Setting value 0: Notch frequency input is cut off)

filter 1 Notch Big= More shallower(100% passed when setting value is 100).

depth [Valid condition] Set the selection of position command filter 1(No. 66. 0) to 2(notch

γ
filter) or 3. ( --notch filter)

[Initial value] 0[%]

[Setting range] 0 to 100

080.0r and [Adjustment] Set the position command smoothing filter 1 to “1(Used)” in No.66.0 to make No.80.0 Yes

081.0r Average valid.

movement Set the position command smoothing filter 2 to “1(Used)” in No.66.1 to make No.81.0

number of position valid.

command When the setting value of average movement number increases, the acceleration/

smoothing filter 1 deceleration will be smooth, but the response will be slow.

and average Setting filter 1, the average movement number can be set between 1 and 6250; setting

movement filter 2, the average movement number can be set between 1 and 1250.

number of position The average movement time can be represented by the following formula.

command ～ ： (average movement time)=(average movement number) ×0.16ms

200 750W

smoothing filter 2 1k～2kW: (average movement time)=(average movement number) ×0.2ms

[Adjustment method]

● Smoothing will make positioning time longer in response to above average

movement time. Please have settings within the permissible range..

●When resonant occurs at constant move after acceleration or positioning after

deceleration, measuring the resonant frequency in torque command curve and setting

a corresponding average movement number in position command smoothing filter1

moving average time No,80 or position command smoothing filter2 average

movement number No.81, may inhibit resonance. The calculation of average

movement number and its corresponding suppressed resonance frequency is shown

below.

750W or less: Setting value of smoothing filter=6250/(suppressed vibration

frequency[Hz])

1kW or more: Setting value of smoothing filter=5000/(suppressed vibration

frequency[Hz])

Average movement number No.080.0, 64 256 1024 4096

No.081.0

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750W or less: suppressed vibration 100 23 6 1.5

frequency(Hz)

1kW or more: suppressed vibration 80 20 5 1.2

frequency(Hz)

●The vibration caused by gain FF compensation 2 can be suppressed by position

command smoothing filter 2.

When using gain FF compensation 2 No.117.0, vibration can be reduced by using the

average movement number of position command smoothing filter 1 and filter 2.

[Notes] This parameter can be set when the command pulse input is “0” for more

than 1.5s and there is no command pulse input. If possible, it is recommended to turn

off the servo. If you set the parameter when there is pulse input or residual pulse,

position shift will occur.

[Initial value] Filter 1: 25 for 200~750W, 20 for 1k 2kW ～

Filter 2: 10 for 200~750W, 10 for 1k 2kW ～
[Setting range] 1 to 6250 for filter 1, 1 to 1250 for filter 2.

082.0 [Basic setting] Set the position command filter 2. Yes

(Note 1) Selection of 0=No filter

position command 1=Reserved(Do not set this value)

filter 2 2=Notch filter

3= γ- Notch filter
[Initial value] 0

[Setting range] 0 3 ～
082.1(Not [Basic setting] Set the position command filter 3. Yes

e 1) Selection of 0=No filter

position command 1=Reserved(Do not set this value)

filter 3 2=Notch filter

3= γ- Notch filter
[Initial value] 0

[Setting range] 0 3 ～
083.0 [Basic setting] Set the notch frequency for position command filter 2. Yes

(Note 1) Position command Set the selection of position command filter 2 （No. 82. 0）to 2(notch filter) or 3 (γ
filter 2 Notch -notch filter).

frequency [Initial value] 10

[Setting range] 10 to 2, 000

084.0(Not [Basic setting] Set the notch width for position command filter 2. Yes

e 1) Position command Small= Narrow

filter 2 Notch width Big= Wide

[Valid condition] Set the selection of position command filter 2(No. 82. 0) to 2. (notch

filter)

[Initial value] 512

[Setting range] 128 to 2, 048

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085.0 [Basic setting] Set the high-frequency gain for position command filter 2. Yes

(Note 1) Position command Small= Vibration suppression is more effective.

filter 2 Big= Operate more faster.

High-frequency [Valid condition] Set the selection of position command filter 2(No. 82. 0) to 3. ( γ
gain -notch filter)

[Initial value] 100[%]

[Setting range] 50 to 200

086.0 [Basic setting] Set the notch depth for Position command filter 2. Yes

(Note 1) Position command Small= More deeper (Setting value 0: Notch frequency input is cut off)

filter 2 Notch Big= More shallower(100% passed when setting value is 100).

depth [Valid condition] Set the selection of position command filter 2(No. 82. 0) to 2(notch

γ
filter) or 3. ( --notch filter)

[Initial value] 0[%]

[Setting range] 0 to 100

087.0 [Special setting] When set No.65.0 to “1(enable)”, it is valid to detect the position deviation errors. No

Position deviation Normally it’s effective.

error detection When the position deviation exceeds the setting value, the output position deviation

value errors occur.

It is more difficult to detect the position deviation if the value is greater.

※
[Initial value] 196608[pulse] ( Equivalent to the number of 1.5 turns pulse)

[Setting range] 0 to 2147483647.

089.0 [Special setting] When set No.65.0 to “1(enable)”, it is valid to detect the position deviation errors. No

Delay time of The time is from exceeding setting value 「Position deviation error detection value」
position deviation to outputting position deviation error signal.

error detection It takes longer from error occurred to error output when the value is greater.

[Initial value]

～ ：
200 750W 250 [160 s]μ ・・・40ms
1k～2kW： 200 [200μs]・・・40ms

～
[Setting range] 0 32767

090.0 [Basic setting] When set No.65.1 to “1(enable)”, it is valid to detect the speed deviation errors. No

Speed deviation Normally it’s effective. When the speed deviation exceeds setting detection value,

error detection speed deviation error occurs.

value It is more difficult to detect speed deviation error if the value is greater.

～
：524[pulse/160μs] ・・・1499[r/min]
[Initial value] 200 750W

1k～2kW： 655[pulse/200μs] ・・・11499[r/min]

[Setting range] 0 to 32767

091.0 [Special setting] When set No.65.1 to “1(enable)”, it is valid to detect the speed deviation error. No

Delay time of Normally it is effective.

speed deviation The time is from exceeding setting value 「Speed deviation error detection value」 to
error detection output speed deviation error signal.

It takes longer from error occurred to error output stopped when the value is greater.

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～
[Initial value] 200 750W ： 250 [160μs] ・・・40ms
～ ： 200
1k 2kW [200μs]・・・40ms

[Setting range] 0 to 32767

102.0 [Adjustment] Set Inertia ratio by the device load . No

Inertia ratio ％
[Initial value] 250 [ ]

[Setting range] 100 to 3000

103.0 [Adjustment] Set Damping ratio on the device side. When the friction and inertia ratio is very big, the No

Damping ratio change of damping ratio value may shorten the setting time.

[Initial setting] 100 [ ]％

[Setting range] 10 to 5000

110.0 [Adjustment] Setting of auto tuning mode. No

With or without the If the movement direction of machine connected to the motor is horizontal, select

use of estimated “standard mode”. If vertical, select “Unbalanced mode”.

inertia ratio 1=Standard mode

1=Unbalanced mode

[Initial value] 1 (Standard mode)

[Setting range] 1 to 2

110.1 [Adjustment] Select whether to use real-time auto tuning. No

With(out) the use 0 = Disable

of real-time auto 1 = Enable and Apply Inertia ratio

tuning 2 = Enable and Apply Inertia ratio and Dumping ratio

[Initial value] 0 (Disable)

[Setting range] 0 to 2

113.0 [Adjustment] Set the control gain level in position control mode. If traceability to command is slow or No

Control gain level rigidity of drive system is low, set a lower value; If traceability to command is rapid or

(position control) rigidity of drive system is high, set a higher value.

～
When setting this parameter, No. 115.0 119.0 will be set automatically and No.114.0

becomes invalid.

[Initial value] 15

[Setting range] 5 to 45

113.1 [Adjustment] Set the inertia condition of position control mode. No

Inertia condition 0= Can interchange with F/W version of 2.0.4.0 or prior

1= For the device of heavy load and low rigidity, or large load changes

2= Standard setting

3= For the device of light load and CW/CCW frequently

[Initial value] 2 (Standard)

[Setting range] 0 to 3

114.0 [Adjustment] Set control level of position control mode. If traceability to command is slow or rigidity No

Control level of drive system is low, set the lower value; If traceability to command is rapid or rigidity

(position control) of drive system is high, set the higher value.

When setting this parameter, No. 115.0, No.116.0 will be set automatically and

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No.113.0 becomes invalid.

When the inertia condition No.113.1 is set to “0”(servo drive version 2.0.4.0 or prior),

the setting range is from 1 to 46.

[Initial value] 15

[Setting range] 5 to 45

115.0 [Adjustment] Set the Control gain 1 at position control mode. Higher setting value can shorten the No

Control gain 1 setting time. Set the Control gain 2 as the following values.

(position control) [Initial value] 50 [rad/s]

[Setting range] 5 to 1000

116.0 [Adjustment] Set the Control gain 2 at position control mode. Higher setting value can improve the No

Control gain 2 traceability to the command. Too high setting value can cause overshoot and vibration.

(position control) When No.113.0 control gain level or No.114.0 control level is adjusted to set

automatically, sometimes the setting values will exceed the setting range.

[Initial value] 200[rad/s]

[Setting range] 80 to 5000

117.0 [Adjustment] Set feed forward compensation ratio (speed) of the Control gain 1 in position control No

Gain FF mode. After confirming inertia ratio, adjusting this parameter will shorten the setting

compensation 1 time. Too high setting value will lead to overshoot. And too low setting value will make

(position control) setting time longer.

[Initial value] 10000[0.01 ] ％

[Setting range] 0 to 15000

118.0 [Adjustment] Set feed forward compensation ratio (torque) of the control gain 2 in position control No

Gain FF mode. It is suitable to adjust this parameter when it requires small following error and

compensation 2 precise trajectory. After Gain FF compensation 1 shortens setting time, please

(position control) increase this parameter value. If vibration occurs, adjusting No.81.0 position command

smoothing filter 2 average movement times may suppress the vibration.

％
[Initial setting] 0 [0.01 ]

[Setting range] 0 to 15000

119.0 [Adjustment] Setting integral gain in position control mode can suppress external interference. No

Integral gain When the setting value is higher, the position deviation convergence of positioning

(position control) setting will become fast. But if setting value is too high, vibration will occur.

When No.113.0 control gain level or No.114.0 control level is adjusted to set

automatically, sometimes the setting values will exceed the setting range.

[Initial value] 160[rad/s]

[Setting range] 45 to 5000

129.0 [Adjustment] Select control gain level in speed control mode. If traceability to command is slow or No

Control gain level rigidity of drive system is low, set the lower value; If traceability to command is rapid or

(speed control) rigidity of drive system is high, set the higher value.

～
When setting this parameter, No. 131.0 133.0 will be set automatically and No.130.0

becomes invalid.

[Initial value] 15

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[Setting range] 1 to 46

130.0 [Adjustment] Select control level in speed control mode. If traceability to command is slow or rigidity No

Control level of drive system is low, set the lower value; If traceability to command is rapid or rigidity

(speed control) of drive system is high, set the higher value.

When setting this parameter, No. 131.0 will be set automatically and No.129.0

becomes invalid.

[Initial value] 15

[Setting range] 1 to 46

131.0 [Adjustment] Set the control gain in speed control mode. No

Control gain 1 It corresponds to proportional gain of speed control loop.

(speed control) [Initial value] 399[rad/s]

[Setting range] 100 to 6000

132.0 [Adjustment] Set feed forward compensation in speed control mode. The higher the setting value, No

Gain FF the better the traceability to command. But Too high setting value may lead to

compensation 1 overshoot or vibration

(speed control) ％
[Initial value] 0 [0.01 ]

[Setting range] 0 to 15000

133.0 [Adjustment] Select integral gain in speed control mode. No

Integral The higher the setting value, the smaller the speed change caused by external

gain(speed disturbance.

control) [Initial value] 300[rad/s]

[Setting range] 45 to 5000

144.0 [Basic setting] Select torque command limit value in No.147.0, No.148.0 No

With or without the Confirm the following items when using torque limit.

use of torque
①「No.65.0 Selection of Position deviation error detection」, please set it to
command limit

override “0=Disable”

②「No.65.1 Selection of Speed deviation error detection」, please set it to “0=

Disable”

When the command deviation value is small, even though the torque limit is set to be

valid, it will be OK to set ① or ② to “1(enable)”.

0= Disable

1= Enable

[Initial setting] 0 (Disable)

[Setting range] 0 or 1

144.1 [Basic setting] Select the output condition for torque limit. No

Torque limit state 0= All conditions

output mode (Torque is limited by torque command limit value 1 (No.147.0), max. torque limit value

of motor and torque limit value of home position return (No. 656.0), not limited by

speed in torque control mode)

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1= Torque command limit Override 1 (No.147.0) or 2 (No.148.0)

2= Torque command limit Override 2 (No.148.0)

[Initial setting] 0 (All conditions)

[Setting range] 0 to 2

147.0 [Basic setting] It is valid when No.144.0 torque command limit override is set to “1(enable)”. No

148.0 Torque command Set torque command limit override relative to rated torque ratio.

limit override 1, 2 Tow torque limits could be set.

％ ％
[Initial value] 3000[0.1 ] for torque limit 1; 2000[0.1 ] for torque limit 2

[Setting range] 0 to 65535

151.0 [Basic setting] Set the torque command limit override relative to rated torque, if the stop type in No

Torque command No.224.0 is set to “2=prompt stop” when servo is OFF.

limit override at

prompt stop ％
[Initial value] 5000[0.1 ] (When set 3000 or more, the limit value of max. torque

command is 300%. If the setting value is bigger than 1000 , overload error will occur

according to overload characteristics specified time.

[Setting range] 0 to 65535

152.0 [Basic setting] Set Speed limit value of analog torque control mode. No

Analog torque [Initial value] Max. speed of the motor

command speed [Setting range] 0 to 10000

limit value

160.0 [Adjustment] Select torque command low-pass filter. No

Selection of torque 0=No filter

command 1= Preliminary IIR filter

low-pass filter [Initial value] 1 (Preliminary IIR filter)

[Setting range] 0 or 1

160.1 [Adjustment] Whether the notch filter is used to set the torque command. No

Torque command 0=Disable

Selection of 1=Enable

whether to use [Initial value] 0 (Disable)

notch filter [Setting range] 0 or 1

160.2 [Adjustment] Select whether to use the auto setting for torque command low-pass filter in control No

Auto setting gain level (No. 113 and No. 129).

ON/OFF for 0 = Auto setting OFF

Torque command 1 = Auto setting ON

Low-pass filter [Initial value] 1 (Auto setting ON)

[Setting range] 0 or 1

162.0 [Adjustment] Set the torque command preliminary filter time constant for Low-pass filter No

Torque command [Initial value] 20 [0.01ms]

preliminary filter [Setting range] 0 to 65535

time constant for

Low-pass filter

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168.0 [Adjustment] Set Notch filter notch frequency of Torque command No

Torque command [Initial value] 5000[Hz]

notch filter [Setting range] 0 to 5000

frequency

169.0 [Adjustment] Set notch filter width of torque command. No

Torque command Set the ratio relative to a frequency band with 0 notch depth and -3[dB] attenuation

Notch filter width rate. The larger the value, the greater the width of the notch

[Initial value] 8

[Setting range] 0 to 16

170.0 [Adjustment] Set the notch depth at the notch frequency of torque command notch filter, No

Torque command Set the I/O ratio of notch frequency. When the setting value is 0, the notch frequency

Notch filter depth input is completely cut off. When the setting value is 256, the notch frequency input is

completely through. The notch depth becomes shallow when the value is bigger.

[Initial value] 0

[Setting range] 0 to 256

193.0 [Basic setting] Adjust the gain level of current control. Yes

(Note 1) Adjustment Selecting “1”, the noise can be reduced when stops at servo ON.

Current control Item Level Noise Response

gain 0 Standard Increase Improve

1 Low Reduce Reduce

[Initial value] 0

[Setting range] 0 or 1

224.0 [Basic setting] Select the deceleration stop type when the alarm occurs or servo ON signal is off in No

Type selection motor revolution.

deceleration stop 0=No brake

at servo OFF 1=Short brake mode

2= Prompt stop

[Initial value] 1 (Short brake mode)

[Setting range] 0 to 2

224.1 [Basic setting] Select cancellation reasons for deceleration stop at servo OFF No

Deceleration stop 0 = Operating time

at Servo off: 1 = Rotations of cancelation or operating time

cancelation [Initial value] 1 (Rotations of cancelation or operating time)

reasons [Setting range] 0 or 1

224.2 [Basic setting] Enable/Disable Deceleration Stop when the voltage from a control power supply drops No

Use of a by No. 228.0.

deceleration stop 0 = Disable

in case of control 1 = Enable

power supply [Initial value] 1 (Enable)

voltage drop [Setting range] 0 or 1

226.0 [Basic setting] Set the operating time for deceleration stop at servo OFF. No

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Deceleration stop : (If “0(No brake)” is set to No.224, this parameter is invalid.)

operating time at ～750W: 313 [160μs] ・・・50ms,

[Initial value] 200W

servo off １kW～2kW: 250 [200μs] ・・・50ms

[Setting range] 0 to 16383

227.0 [Basic setting] Set the cancellation speed of deceleration stop at servo OFF. It sets the speed of No

Cancellation brake OFF cancellation.

speed of (If “0(No brake)” is set to No.224.0 and “0(Operation time)” set to No.224.1, this

deceleration stop parameter is invalid.)

and brake ～750W: 17[pulse/160μs] ・・・50r/min,

[Initial value] 200W

cancellation OFF １kW～2kW: 22[pulse/200μs] ・・・50r/min

at servo OFF. [Setting range] 0 to 32767

228.0 [Basic setting] Set the operating time of deceleration stop at control power supply voltage drop in No

Operating time of motor rotation.

deceleration stop [Initial value] 62 [160µs] ・・・10ms

at control power [Setting range] 0 to 16383 [ms]

supply voltage

drop

237.0 [Basic setting] Set the delay time between getting the input signal of Servo OFF and motor excitation No

Delay time at OFF.

servo OFF (The disconnection of COM2 and SVON terminal indicates the servo ON input signal

is OFF.)

[Initial value] ～750W: 0[160μs] ・・・0ms,

200W

１kW～2kW: 0[200μs] ・・・0ms

[Setting range] 0 to 3125

238.0 [Basic setting] ）

Set the delay time from motor excitation start to brake release output signal (MBRK No

Delay time of ON. (The connection of COM2 and SVON terminal indicates the brake release output

brake release signal is ON.)

[Initial value] ～750W: 25[pulse/160μs],

200W

１kW～2kW: 20[pulse/200μs]
[Setting range] 0 to 3125

257.0 [Basic setting] Select an option for Absolute system or Incremental system. Yes

Selection of an 0 = Incremental system

encoder system 1 = Absolute system (multi-rotation counter overflow detection disabled)

2 = Absolute system (multi-rotation counter overflow detection enabled)

[Initial value] 0 (Incremental system)

[Setting range] 0 to 2

272.1r [Basic setting] Set the rotation direction of encoder output. Yes

Encoder output 0 = Down counting in the case of CCW rotation

rotation direction 1 = Up counting in the case of CCW rotation

[Initial value] 1 (Up counting in the case of CCW rotation)

[Setting range] 0 or 1

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276.0r / [Basic setting] Set the division and multiplication of encoder pulse output. Yes

278.0r Division and When the 1-roration pulse number of encoder and the motor is different, set it to

multiplication of ‘Numerator / Denominator =1-roration pulse number of encoder/ 1-roration pulse

encoder pulse number of motor.

output(Numerator If the output Z-phase pulse width is narrow and the upper control device cannot

/ Denominator ) identify it correctly, we can reduce the division and multiplication ratio or speed to

increase the pulse width by encoder pulse output division and multiplication No. 276. 0

and 278. 0.

[Pulse width]= 1/ rotation speed (division/ multiplication ratio × 217)

[Initial value] (Numerator )/ (Denominator )=1000/8000

～ ；
[Setting range] (Numerator ) 1 65535 (Denominator )1 65535 ～
Frequency division/multiplication could be set to 1/32768 to 1.

But it’s necessary that [encoder resolution] × [Frequency division/multiplication] =

[multiples of 4] and output frequency must less than 4Mpps(Maximum value).

285.0 [Basic setting] Set the upper limit value for the encoder pulse output frequency. No

(Note 1) Encoder pulse Set according to the signal input specification of the upper controller.

output frequency [Initial value] 1, 125[ kHz]

Upper limit ～
[Setting range] 25 1, 125

286.0 [Basic setting] Set the delay time of error detection for encoder pulse output frequency. No

(Note 1) Encoder pulse [Valid condition] When the setting value is 0, the setting is same to the drives of

output frequency version 3. 6. 2. 0 or before.

Error detection [Initial value] 0[ms]

delay time [Setting range] 0 to 2, 000

288.0 / [Adjustment] This parameter is for the low-pass filter that smooths analog torque command input. No

289.0 Analog torque It's valid when No.302.1 =1(enable).

command input When the value is small, the smoothing becomes stronger, but the traceability to

filter (Denominator command drops.

/Numerator) When the value is bigger, the traceability to command improves, but it is easy to be

disturbed.

Numerator / Denominator cannot exceed “1”.

If Numerator / Denominator=1, no filtering.

[Initial value] Numerator / Denominator= 16000/65535

[Setting range] 0 to 65535/1 to 65535

290. 0 / [Adjustment] Set Analog torque command input gain. No

291. 0 Analog torque Input of Analog command voltage =-10V or +10V with (Numerator)/(Denominator)=1

command input attains motor peaks torque.

gain (Denominator Motor rotation direction differs according to the selection of analog command voltage

/Numerator) symbols and characteristics.

※For the details of peaks torque, refer to [Basic specification].

[Initial value] (Numerator) / (Denominator) = 3100/3100 (Varies with different motor

models)

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[Setting range] 0 to 65535/1 to 65535

292. 0/ [Basic setting] Set Analog torque command CCW torque limit Override No

293. 0 Analog torque Analog command CCW torque limit =motor peak torque × (Override

command CCW (Numerator)/Override(Denominator))

torque limit [Initial value] (Numerator) / (Denominator) = 3100/3100 (Varies with motor models)

Override [Setting range] 0 to 65535/1 to 65535

(Denominator/

Numerator)

294. 0/ [Basic setting] Set Analog torque command CW torque limit Override No

295. 0 Analog torque Analog command CW torque limit =motor peak torque × (Override

command CW (Numerator)/Override(Denominator))

torque limit [Initial value] (Numerator) / (Denominator) = 3100/3100 (Varies with motor models)

Override [Setting range] 0 to 65535/1 to 65535

300. 0 [Basic setting] Set Analog torque command Fixed offset value. No

Analog torque This parameter is valid when No.302.2 =1. If the input voltage is 0V, the state of analog

command Fixed torque command input is 0%.

offset value <Setting method>

1. Servo ON (The motor rotates automatically if offset deviation occurs)

2. Observe the torque command value, and set offset value.

[Initial value] 0

[Setting range] -32768 to 32767

302. 0 [Basic setting] Set Rotation direction of Analog torque command input. No

Analog torque ，
0 = CCW rotation by negative input voltage CW rotation by Positive input voltage

command 1 = CCW rotation by positive input voltage，CW rotation by negative input voltage

Rotation direction [Initial value] 1 (CCW rotation by positive input voltage)

[Setting range] 0 or 1

302. 1 [Basic setting] Enable/Disable Input filter for Analog torque command. It can be done by No. 288. 0 No

Analog torque and No. 289. 0.

command Input 0 = Disable

filter option 1 = Enable

[Initial value] 1

[Setting range] 0 or 1

302. 2 [Basic setting] Select Offset adjustment method of Analog torque command. No

Analog torque Auto tuning is that the input voltage can make the torque command 0% at servo ON.

command Offset Manual tuning is to input offset value by manual to make torque command 0% at input

adjustment voltage 0V. Offset value can be adjusted by No.300.0 (Analog torque command Fixed

method offset value)

0 = Auto tuning

1 = Manual tuning

[Initial value] 1 (Manual tuning)

[Setting range] 0 or 1

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305.0 [Basic setting] Set the detection time for the instantaneous voltage-drop of main circuit power. No

(Note 1) Instantaneous [Initial value] 80[ms]

voltage drop [Setting range] 20 to 50, 000

Detection delay

time

357.0 [Basic setting] Set the notch frequency for position command filter 3. No

(Note 1) Position command （ ） （ ） （γ-notch

[Valid condition] Set the selection of filter 3 No. 82. 1 to 2 notch filter or 3

filter 3 filter ）
Notch frequency [Initial value] 10

[Setting range] 10 to 2, 000

358.0 [Basic setting] Set the notch width for the position command filter 3. No

(Note 1) Position command Small=Narrow

filter 3 Big=Wide

Notch width [Valid condition] Set the selection of filter 3(No. 82. 1) to 2 (notch filter).

[Initial value] 512

[Setting range] 128 to 2, 048

359.0 [Basic setting] Set the high-frequency gain for Position command filter 3. No

(Note 1) Position command Small= Vibration suppression is more effective.

filter 3 Big= Operate more faster.

High-frequency [Valid condition] Set the selection of position command filter 3(No. 82. 1) to 3. ( γ
gain -notch filter)

[Initial value] 100[%]

[Setting range] 50 to 200

360.0 [Basic setting] Set the notch depth for Position command filter 3. No

(Note 1) Position command Small= More deeper (Setting value 0: Notch frequency input is cut off)

filter 3 Big= More shallower(100% passed when setting value is 100).

Notch depth [Valid condition] Set the selection of position command filter 3(No. 82. 1) to 2(notch

γ
filter) or 3. ( --notch filter)

[Initial value] 0[%]

[Setting range] 0 to 100

385. 0 [Basic setting] Set Acceleration time for the JOG operation No

JOG operation: This parameter set a duration for the speed command to accelerate from 0 rpm to

Acceleration time 1000rpm.

[Initial value] 1000[ms]

[Setting range] 0 to 60000[ms]

386. 0 [Basic setting] Set Deceleration time for the JOG operation No

JOG operation: This parameter set a duration for the speed command to accelerate from 1000 rpm to

Deceleration time 0rpm.

[Initial value] 1000[ms]

[Setting range] 0 to 60000[ms]

387. 0 [Basic setting] Set a target speed of the JOG operation. No

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JOG operation: [Initial value] 300[ r/mi n]

Target speed [Setting range] For 50W ～100W：0～6300[ r/mi n]

For 200W～400W：0～5000[ r/mi n]

For 750W: 4500[ r/mi n]

For 1kW ～2kW：0～3000[ r/mi n]

Note) Alarm occurs when it exceeds max. speed. Do not exceed the max.speed.

388.0 [Basic setting] It is valid when control mode No.2.0 is set to “1=speed control mode” and command No

Selection of mode selection No.3.0 is set to “3=Internal generation command” . Select command

Internal speed type of internal speed command. No.390.0 and No.391.0 are used to set

command type ～
acceleration/deceleration time of internal speed command. No.392.0 399.0 are used

to set the target speed.

0 = zero command input

1 = internal speed command(trapezoid speed command with 8 phases)

[Initial value] 0

[Setting range] 0 or 1

390.0 [Basic setting] It is valid when control mode No.2.0 is set to “1=speed control mode” , command No

Internal speed mode selection No.3.0 is set to “3=Internally generated command” , and internal

command speed command type No.388.0 is set to “1= trapezoidal speed command” . Set the

Acceleration time acceleration time of internal speed command input. Set the time of speed command

from 0rpm to 1000rpm. No.391.0 is used to set internal speed command deceleration

～
time. No.392.0 399.0 are used to set the target speed.

[Initial value] 1000 [ms]

[Setting range] 0 to 60000

391.0 [Basic setting] It is valid when control mode No.2.0 is set to “1=speed control mode” , command No

Internal speed mode selection No.3.0 is set to “3=Internal generation command” , and internal

command speed command type No.388.0 is set to “1= trapezoidal speed command” . Set the

Deceleration time deceleration time of internal speed command input. Set the time of speed command

from 1000rpm to 0rpm. No.390.0 is used to set internal speed command acceleration

～
time. No.392.0 399.0 are used to set the target speed.

[Initial value] 1000 [ms]

[Setting range] 0 to 60000

392.0 [Basic setting] It is valid when control mode No.2.0 is set to “1=speed control mode” , command No

393.0 Internal speed mode selection No.3.0 is set to “3=Internal generation command” , and internal

394.0 command speed command type No.388.0 is set to “1= trapezoidal speed command” . Internal

395.0 Target speed 1 speed command acceleration/deceleration time is set in No.390.0 and No.391.0. Set

396.0 Target speed 2 8-phase target speed of internal speed command input. The switch of target speed can

397.0 Target speed 3 be realized by following combination of 8pin, 9pin and 10pin in CN1.

398.0 Target speed 4 Target speed I5(8pin in CN1) I6(9pin in CN1) I7 (10pin in CN1)
399.0 Target speed 5 1 Open Open Open
Target speed 6 2 Short circuited Open Open
Target speed 7 3 Open Short circuited Open
Target speed 8
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4 Short circuited Short circuited Open

5 Open Open Short circuited

6 Short circuited Open Short circuited

7 Open Short circuited Short circuited

8 Short circuited Short circuited Short circuited

[Initial value]

Target speed 1: 500 [r/min]

Target speed 2: 1000 [r/min]

Target speed 3: 1500 [r/min]

Target speed 4: 2000 [r/min]

Target speed 5: 2500 [r/min]

Target speed 6: 3000 [r/min]

（ ～750W motor）[r/min]
Target speed 7: 4000 200W

3000（1KW～2KW motor）[r/min]

Target speed 8: 5000（200W～400W motor）[r/min]

4500（750W motor）[r/min]

3000（1KW～2KW motor）[r/min]

[Setting range] 0 to the highest speed of motor

642. 0 [Basic setting] Set Operation mode for position control mode and internal generation command. No

Internal speed 0 = Point Table

command - 1 = Communication operation

Operation mode 2 = Manual pulse input

[Initial value] 1 (Communication operation)

[Setting range] 0 to 2

643. 0 [Special setting] Enable/Disable Internal position command Overflow detection function. Yes

Internal speed 0 = Disable

command - 1 = Enable

Overflow detection To prevent the absolute position from disappearing when the target position exceeds

option the absolute position range in Point table or communication operation.

When “1 = Enable” is set and the target position (ABS position command) in operation

command exceeds absolute position, the alarm of internal position command overflow

will occur. When “0 = Disable” is set and the target position exceeds absolute

position, it can implement relative operation, not the absolute operation. The relative

operation is that the point table operation command method is set to the operation of

relative value and test-run. The absolute operation is that the point table operation

command method is set to the operation of absolute value.

[Initial value] 1

[Setting range] 0 to 1

644. 0 [Special setting] Set Point No. output method from user I/O output to PM1...3 in positioning operation. No

Point No. output 0 = Output Operation start point at Operation start

method 1 = Output Operation start point at Operation end

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2 = Output each point No.at each operation start

[Initial value] 1 (Output Operation start point at Operation end)

[Setting range] 0 to 2

645. 0 [Special setting] Select Base signal 1 at determine Home position. No

Base signal 1 0 = Arbitrary position

selection for Home 1 = Stopper

position 2 = Home position DOG front end

[Initial value] 2 (Home position DOG front end)

[Setting range] 0 to 2

645. 1 [Special setting] Set another base signal(Base signal 2)for home position after detecting Base signal 1. No

Base signal 2 0 = None

selection for Home 1 = Encoder Phase Z

position [Initial value] 0 (None)

[Setting range] 0 to 1

645. 3 [Special setting] Set the Base signal 1 redetection in creep speed after detecting home position DOG No

Home position front end.

Base signal 1 0 = Disable

redetection 1 = Enable

[Initial value] 0 (None)

[Setting range] 0 to 1

646. 0 [Special setting] Set Home position return direction. No

Home position 0 = CCW direction

return direction 1 = CW direction

[Initial value] 0 (CCW direction)

[Setting range] 0 to 1

646. 1 [Basic setting] Set Home position sensor input polarity. No

Home position 0 = When OFF, detect Home position DOG front end

sensor input 1 = When ON, detect Home position DOG front end

polarity [Initial value] 0 (When OFF, detect Home position DOG front end)

[Setting range] 0 to 1

646. 2 [Basic setting] Enable/Disable Home position return Timeout. No

Home positon 0 = Disable

return Timeout 1 = Enable

option [Initial value] 1 (Enable)

[Setting range] 0 to 1

646.3 [Basic setting] Select a function for Point No.0 when PCSTART1 is put into user I/O in forward start. No

Point No.0 0 = Return to home position

function selection 1 = Point table operation

[Initial value] 0 (Return to home position)

[Setting range] 0 to 1

647. 0 [Basic setting] Select whether to switch the torque limit value of home position return to home position No

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Home position return limit value.

return Torque limit 0 = Disable

option 1 = Enable

The torque limit detected by stopper is irrelative to the setting of this parameter in

using home position return of stopper.

[Initial value] 0 (Disable)

[Setting range] 0 to 1

647. 1 [Basic setting] Select “ 1= Move” from home position base signal 1 detection to home position No

Action at home completion.

position return 0 = No move

completion 1 = Move

[Initial value] 0 (No move)

[Setting range] 0 to 1

648. 0 [Basic setting] Set the speed after the home position base signal 1 is detected. No

Home position [Initial value] 500[rpm]

return Speed [Setting range] 1 to Max. speed of motor

649. 0 [Basic setting] Set the creep speed after the home position base signal 1 is detected. No

Home position [Initial value] 10[rpm]

return Creep [Setting range] 1 to Max. speed of motor

speed

650. 0 [Basic setting] Set Acceleration/Deceleration time for Home position return No

Home position This parameter sets Acceleration time and Deceleration time per 1000rpm.

return If the load inertia ratio is 10 times or more, set up a value more than the initial value of

Acceleration/Dece 30. Otherwise, vibration will occur.

leration time [Initial value] 30[ms/1000rpm]

～
[Setting range] 0 to 5000

651. 0 [Special setting] Set shift quantity from the position where the Base signal was detected to the home No

Home position position.

Return [Initial value] 0 [Command unit]

Shift-to-home-posi [Setting range] 0 to 1,000,000,000

tion quantity

653. 0 [Special setting] Set a position at the time of home position return complete. No

Home position [Initial value] 0 [Command unit]

return Home [Setting range] -1,000,000,000 to 1,000,000,000

position data

655. 0 [Special setting] Set Torque limit detection at the time of press home position return. No

Home position [Initial value] 100 [ms]

return Press [Setting range] 5 to 1,000

detection time

656. 0 [Special setting] Set Torque limit value at the time of home position return. This value is measured in No

Home position terms of proportion to rated torque. This setting value is the torque limit value of press

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return Torque limit home position return.

value [Initial value] 500[0.1%]

[Setting range] 10 to 3,000

657. 0 [Special setting] Set a distance from the positon where Base signal 1 for home position is detected to No

Home position the position where Phase Z detection starts.

return Phase Z [Initial value] 0 [Command unit]

invalidation [Setting range] 0 to 1,000,000,000

distance

659. 0 [Special setting] Set Home position return Timeout Time. No

Home position [Initial value] 60,000[10ms]

return Timeout [Setting range] 0 to 60,000

Time

720.0 [Basic setting] Set the command method for the point table. No

740.0 Internal position 0=Absolute

~1020.0 Point table 1=Relative

(Note 1) Command method [Initial value] 0

(Note 2) [Setting range] 0 or 1

720.1 [Basic setting] Set the running operation for the point table. No

740.1 Internal position 0=Single

～ Point table 1=Continuous

1020.1 Running operation [Initial value] 0

(Note 1) (Note 2) [Setting range] 0 or 1

720.3 [Basic setting] Set the validity or invalidity for the point table. No

740.3 Internal position 0=Invalid

～ Point table 1=Valid

1020.3 Valid or invalid [Initial value] 0

(Note 1) (Note 2) [Setting range] 0 or 1

722.0 [Basic setting] Set the target position for the point table. No

742.0 Internal position [Initial value] 0 [command pul se]

～ Point table [Setting range] -1, 073, 741, 823 ～＋1, 073, 741, 823
1022.0 Position

(Note 1) (Note 2)

724.0 [Basic setting] Set the motor rotation speed for the point table.’ No

744.0 Internal position [Initial value] 0 [command pulse]

～ Point table [Setting range] 0 to the max. rotation speed of the motor

1024.0 Rotation speed

(Note 1) (Note 2)

726.0 [Basic setting] Set the acceleration time for the point table. No

746.0 Internal position [Initial value] 30[ms/(1, 000r/mi n) ]

～ Point table [Setting range] 0 to 5, 000

1026.0 Acceleration time

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(Note 1) (Note 2)

727.0 [Basic setting] Set the deceleration time for the point table. No

747.0 Internal position [Initial value] 30[ms/(1, 000r/mi n) ]

～ Point table [Setting range] 0 to 5, 000

1027.0 Deceleration time

(Note 1) (Note 2)

728.0 [Basic setting] Set the dwell time for the point table. No

748.0 Internal position [Initial value] 1[ms]

～ Point table [Setting range] 0 to 20, 000

1028.0 Dwell time

(Note 1) (Note 2)

729.0 [Basic setting] Set the positioning completion range for the point table. No

749.0 Internal position [Initial value] 20[Encoder pul se]

～ Point table ～
[Setting range] 0 32, 767

1029.0 Positioning

(Note 1) completion

(Note 2)

Note 1: This parameter is only for X3P. X3D has no this parameter.

Note 2: For the corresponding parameter No., please refer to [Table 6.2.1 Parameter list for point table].

6.2 Parameter list for point table

Table 6.2.1 Parameter list for point table

Point Position Rotation Acceleration Deceleration Command Dwell time Running Positioning valid/ Invalid

No. [Command speed time [ms] time [ms] method [-] [ms] operation [-] completion [-]

pulse] [r/min] [Encoder

pulse]

0 No.722.0 No.724.0 No.726.0 No.727.0 No.720.0 No.728.0 No.720.1 No.729.0 No.720.3

1 No.742.0 No.744.0 No.746.0 No.747.0 No.740.0 No.748.0 No.740.1 No.749.0 No.740.3

2 No.762.0 No.764.0 No.766.0 No.767.0 No.760.0 No.768.0 No.760.1 No.769.0 No.760.3

3 No.782.0 No.784.0 No.786.0 No.787.0 No.780.0 No.788.0 No.780.1 No.789.0 No.780.3

4 No.802.0 No.804.0 No.806.0 No.807.0 No.800.0 No.808.0 No.800.1 No.809.0 No.800.3

5 No.822.0 No.824.0 No.826.0 No.827.0 No.820.0 No.828.0 No.820.1 No.829.0 No.820.3

6 No.842.0 No.844.0 No.846.0 No.847.0 No.840.0 No.848.0 No.840.1 No.849.0 No.840.3

7 No.862.0 No.864.0 No.866.0 No.867.0 No.860.0 No.868.0 No.860.1 No.869.0 No.860.3

8 No.882.0 No.884.0 No.886.0 No.887.0 No.880.0 No.888.0 No.880.1 No.889.0 No.880.3

9 No.902.0 No.904.0 No.906.0 No.907.0 No.900.0 No.908.0 No.900.1 No.909.0 No.900.3

10 No.922.0 No.924.0 No.926.0 No.927.0 No.920.0 No.928.0 No.920.1 No.929.0 No.920.3

11 No.942.0 No.944.0 No.946.0 No.947.0 No.940.0 No.948.0 No.940.1 No.949.0 No.940.3

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12 No.962.0 No.964.0 No.966.0 No.967.0 No.960.0 No.968.0 No.960.1 No.969.0 No.960.3

13 No.982.0 No.984.0 No.986.0 No.987.0 No.980.0 No.988.0 No.980.1 No.989.0 No.980.3

14 No.1002.0 No.1004.0 No.1006.0 No.1007.0 No.1000.0 No.1008.0 No.1000.1 No.1009.0 No.1000.3

15 No.1022.0 No.1024.0 No.1026.0 No.1027.0 No.1020.0 No.1028.0 No.1020.1 No.1029.0 No.1020.3

7. Timing chart

7.1 Power ON

Figure 7.1.1 Power ON

Note 1) About I/O status, “C” indicates the internal output circuit contact or external contact is close, while “O” means open.

Note 2) After the parameters are cleared, 5sec is needed for T1 because of parameter initialization.

Note 3) When /ERROR and main circuit power supply PRDY is ON, S-RDY is ON.

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→
7.2 Servo OFF ON

Note 1) About I/O status, “C” indicates the internal output circuit contact or external contact is close, while “O” means open.

Note 2) The servo can be not ON when motor speed is less than 30rpm..

Note 3) T1 can be set in parameter No.238.0. (Initial value 4msec, value range: 0 to 500msec)

7.3 Servo stop

→ （
7. 3. 1 Servo ON OFF motor stops ）
When servo OFF, the deceleration stop release condition is to reach the speed release, or after specified running

time(Parameter No.224.0=1, initial setting) , the motor speed is below the servo OFF deceleration stop release speed

(Parameter No.227.0=50rpm, initial setting).

→
Figure 7.3.1 Servo ON OFF (motor stops)

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Note 1) About I/O status, “C” indicates the internal output circuit contact and external contact is close, while “O” means open.

Note 2) T1 can be set in parameter No.237.0 (initial setting 0msec, changeable range: 0 to 500msec).

7.3.2 Servo ON →OFF(motor rotates)

When servo OFF, the deceleration stop release condition is to reach the speed release, or after specified running time

(Parameter No.224.0=1, preferences) but motor speed is above the servo OFF deceleration stop release speed r (Parameter

No.227.0=50rpm, preferences).

Figure 7.3.2 Servo ON →OFF(motor rotates)

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Note 1) About I/O status, “C” indicates the internal output circuit contact and external contact is close, while “O” means open.

Note 2) When servo OFF, it stops in the selected deceleration stop mode(Parameter No.224.0)..

Note 3) Immediate stop and short-circuit brake will finish when it meets the conditions of deceleration stop at servo OFF

(ParameterNo.224.1, 226.0, 227.0)

Note 4) MBRK will be OFF when the deceleration stop has completed or the motor speed is to reach the setting value

specified in parameter No.227.0. If deceleration stop mode is selected to the free-run (parameter No.224.0) at servo OFF, the

MBRK will be OFF when motor excitation is OFF.

7.4 At occurrence of alarm

Figure 7.4.1 At occurrence of alarm

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Note 1) About I/O status, “C” indicates the internal output circuit contact and external contact is close, while “O” means open.

Note 2) At servo OFF, via type selection, the deceleration stop (parameter No.224.0) will be:.

a) Prompt stop or short brake via short brake deceleration stop

b) Free run, free run stop

Note 3) Deceleration stop will finish when it meets the conditions of deceleration stop at servo OFF (parameter No.224.1,

226.0, 227.0) .

Note 4) MBRK will be OFF when the deceleration stop has completed or the motor speed is below the setting value specified

in parameter No.227.0. (excluding the occurrence of the alarm in Note 6)

Note 5) The MBRK will be OFF when motor excitation is OFF, when the free run is selected in No.224.0.

Note 6) When the following alarms occur, MBRK will be OFF right after internal alarm state is ERROR ..

a) Encoder error

b) Undervoltage of control power supply

c) Inverter output error

Note 7) When the following alarms occur, the deceleration stop will be in the following ways.

a) If motor speed cannot be detected due to encoder error. It will be OFF at the operation time in No.226.0.

b) Selection of deceleration stop at the power supply voltage(No.224.2) drops. When selecting 0(=Disable), free-run

stops. When selecting 1(=Enable), it will be OFF after the operation time (No.228.0) of power supply drop deceleration stop.

As the CPU will stop immediately, the actual operation time will be shortened.

c) Free-run stops as the inverter output error( inverter error 1, overvoltage error, overcurrent error, base circuit break)..

Note 8) When the following alarms occur, SERVO signal can be delayed to deceleration stop OFF.

a) Encoder error

b) Undervoltage of control power supply

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7.5 Alarm reset

7.5.1 Alarm reset (SVON=ON)

Figure 7.5.1 Alarm reset (SVON=ON)

Note 1) About I/O status, “C” indicates the internal output circuit contact and external contact is close, while “O” means open.

Note 2) The servo can be not ON when motor speed is less than 30rpm.

Note 3) T1 can be set in parameter No.238.0.(Initial value 4msec, value range: 0 to 500msec)

7.5.2 Alarm reset (SVON=OFF)

Figure 7.5.2 Alarm reset (SVON=OFF)

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Note 1) About I/O status, “C” indicates the internal output circuit contact and external contact is close, while “O” means open.

8. Operation

8.1 Preface

8.1.1 Preface

This product can drive the motor by 5 operation modes of combination of control mode and command mode.

This chapter describes the operation method of different operation modes.

■ Position control mode (Pulse position command input)

1) Wiring for user I/O (CN1) connector

The following three kinds of signals can be input in position control mode.

- Differential input

- 24V open collector input

- 5V open collector input

2) The setting of basic parameter

3) Test run

■ Speed control mode(Analog speed command input)

1) Wiring for user I/O (CN1) connector

2) The setting of basic parameter

3) Test run

■ Speed control mode(Internal speed command)

1) Wiring for user I/O (CN1) connector

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2) The setting of basic parameter

3) Test run

■ Torque control mode (Analog torque command input)

1) Wiring for user I/O (CN1) connector

2) The setting of basic parameter

3) Test run

■ Position control mode (Internal position command)

8.1.2 Precautions

Table 8.1.1 Precautions

Make sure to cut off all phases of power supply To .prevent electric shock, fire, malfunction and injury

before wiring.

The wiring should be performed by the professional To .prevent electric shock, fire, malfunction and injury

electrical engineer.

Make sure all the wiring should be connected To .prevent electric shock, fire, malfunction and injury

properly before power ON.

8.1.3 Common parameters

The common parameters in the following table should be set in all the operation

modes.
Point
Set the following parameters according to the using status.

For details, refer to [Chapter 6 Parameter list].

Table 8.1.2 Common parameter list

Types Names No. Reference

Common Control mode 2.0

parameters Command mode 3.0

Operation mode 9.0

Torque command Switch 144.0

range Value 1 147. 0

Value 2 148. 0

Torque limit output 144.1

Delay time for servo OFF 237. 0

Delay time for mechanical brake release 238. 0

Absolute system 257. 0

Encoder pulse output Rotation direction 257.0

Division and Numerator 276. 0

multiplication Denominator 278. 0

RS-485 Switch 8. 0

communication Address 4. 0

Communication speed rate 6. 0

Stop bit 6. 1

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Parity 6. 2

Minimum response time 11. 0

Fault detection Position deviation Switch 65. 0

Value 87. 0

Delay time 89. 0

Speed deviation Switch 65. 1

Value 90. 0

Delay time 91. 0

Encoder pulse output Frequency upper limit 285. 0

Delay time 286. 0

Instantaneous voltage-drop Delay time 305. 0

Drive restriction Setting 67. 0

options Deceleration method 67. 1

Stop status 67. 2

Keep position deviation counter 67. 3

Deceleration stop Method 224. 0

Release condition 224. 1

Operation time 226. 0

Rotation cancellation 227. 0

Control power supply error Switch 224. 2

Operation time 228. 0

Torque command range 151. 0

8.1.4 Setting method for basic parameter

To drive the motor in the different operation modes, the setting and operation of the related basic parameter should be done

necessarily. Here are the steps of parameter setting and change by using ‘setting panel’ and HCX-SETUP’.

■By setting panel

1. Switch on the power supply to the drive

2. Set the basic parameter according to the following steps.

Table 8.1.3 Change of the basic parameter (By setting panel)

Display and operation Description

Initial display at the start.

Press button four times Switch to the mode of setting panel.

Switch to the parameter mode. You can change the parameter No. here. (Display

parameter 2.0)

Press button once Display the setting value of parameter 2.0.

Display the setting value of parameter 2.0.

The flickering bit is changeable.

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Press button Press the UP or DOWN to input the parameters.

Confirm the parameter value. (Display in ‘Speed control mode’.)

Press button once After setting the parameter on the RAM of the drive, the display changes from flickering to

light.

Press button once Return to the display of parameter No.

Return to the display to change the parameter No.

(Display parameter 2.0)

Press button Press UP button to change the parameter No.

Display parameter 3.0.

Press button once Display the setting value of parameter 3.0.

Press button to set the related parameters. We can go to the next step after all the parameters are set.

Press three times Switch to the mode of setting panel.

Switch to parameter saving mode.

Press button once Save the parameter to the EEPROM in drive.

(When saving, 『P』 in 『SAVE_P』 will flicker.)

To the end.

- Please cut off the power supply to the drive and restart. After restart the power, the setting

will be effective.

Figure 8.1.1 Setting method for basic parameter (by HCX-SETUP)

Step Display and operation
Note 1)
1 Switch on the control power supply to the drive.
2

Use USB cable to connect CN3(PC communication connector) on the drive and PC, then start
HCX-SETUP.

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The information for the servo drive will be displayed on the [Communication setting] screen
4

Click [Connect] button to communicate with the servo drive.

5

Select [Parameter]. When changing the value of parameter, the asterisk “*” will show in the [Change
setting].

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Click [Set] button to write the parameters modified into the drive RAM.(The asterisk “*” will disappear.)
Click [Write] button to store the parameter into the EEPROM of the drive.
7

After click [Communication setting] button, click [Disconnect] to disconnect the communication with the
servo drive.
8 Switch off the control power to the drive and restart.
The change status will not be displayed before restarting the control power supply.
Note 1: The control power for models of 750W or less is supplied from external 24VDC.For 1kW or more, is supplied from

internal. Therefore, the control power for models of 1kW or more can be ON/OFF by switching on/off the AC power supply of

main circuit.

8.2 Position control mode (Pulse position command input)

8.2.1 Wiring for user I/O connector (CN1) (Differential input)

Name Symbol Terminal Signal name Contents

No.
User I/O CN1 1 24V Drive control power supply 24V input
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●24V power 2 G24V Drive control power supply GND

supply input 3 COM+ I/O power supply 24V input
●Parallel I/O 4 SVON Servo ON input
●Pulse command 5 RESET Alarm reset input
input 6 HOLD Command input restriction
●ABZ output
7 PCLR Deviation counter clear input
8 - Reserved
9 CCWL CCW drive input restriction
10 CWL CW drive input restriction
11 TLSEL1 Torque limit input
12 COM- I/O power supply GND
13 MBRK Brake release output
14 SERVO Servo status output
15 POSIN Position completion output
16 - Reserved
17 T-LIMIT Torque limit output
18 OCZ Encoder Z-phase output (open collector)
19 SRDY+ Servo ready output +
20 SRDY- Servo ready output -
21 ALM+ Servo alarm output+
22 ALM- Servo alarm output-
23 NC1 Reserved (Disconnected)
24 - Reserved
25 - Reserved
26 CMD_PLS Pulse command, pulse, orthogonal phase
difference A-phase, CCW
27 /CMD_PLS Pulse command, /pulse, orthogonal phase
difference /A-phase, /CCW
28 - Reserved
29 - Reserved
30 CMD_DIR Pulse command, direction, orthogonal phase
difference B-phase, CW
31 /CMD_DIR Pulse command, /direction, orthogonal phase
difference /B-phase, /CW
32 - Reserved
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33 - Reserved
34 - Reserved
35 - Reserved
36 OUT_A Encoder A phase output
37 /OUT_A Encoder /A phase output
38 OUT_B Encoder B phase output
39 /OUT_B Encoder /B phase output
40 OUT_Z Encoder Z phase output
41 /OUT_Z Encoder /Z phase output
42 SG Signal ground
43 485 RS-485 communication data
44 /485 RS-485 communication /data
45 SG Signal ground
46 NC2 Reserved(Disconnected)
47 - Reserved
48 - Reserved
49 - Reserved
50 - Reserved

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Note 1）Control power supply(24V, G24V) and I/O power (COM+, COM-) share the same power supply(For the models of
750W or less).
Note 2）If there is drive inductive load(relay), please use protective circuits(diode).
Note 3) Transistor output is an open collector output circuit of the Darlington-connected. It should be connected with relay or
optocoupler. Please don’t connect transistor directly because the voltage VCE(SAT) between collector and emitter is about
1V which cannot meet the required voltage VIL of TTL IC when transistor is ON.
Note 4) Terminal resistance must be connected as shown in the wiring diagram.

Note 5) Connect the signal ground on the host control device of output signal of the encoder. The connection of signal ground

and power supply GND may cause malfunction.

Note 6) If the pulse width of Z-phase is too narrow to identify the host control device, please reduce the encoder pulse output

division and multiplication No.276.0, 278.0 or reduce the speed to increase the pulse width.[Pulse width]=1/speed/(division

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and multiplication×217).

8.2.2 Pulse position command input (24V open collector input)

Name Symbol Terminal Signal name Contents

No.
User I/O CN1 1 24V Drive control power supply 24V input
●24V power 2 G24V Drive control power supply GND
supply input 3 COM+ I/O power supply 24V input
●Parallel I/O 4 SVON Servo ON input
●Pulse command 5 RESET Alarm reset input
input
6 HOLD Command input restriction
●ABZ output
7 PCLR Deviation counter clear input
8 - Reserved
9 CCWL CCW drive input restriction
10 CWL CW drive input restriction
11 TLSEL1 Torque limit input
12 COM- I/O power supply GND
13 MBRK Brake release output
14 SERVO Servo status output
15 POSIN Position completion output
16 - Reserved
17 T-LIMIT Torque limit output
18 OCZ Encoder Z-phase output (open collector)
19 SRDY+ Servo ready output +
20 SRDY- Servo ready output -
21 ALM+ Servo alarm output+
22 ALM- Servo alarm output-
23 NC1 Reserved (Disconnected)
24 - Reserved
25 - Reserved
26 CMD_PLS Reserved
27 /CMD_PLS Pulse command, pulse, orthogonal phase
difference A-phase, CCW
28 CC-P 24V for pulse command PSL
29 CC-D 24V for pulse command DIR
30 CMD_DIR Reserved
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31 /CMD_DIR Pulse command, direction, orthogonal phase

difference B-phase, CW
32 - Reserved
33 - Reserved
34 - Reserved
35 - Reserved
36 OUT_A Encoder A phase output
37 /OUT_A Encoder /A phase output
38 OUT_B Encoder B phase output
39 /OUT_B Encoder /B phase output
40 OUT_Z Encoder Z phase output
41 /OUT_Z Encoder /Z phase output
42 SG Signal ground
43 485 RS-485 communication data
44 /485 RS-485 communication /data
45 SG Signal ground
46 NC2 Reserved(Disconnected)
47 - Reserved
48 - Reserved
49 - Reserved
50 - Reserved

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Note 1）Control power supply(24V, G24V) and I/O power (COM+, COM-) share the same power supply(For the models of
750W or less).
Note 2）If there is drive inductive load(relay), please use protective circuits(diode).
Note 3) Transistor output is an open collector output circuit of the Darlington-connected. It should be connected with relay or
optocoupler. Please don’t connect transistor directly because the voltage VCE(SAT) between collector and emitter is about
1V which cannot meet the required voltage VIL of TTL IC when transistor is ON.
Note 4) Terminal resistance must be connected as shown in the wiring diagram.

Note 5) Connect the signal ground on the host control device of output signal of the encoder. The connection of signal ground

and power supply GND may cause malfunction.

Note 6) If the pulse width of Z-phase is too narrow to identify the host control device, please reduce the encoder pulse output

division and multiplication No.276.0, 278.0 or reduce the speed to increase the pulse width.[Pulse width]=1/speed/(division

and multiplication×217).

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8.2.3 Pulse position command input (5V open collector input)

Name Symbol Terminal Signal name Contents

No.
User I/O CN1 1 24V Drive control power supply 24V input
●24V power 2 G24V Drive control power supply GND
supply input 3 COM+ I/O power supply 24V input
●Parallel I/O 4 SVON Servo ON input
●Pulse command 5 RESET Alarm reset input
input
6 HOLD Command input restriction
●ABZ output
7 PCLR Deviation counter clear input
8 - Reserved
9 CCWL CCW drive input restriction
10 CWL CW drive input restriction
11 TLSEL1 Torque limit input
12 COM- I/O power supply GND
13 MBRK Brake release output
14 SERVO Servo status output
15 POSIN Position completion output
16 - Reserved
17 T-LIMIT Torque limit output
18 OCZ Encoder Z-phase output (open collector)
19 SRDY+ Servo ready output +
20 SRDY- Servo ready output -
21 ALM+ Servo alarm output+
22 ALM- Servo alarm output-
23 NC1 Reserved (Disconnected)
24 - Reserved
25 - Reserved
26 CMD_PLS 5V for pulse command PLS
27 /CMD_PLS Pulse command, pulse, orthogonal phase
difference A-phase, CCW
28 CC-P Reserved
29 CC-D Reserved
30 CMD_DIR 5V for pulse command DIR
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31 /CMD_DIR Pulse command, direction, orthogonal phase

difference B-phase, CW
32 - Reserved
33 - Reserved
34 - Reserved
35 - Reserved
36 OUT_A Encoder A phase output
37 /OUT_A Encoder /A phase output
38 OUT_B Encoder B phase output
39 /OUT_B Encoder /B phase output
40 OUT_Z Encoder Z phase output
41 /OUT_Z Encoder /Z phase output
42 SG Signal ground
43 485 RS-485 communication data
44 /485 RS-485 communication /data
45 SG Signal ground
46 NC2 Reserved(Disconnected)
47 - Reserved
48 - Reserved
49 CC-P(5V) 5V for pulse command PLS (Built in current
limiting resistor )
50 CC-D(5V) 5V for pulse command DIR (Built in current
limiting resistor )

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Note 1）Control power supply(24V, G24V) and I/O power (COM+, COM-) share the same power supply(For the models of
750W or less).
Note 2）If there is drive inductive load(relay), please use protective circuits(diode).
Note 3) Transistor output is an open collector output circuit of the Darlington-connected. It should be connected with relay or
optocoupler. Please don’t connect transistor directly because the voltage VCE(SAT) between collector and emitter is about
1V which cannot meet the required voltage VIL of TTL IC when transistor is ON.
Note 4) Terminal resistance must be connected as shown in the wiring diagram.

Note 5) Connect the signal ground on the host control device of output signal of the encoder. The connection of signal ground

and power supply GND may cause malfunction.

Note 6) If the pulse width of Z-phase is too narrow to identify the host control device, please reduce the encoder pulse output

division and multiplication No.276.0, 278.0 or reduce the speed to increase the pulse width.[Pulse width]=1/speed/(division

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and multiplication×217).

8.2.4 Setting of basic parameter (Pulse position command input)

The factory setting is 「Pulse position command input」. It is necessary to set the following parameters if the drive is driven by
pulse position command input.

Table 8.2.4 Parameter of control mode (Pulse position command input)

Parameter No. Parameter Operation · Value

2.0 Control mode selection Set to “0”.

3.0 Command mode selection Set to “1”.

32.0 Pulse command input mode Select one in the following (Note 1)

“0”: Pulse / direction

“1”: Orthogonal phase difference

“2”: CCW/CW
34.0 Command division and multiplication (Numerator) Set to “32768”(Note 2)

36.0 Command division and multiplication (Denominator) Set to “(The number of output pulse of host control

mode)/4” (Note 2)

Note 1: Pulse command input list is shown in the following table.

Table 8.2.5 Pulse command input list

Parameter Input signal Signal name The minimum necessary time range (t1, t2, t3, t4, t5, t6)

No.32.0 pulse Positive direction Negative direction

command input

mode

0 Pulse ·direction Pulse

(Initial value) Command pulse CMD_PLS

Direction

CMD_DIR

1 AB-phase A-phase

orthogonal phase CMD_PLS

pulse B-phase

CMD-DIR

2 Positive direction CCW CMD-PLS

pulse CW CMD-DIR

Negative

direction pulse

Note 2: Set when 1-rotation pulse (131,072) of host control device and drive is different. For details, refer to 「Chapter 4
」
Parameter list .

Set the following parameters according to the using status.

Table 8.2.6 Parameter for pulse train position command input

Parameter No. Parameter Description

32.1 Pulse train command input Rotation direction For details, refer to 8.2.7.

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32.3 Selection of Pulse train input logic Select the logic of pulse train

33.0 Pulse train command - Input filter selection Reduce the misoperation caused by input

command pulse interference.

64.0 Positioning completion determination method Specify the conditions of positioning completion.

68.0 Positioning completion range

69.0 Positioning completion speed

70.0 Positioning completion Pulse train command

input (speed)

71.0 Positioning completion Detection delay time

66.0 Position command smoothing filter 1 selection Set the damping filter.

66.1 Position command smoothing filter 2 selection Suppress the resonance of device when the

80.0 Position command smoothing filter 1 Moving acceleration/ deceleration command is too high or

average order positioning.

81.0 Position command smoothing filter 2 Moving

average order

Table 8.2.7 The setting of parameter 32.1 and the rotation direction of motor (Pulse train position command input)

Value of parameter 32.1 Command pulse of host control device

Positive direction Negative direction

[Initial value]

The basic parameter and operation parameter can be set by the [Set panel] or [HCX-SETUP].

8.2.5 Test run (Pulse train position command input)

■Before test run

Table 8.2.8

Make sure all the wiring are connected properly before To prevent electric shock, fire, malfunction and injury.

switch on the power to the drive and motor.

Test run after setting the basic parameters. If set the wrong basic parameters, the motor will not

run, run unsteadily or lose control, which may cause

some injury or accidents.

Confirm the operation of the motor alone first before test The unexpected movements, such as unstable action

run. (Remove the other connection to the mechanics.) or lose control, may cause tome injury or accidents.

Drive the motor after release the brake on the motor if If not, it may cause the malfunction to the brake and

the motor is attached with the brake. motor.

■Test run
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Table 8.2.9 Steps for test run (Pulse train position command input)

Steps Operation

1 Make sure all the wiring are connected properly.

2 Switch on the power to the drive. Note 1)

3 Switch on the main circuit power to the drive(200V AC).

4 Make the SVON input of drive ON to start the motor excitation. (Connect the I 1 terminal to the COM-)

5 Input position command pulse at a relatively low speed from host control device to make the motor run at

a low speed(100r/min). Make sure the rotation direction of the motor is same to the setting direction.

6 Improve the position command pulse frequency gradually after confirming the safe implementation of

actual operation. Then confirm the operation until it comes to the specified speed.

Note1: The control power supply for the models of 750W or less are supplied by external 24V DC. 1kW or more are supplied

from internal. So the control power supply of models of 1kW or more can be ON or OFF by switching on or cutting off the main

circuit AC power.

8.3 Speed control mode (Analog speed command input)

8.3.1 Wiring for user I/O connector(CN1) (Analog speed command input)

Name Symbol Pin No. Signal name Contents

User I/O CN1 1 24V Drive control power supply 24V input
●24V power 2 G24V Drive control power supply GND
supply input 3 COM+ I/O power supply 24V input
●Parallel I/O 4 SVON Servo ON input
●Pulse command 5 RESET Alarm reset input
input
6 HOLD Command input restriction(Zero speed clamp)
●ABZ output
7 - Reserved
8 - Reserved
9 CCWL CCW drive input restriction
10 CWL CW drive input restriction
11 TLSEL1 Torque limit input
12 COM- I/O power supply GND
13 MBRK Brake release output
14 SERVO Servo status output
15 - Reserved
16 - Reserved
17 T-LIMIT Torque limit output
18 OCZ Encoder Z-phase output (open collector)
19 SRDY+ Servo ready output +
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20 SRDY- Servo ready output -

21 ALM+ Servo alarm output+
22 ALM- Servo alarm output-
23 NC1 Reserved (Disconnected)
24 - Reserved
25 - Reserved
26 - Reserved
27 - Reserved
28 - Reserved
29 - Reserved
30 - Reserved
31 - Reserved
32 A SPEED Analog speed command input
33 A_GND Analog speed command input ground
34 - Reserved
35 - Reserved
36 OUT_A Encoder A phase output
37 /OUT_A Encoder /A phase output
38 OUT_B Encoder B phase output
39 /OUT_B Encoder /B phase output
40 OUT_Z Encoder Z phase output
41 /OUT_Z Encoder /Z phase output
42 SG Signal ground
43 485 EIA-485 communication data
44 /485 EIA-485 communication /data
45 SG Signal ground
46 NC2 Reserved(Disconnected)
47 - Reserved
48 - Reserved
49 - Reserved
50 - Reserved

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Note 1）Control power supply(24V, G24V) and I/O power (COM+, COM-) share the same power supply(For the models of
750W or less).
Note 2）If there is drive inductive load(relay), please use protective circuits(diode).
Note 3) Transistor output is an open collector output circuit of the Darlington-connected. It should be connected with relay or
optocoupler. Please don’t connect transistor directly because the voltage VCE(SAT) between collector and emitter is about
1V which cannot meet the required voltage VIL of TTL IC when transistor is ON.
Note 4) Terminal resistance must be connected as shown in the wiring diagram.

Note 5) Terminal resistance must be connected as shown in the wiring diagram.

Note 6) Connect the signal ground on the host control device of output signal of the encoder. The connection of signal ground

and power supply GND may cause malfunction.

Note 7) If the pulse width of Z-phase is too narrow to identify the host control device, please reduce the encoder pulse output

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division and multiplication No.276.0, 278.0 or reduce the speed to increase the pulse width.[Pulse width]=1/speed/(division

and multiplication×217)

8.3.2 Setting of basic parameters (Analog speed command input)

Set the basic parameters.

The following parameters must be set if the drive needs to be driven by analog speed command input.

Table 8.3.2 Parameter of control mode change(Analog speed command input)

Parameter No. Parameter Description

2.0 Select control mode. Set to “1”.

3.0 Select command mode. Set to “2”.

The parameters from [48. 0] to [78. 0] in the following table can be selected according to the actual usage.

Table 8.3.3 Parameter of analog speed command input

Parameter No. Parameter Description

48.0 Analog speed command input -Filter constant（Numerator） Filter out the input command voltage

49.0 Analog speed command input -Filter constant（Denominator） interference. Use it with parameter 62.1.

50.0 Analog speed command input -Gain (Numerator) Set the speed at the maximum command

51.0 Analog speed command input -Gain (Denominator) ±

input voltage ( 10V). (Note 1)

52.0 Analog speed command CCW speed limit override value Set speed limit value at CCW

(Numerator) rotation.(Note 2)

53.0 Analog speed command CCW speed limit override value

(Denominator)

54.0 Analog speed command CW speed limit override value Set speed limit value at CW

(Numerator) rotation.(Note 2)

55.0 Analog speed command CW speed limit override value

(Denominator)

60.0 Analog speed command - Fixed offset value The motor speed is 0[ r/mi n] by

adjusting the command input to 0V. Use

it with parameter 62.2.

62.0 Analog speed command - Rotational direction For details, refer to table 5.3.4.

62.1 Analog speed command - Selection of input filter Please use it with parameter 48.0 , 49.0.

62.2 Analog speed command - Selection of offset tuning method Please use it with parameter 60.0.

77.0 Speed command smoothing filter selection Please use it with parameter 78.0.

78.0 Moving average time for Speed command smoothing filter Use it when the speed of motor is not

stable. And use it with parameter 77.0.

Note 1: Set the maximum speed for the motor in parameter 51.0(Denominator). Set the expected maximum speed in

parameter 50.0(Numerator).

Example) Make the following settings if the motor with the maximum speed of 5000 [r /mi n] needs to set to 3000 [r /mi n] at the

maximum command input voltage ( 10V). ±

Table 8.3.4 Analog speed command input Gain settings

Parameter No. Parameter Setting value

50.0 Analog speed command input -Gain (Numerator) “3000”

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51.0 Analog speed command input -Gain (Denominator) “5000”

Note 2: Set the maximum speed for the motor in parameter 53.0, 55.0(Denominator). Set the expected speed limit value in

parameter 52.0, 54.0(Numerator).

Example) Make the following settings if the motor with the maximum speed of 5000 [r /mi n] needs to set to the maximum

speed limit value of 3000 [r /mi n].

Table 8.3.5 Analog speed command Speed limit value settings

Rotation direction Parameter No. Parameter Setting value

CCW 52.0 Analog speed command “3000”

CCW speed limit value(Numerator)

53.0 Analog speed command “5000”

CCW speed limit value(Denominator)

CW 54.0 Analog speed command “3000”

CW speed limit value(Numerator)

55.0 Analog speed command “5000”

CW speed limit value(Denominator)

Table 8.3.6 Parameter 62.0 settings and rotation direction of the motor (Analog speed command input)

Value of parameter 62.0 Input analog command

Positive voltage Negative voltage

[Initial value]

8.3.3 Test run (Analog speed command input)

■Before test run

Table 8.3.7

Make sure all the wiring are connected properly before To prevent electric shock, fire, malfunction and injury.

switch on the power to the drive and motor.

Test run after setting the basic parameters. If set the wrong basic parameters, the motor will not

run, run unsteadily or lose control, which may cause

some injury or accidents.

Confirm the operation of the motor alone first before test The unexpected movements, such as unstable action

run. (Remove the other connection to the mechanics.) or lose control, may cause tome injury or accidents.

Drive the motor after release the brake on the motor if If not, it may cause the malfunction to the brake and

the motor is attached with the brake. motor.

■Test run
Table 8.3.8 Steps for test run (Analog speed command input)

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Steps Operation

1 Make sure all the wiring are connected properly.

2 Switch on the power to the drive. Note 1)

3 Switch on the main circuit power to the drive(200V AC).

4 Connect SVON terminal of CN1 connector to COM- to make the servo ON.

5 Input the analog speed command voltage at a low voltage to make the motor run at a low speed.

6 Improve the position command pulse frequency gradually after confirming the safe implementation of

actual operation. Then confirm the operation until it comes to the specified speed.

Note1: The control power supply for the models of 750W or less are supplied by external 24V DC. 1kW or more are supplied

from internal. So the control power supply of models of 1kW or more can be ON or OFF by switching on or cutting off the main

circuit AC power.

8.4 Speed control mode (Internal speed command)

8.4.1 Wiring for user I/O connector(CN1) (Internal speed command)

Name Symbol Pin No. Signal name Contents

User I/O CN1 1 24V Drive control power supply 24V input
●24V power 2 G24V Drive control power supply GND
supply input 3 COM+ I/O power supply 24V input
●Parallel I/O 4 SVON Servo ON input
●Pulse command 5 RESET Alarm reset input
input
6 VCRUN1 Input internal speed command-start 1(CCW ON)
●Analog input
7 VCRUN2 Input internal speed command-start 1(CW ON)
●ABZ output
8 VCSEL1 Input internal speed command-Speed command
selection 1
9 VCSEL2 Input internal speed command-Speed command
selection 2
10 VCSEL3 Input internal speed command-Speed command
selection 3
11 TLSEL1 Torque limit input
12 COM- I/O power supply GND
13 MBRK Brake release output
14 SERVO Servo status output
15 - Reserved
16 - Reserved
17 T-LIMIT Torque limit output
18 OCZ Encoder Z-phase output (open collector)
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19 SRDY+ Servo ready output +

20 SRDY- Servo ready output -
21 ALM+ Servo alarm output+
22 ALM- Servo alarm output-
23 NC1 Reserved (Disconnected)
24 - Reserved
25 - Reserved
26 - Reserved
27 - Reserved
28 - Reserved
29 - Reserved
30 - Reserved
31 - Reserved
32 - Reserved
33 - Reserved
34 - Reserved
35 - Reserved
36 OUT_A Encoder A phase output
37 /OUT_A Encoder /A phase output
38 OUT_B Encoder B phase output
39 /OUT_B Encoder /B phase output
40 OUT_Z Encoder Z phase output
41 /OUT_Z Encoder /Z phase output
42 SG Signal ground
43 485 EIA-485 communication data
44 /485 EIA-485 communication /data
45 SG Signal ground
46 NC2 Reserved(Disconnected)
47 - Reserved
48 - Reserved
49 - Reserved
50 - Reserved

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Note 1）Control power supply(24V, G24V) and I/O power (COM+, COM-) share the same power supply(For the models of
750W or less).
Note 2）If there is drive inductive load(relay), please use protective circuits(diode).
Note 3) Transistor output is an open collector output circuit of the Darlington-connected. It should be connected with relay or
optocoupler. Please don’t connect transistor directly because the voltage VCE(SAT) between collector and emitter is about
1V which cannot meet the required voltage VIL of TTL IC when transistor is ON.
Note 4) Terminal resistance must be connected as shown in the wiring diagram.

Note 5) Connect the signal ground on the host control device of output signal of the encoder. The connection of signal ground

and power supply GND may cause malfunction.

Note 6) If the pulse width of Z-phase is too narrow to identify the host control device, please reduce the encoder pulse output

division and multiplication No.276.0, 278.0 or reduce the speed to increase the pulse width.[Pulse width]=1/speed/(division

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and multiplication×217)

8.4.2 Setting of basic parameters (Internal speed command)

Set the basic parameters.

The following parameters must be set if the drive needs to be driven by internal speed command.

Table 8.4.2 Parameters of control mode change (Internal speed command)

Parameter No. Parameter Description

2.0 Select control mode Set to “1”.

3.0 Select command mode Set to “3”.

388.0 Type of internal speed command Set to “1”.

Table 8.4.3 Speed parameter of internal speed command

Parameter No. Parameter Description

390.0 Acceleration time (Note 1) Initial value: 1000 [ms]

391.0 Deceleration time (Note 2) Initial value: 1000 [ms]

392.0 Target speed 1 Initial value: 500 [r/mi n]

393.0 Target speed 2 Initial value: 1000 [r/mi n]

394.0 Target speed 3 Initial value: 1500 [r/mi n]

395.0 Target speed 4 Initial value: 2000 [r/mi n]

396.0 Target speed 5 Initial value: 2500 [r/mi n]

397.0 Target speed 6 Initial value: 3000 [r/mi n]

398.0 Target speed 7 Initial value: 4000 [r/mi n]

399.0 Target speed 8 Initial value: 5000 [r/mi n]

Note 1) Time for speed command from 0 [r /mi n] to 1000 [r /mi n].

Note 2) Time for speed command from 1000 [r /mi n] to 0 [r /mi n].

The speed setting parameter from [392.0] to [399.0] can be set in the specified

range, but some models cannot reach the speed shown on the setting pane. For
Points
the target speed setting, please refer to the specification of the motor.

8.4.3 Test run (Internal speed command)

■Before test run

Table 8.4.4

Make sure all the wiring are connected properly before To prevent electric shock, fire, malfunction and injury.

switch on the power to the drive and motor.

Test run after setting the basic parameters. If set the wrong basic parameters, the motor will not

run, run unsteadily or lose control, which may cause

some injury or accidents.

Confirm the operation of the motor alone first before test The unexpected movements, such as unstable action

run. (Remove the other connection to the mechanics.) or lose control, may cause tome injury or accidents.

Drive the motor after release the brake on the motor if If not, it may cause the malfunction to the brake and

the motor is attached with the brake. motor.

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■Test run
Table 8.4.5 Steps for test run (Internal speed command)

Steps Operation

1 Make sure all the wiring are connected properly.

2 Switch on the power to the drive. Note 1)

3 Switch on the main circuit power to the drive(200V AC).

4 Make the SVON input of drive ON to start the motor excitation. (Connect the I 1 terminal to the COM-)

5 （ ） （
Select the target speed according to the ON/OFF combination of I 5 VCSEL1 ,I 6 VCSEL2 and I 7 ）
（VCSEL3）. When I 3（VCRUN1）or I 4（VCRUN2）, it will rotate according to the setting direction.
ON： COM- short-circuit

OFF： COM- open-circuit

Note1: The control power supply for the models of 750W or less are supplied by external 24V DC. 1kW or more are supplied

from internal. So the control power supply of models of 1kW or more can be ON or OFF by switching on or cutting off the main

circuit AC power.

Table 8.4.6 Motor rotation direction of internal speed command

Motor rotation direction Operation

（I 3）VCRUN1 （I 4）VCRUN2
CCW ON OFF

CW OFF ON

Motor stop OFF OFF

Motor stop ON ON

Table 8.4.7 Motor rotation of internal speed command

Target speed Operation

I 5 (VCSEL1) I 6 (VCSEL2) I 7 (VCSEL3)

（CN1 8 pins） （CN1 9 pins） （CN1 10 pins）

1 OFF OFF OFF

2 ON OFF OFF

3 OFF ON OFF

4 ON ON OFF

5 OFF OFF ON

6 ON OFF ON

7 OFF ON ON

8 ON ON ON

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8.5 Torque control mode (Analog torque command input)

8.5.1 Wiring for user I/O connector (CN1)(Analog torque command input)

Table 8.5.1

Name Symbol Pin No. Signal name Contents

User I/O CN1 1 24V Drive control power supply 24V input
●24V power 2 G24V Drive control power supply GND
supply input 3 COM+ I/O power supply 24V input
●Parallel I/O 4 SVON Servo ON input
●Pulse command 5 RESET Alarm reset input
input
6 HOLD Command input restriction(Zero speed clamp)
●Analog input
7 - Reserved
●ABZ output
8 - Reserved
9 CCWL CCW drive input restriction
10 CWL CW drive input restriction
11 TLSEL1 Torque limit input
12 COM- I/O power supply GND
13 MBRK Brake release output
14 SERVO Servo status output
15 - Reserved
16 - Reserved
17 T-LIMIT Torque limit output
18 OCZ Encoder Z-phase output (open collector)
19 SRDY+ Servo ready output +
20 SRDY- Servo ready output -
21 ALM+ Servo alarm output+
22 ALM- Servo alarm output-
23 NC1 Reserved (Disconnected)
24 - Reserved
25 - Reserved
26 - Reserved
27 - Reserved
28 - Reserved
29 - Reserved
30 - Reserved
31 - Reserved
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32 A_TRQ Analog torque command input

33 A_GND Analog speed command input ground
34 - Reserved
35 - Reserved
36 OUT_A Encoder A phase output
37 /OUT_A Encoder /A phase output
38 OUT_B Encoder B phase output
39 /OUT_B Encoder /B phase output
40 OUT_Z Encoder Z phase output
41 /OUT_Z Encoder /Z phase output
42 SG Signal ground
43 485 EIA-485 communication data
44 /485 EIA-485 communication /data
45 SG Signal ground
46 NC2 Reserved(Disconnected)
47 - Reserved
48 - Reserved
49 - Reserved
50 - Reserved

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Note 1）Control power supply(24V, G24V) and I/O power (COM+, COM-) share the same power supply(For the models of
750W or less).
Note 2）If there is drive inductive load(relay), please use protective circuits(diode).
Note 3) Transistor output is an open collector output circuit of the Darlington-connected. It should be connected with relay or
optocoupler. Please don’t connect transistor directly because the voltage VCE(SAT) between collector and emitter is about
1V which cannot meet the required voltage VIL of TTL IC when transistor is ON.
Note 4) Terminal resistance must be connected as shown in the wiring diagram.

Note 5) Terminal resistance must be connected as shown in the wiring diagram.

Note 6) Connect the signal ground on the host control device of output signal of the encoder. The connection of signal ground

and power supply GND may cause malfunction.

Note 7) If the pulse width of Z-phase is too narrow to identify the host control device, please reduce the encoder pulse output

division and multiplication No.276.0, 278.0 or reduce the speed to increase the pulse width.[Pulse width]=1/speed/(division

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and multiplication×217)

8.5.2 Setting of basic parameter (Analog torque command input)

Set the basic parameters.

The following parameters must be set if the drive needs to be driven by analog torque command input.

Table 8.5.2 Parameters of control mode change (Analog torque command input)

Parameter No. Parameter Description

2.0 Select control mode Set to “2”.

3.0 Select command mode Set to “2”.

The user can select the parameter [152.0], [288.0] to [302.0] in the following table according to the actual usage.

For details, refer to 「Chapter 6 Parameter」.

Table 8.5.3 Parameters of analog torque command input

Parameter No. Parameter Description

152.0 Analog torque command Speed limit [rpm] Set the speed limit value.

288.0 Analog torque command input filter (Numerator) Filter out the input command voltage

289.0 Analog torque command input filter (Denominator) interference. Use it with parameter 302.1.

290.0 Analog torque command input gain (Numerator) Set the torque at the maximum command

291.0 Analog torque command input gain (Denominator) ±

input voltage ( 10V). (Note 1)

292.0 Analog torque command CCW torque limit Override Set torque limit value at CCW rotation.(Note

(Numerator) 2)

293.0 Analog torque command CCW torque limit

Override(Denominator)

294.0 Analog torque command CW torque limit Override Set torque limit value at CW rotation.(Note

(Numerator) 2)

295.0 Analog torque command CW torque limit

Override(Denominator)

300.0 Analog speed command - Fixed offset value The motor speed is 0[ 0.1%] by adjusting the

command input to 0V. Use it with parameter

302.2..

302.0 Analog speed command - Rotational direction For details, refer to table 5.5.6.

302.1 Analog speed command - Selection of input filter Please use it with parameter 288.0, 289.0.

302.2 Analog speed command - Selection of offset tuning Please use it with parameter 300.0.

method

Note 1: Set the maximum torque for the motor in parameter 289.0(Denominator). Set the expected maximum torque in

parameter 288.0(Numerator).

Example) Make the following settings if the motor with the maximum torque of 3000 [0.1%] needs to set to 1000 [0.1%] at the

maximum command input voltage ( 10V).±

Table 8.5.4 Analog torque command input filter settings

Parameter No. Parameter Setting value

288.0 Analog torque command Input filter constant (Numerator) “1000”

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289.0 Analog torque command Input filter constant (Denominator) “3000”

Note 2: Set the maximum torque for the motor in parameter 293.0, 295.0(Denominator). Set the expected torque limit value in

parameter 292.0, 294.0(Numerator).

Example) Make the following settings if the motor with the maximum torque of 3000 [0.1%] needs to set to the maximum

speed limit value of 1000 [0.1%].

Table 8.5.5 Analog torque command input Torque limit value settings

Rotation direction Parameter No. Parameter Setting value

CCW 292.0 Analog torque command “1000”

CCW torque limit value(Numerator)

293.0 Analog torque command “3000”

CCW torque limit value (Denominator)

CW 294.0 Analog torque command “1000”

CW torque limit value (Numerator)

295.0 Analog torque command “3000”

CW torque limit value (Denominator)

Table 8.5.6 Parameter 302.0 settings and rotation direction of the motor (Analog torque command input)

Value of parameter 62.0 Input analog command

Positive voltage Negative voltage

[Initial value]

8.5.3 Test run (Analog torque command input)

■Before test run

Table 8.5.7

Make sure all the wiring are connected properly before To prevent electric shock, fire, malfunction and injury.

switch on the power to the drive and motor.

Test run after setting the basic parameters. If set the wrong basic parameters, the motor will not

run, run unsteadily or lose control, which may cause

some injury or accidents.

Confirm the operation of the motor alone first before test The unexpected movements, such as unstable action

run. (Remove the other connection to the mechanics.) or lose control, may cause some injury or accidents.

Drive the motor after release the brake on the motor if If not, it may cause the malfunction to the brake and

the motor is attached with the brake. motor.

■Test run
Table 8.5.8 Steps for test run (Analog torque command input)

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Steps Operation

1 Make sure all the wiring are connected properly.

2 Switch on the power to the drive. Note 1)

3 Switch on the main circuit power to the drive(200V AC).

4 Set a smaller value about 500 in parameter 152.0(speed limit value) to limit the speed.

5 Make the SVON input of drive ON to start the motor excitation. (Connect the I 1 terminal to the COM-)

6 Input the analog torque command voltage at a low voltage to make the motor run at a low speed.

7 Improve the analog torque command voltage gradually after confirming the safe implementation of actual

operation. Set the actual value in parameter 152.0(speed limit value).

Note1: The control power supply for the models of 750W or less are supplied by external 24V DC. 1kW or more are supplied

from internal. So the control power supply of models of 1kW or more can be ON or OFF by switching on or cutting off the main

circuit AC power.

8.6 Position control mode(Internal position command)

Set the following parameter of control mode selection and command mode selection to come into the internal position

command mode. Use the locator to test run.

Table 8.6.1 Parameter of control mode change(Internal position command)

Parameter No. Parameter Description

2.0 Select control mode Set to “0”.

3.0 Select command mode Set to “3”.

8.6.1 Locator function

Execute the positioning according to the I/O command from the host control device, such as PLC. Set the Point Table in

HCX-SETUP and have the test run of locator function in HCX-SETUP.

8.6.2 Test run

Send the command from PC according to the steps, not the command from host control device(such as PLC), and have the

test run, such as back and forth movement.

Use HCX-SETUP to have the test run.

For details, refer to 「HCX-SETUP User’s Manual」.

8.6.3 Precautions

1) Alarm code No.10 「Position command overflow/ Home position reset failure」will happen in the following two conditions.
1. Out of the range of -1, 073, 741, 823～+1, 073, 741, 823 「Command unit」

2. 「Internal position command - Overflow detection option」(Parameter No.643.0) is set to “1=Enable”

Considering the above factors, please set 「Internal position command - Overflow detection option」(Parameter No.643.0)

according to the following table.

Table 8.6.2 Parameter setting of internal position command mode

Operation method(Function) Internal position command - Overflow detection option

Command (Parameter No.643.0)

Note 1)
Positioning function Absolute value 0=Disable 1=Enable

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Relative value 0=Disable

Test run

Note 1) The home position in the drive may disappear sometimes. Please reset the home position after parameter setting.

2) Please set 「Selection of Auto interpolation for command division and multiplication」(Parameter No.32.2) to “1=Enable”.
Initial value is “1=Enable”. When “0=Disable” is set, the speed change will become large.

8.7 Description of User I/O connector (CN1) terminal arrangements

Figure 8.7.1 Terminal arrangements

Figure 8.7.2 Connector

8.7.1 Signal description

Signal Pin Contents Function

name No.

24V 1 Drive control power supply ●Connect with +24V of 24VDC external power supply
24V input ●The power supply voltage is 24VDC±10％、100mA（Typ.）
●24VDC external power supply should meet the following condition:
Using SELV power supply(※).
※SELV: safety extra low voltage
(Reinforced insulation is needed for safety extra low voltage, non-dangerous voltage and
dangerous voltage.)
G24V 2 Drive control power supply ●Connect to GND of 24VDC external power supply
GND

COM+ 3 I/O power supply 24V input ●Connect the common terminal of 24VDC power supply used for I/O and optical coupler
circuit used
●Power voltage: 24VDC±10％、100mA（Typ.）
I1 4 I1 input ●Parallel I/O input
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I2 5 I2 input ●The function varies according to the different control mode/ command mode. For details,
I3 6 I3 input refer to 「Table 5.7.2 I/O input signal 」
I4 7 I4 input
Control Position control Speed control Torque
I5 8 I5 input mode control
I6 9 I6 input
Comma Pulse train Internal Analog Internal Analog
I7 10 I7 input
nd command regeneration command regeneration command
I8 11 I8 input
mode command command

I1 SVON

I2 RESET RESET/PCLR RESET RESET RESET

I3 HOLD PCSTART1 HOLD VCRUIN1 HOLD

I4 PCLR PCSEL1 (Reserved) VCRUIN2 (Reserved)

I5 (Reserved) PCSEL2 (Reserved) VCS L1 (Reserved)

I6 CCW PC EL3 CCWL VCSEL2 CCWL

I7 CWL PCSEL4 CWL VCSEL3 CWL

I8 TLSEL1 ORG TLSEL1 TLSEL1 TLSEL1

COM- 12 I/O power supply GND ●Connected with GND of 24VDC power supply used for I/O
CMD_ 26 [Differential input] [Differential input] Max. command pulse frequency 4Mpps
PLS
①Pulse + direction pulse ①Input pulse + direction pulse from host control device (differential input)
②Orthogonal phase ②Input A phase of AB phase orthogonal difference pulse signal from host control device
difference pulse-A (differential input)
③CCW+CW Pulse CCW ③Input CCW+CCW of CW pulse from host control device (differential input)
[5V open collector circuit] [5V open collector circuit] Max. command pulse frequency 200kpps
④5V power supply of input ④5V power supply input terminal of /CMD_ PLS
/CMD PLS
/CMD_ 27 [Differential input] [Differential input] Max. command pulse frequency 4Mpps
PLS
①Pulse + direction/ pulse ①Input pulse + direction/ pulse from host control device (differential input)
②Orthogonal phase ②Input /A phase of AB phase orthogonal difference pulse signal from host control device
difference pulse /A phase (differential input)
③CCW+CW Pulse /CCW ③Input CCW +/CCW of CW from upper control device (differential input)
[5v/24v open collector circuit] [5V open collector circuit] Max. command pulse frequency 200kpps
④Pulse + direction pulse ④Input pulse + pulse of direction from host control device
⑤Orthogonal phase ⑤Input A phase of AB phase orthogonal difference pulse signal from host control device
difference pulse /A phase ⑥Input CCW +CCW of CW pulse from host control device
⑥CCW+CW pulse CCW
CC-P 28 [24V open collector circuit [24V open collector circuit] Max. command pulse frequency 200kpps
input] ① 24V power supply input terminal of /CMD_PLS
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①24V of /CMD_PLS
CC-D 29 [24V open collector circuit [24V open collector circuit] Max. command pulse frequency 200kpps
input] ①24V power supply input terminal of /CMD_DIR
①24V of /CMD_DIR
CMD_ 30 [Differential input] 【Differential input】Max. command pulse frequency 4Mpps
DIR
①Pulse + direction direction ①Input pulse + direction direction from host control device(differential input)
②Orthogonal phase ②Input B phase of AB phase orthogonal phase difference pulse signal from host control
difference B phase device(differential input)
③CCW+CW pulse CW ③Input CCW+CW of CW pulse from host control device (differential input)
[5V open collector circuit] [5V open collector circuit] Max. command pulse frequency 200kpps
④5V power supply input of ④5V power supply input terminal of /CMD_DIR.
/CMD_DIR
/CMD_ 31 [Differential input] 【Differential input】Max. command pulse frequency 4Mpps
DIR
①Pulse + direction /direction ①Input pulse + direction /direction from host control device(differential input)
②Orthogonal phase ②Input /B phase of AB phase orthogonal phase difference pulse signal from host control
difference /B phase device(differential input)
③CCW+CW pulse /CW ③Input CCW+CW pulse /CW from host control device (differential input)
[5V/24V open collector [5V/24V open collector circuit] Max. command pulse frequency 200kpps
circuit] ④Input pulse+ direction of direction from host control device
④Pulse + direction ⑤Input B phase of AB phase orthogonal difference pulse signal from host control device
direction ⑥Input CCW+CW of CW pulse from host control device
⑤Orthogonal phase
difference B phase
⑥CCW+CW pulse CW
A_SPE 32 Analog speed command ●Input speed or torque command in the voltage from -10V to 10V.
ED/ input/ Analog torque
A_TR command input+
Q

A_GN 33 Signal ground ●Connect the signal ground of analog speed input or analog torque input in the servo drive.
D
Analog speed command
input - /
Signal ground
Analog torque command
input - /

SG 42 Signal ground ●Signal ground of ABZ phase output of position feedback

485 43 485 of RS-485 ●485 data (+) signal of RS-485 communication with host control device
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communication
/485 44 /485 of RS-485 ●/485 data (+) signal of RS-485 communication with host control device
communication
SG 45 Signal ground ●Signal ground of RS-485 communication with host control device
CC-P( 49 [5V open collector input] [5V open collector input] Max. pulse frequency 200kpps
5V)
①5V for /CMD_PLS ① 5V power input terminal of /CMD_PLS
Built-in current limiting
resistor
CC-D( 50 [5V open collector input] [5V open collector input] Max. pulse frequency 200kpps
5V)
①5V for /CMD_DIR ① 5V power input terminal of /CMD_DIR
Built-in current limiting
resistor

Table 8.7.2 I/O input signal

Signal Contents Function Control mode

name P S T

SVON Servo ON ●Servo is ON when connecting COM-. ○ ○ ○

RESET Alarm reset ●Reset alarms when connecting to COM-. ○ ○ ○
●But if alarm occurs in encoder, model No. and system, this signal cannot be used to reset, and
drive control power supply must be restarted(OFF→ON).
HOLD Command ●When COM- connected, command input is restricted. △ △ ○
input ●If not connected, command input are permitted.
restriction ●Even if pulse is input, the motor cannot operate until the host control device allows command
input.
●When 「Command input prohibited」, whether to clear pulse counter can be set by parameter
No.67.3(the selection of position deviation counter in drive input)
●When the speed command value is 0 in speed control mode, the motor will not operate.
PCLR Deviation ●When COM- connected, position deviation counter will be cleared. △ - -

counter clear
CCWL CCW drive ●If COM- disconnected, CCW direction drive is prohibited. △ △ ○
restriction ●If the value is beyond the CCW direction movement range, please make the wiring which can
be disconnected with COM-.
●It is effective when 「2: Enable CCW-drive restriction」or「3: Enable CW/CCW-drive restriction
」is selected in parameter No.67.0「Selection of Drive restriction options」. Initial value: 「0:
Disable」
●The deceleration can be selected in parameter No.67.1 「Deceleration method selection when
Drive restriction is enabled 」. Initial value: 「1: Short brake」.
●After-stop state can be selected in parameter No.67.2 「Selection for Stop condition when
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Drive restriction is enabled」. Initial value: 「0: Free-run」

●Parameter No.67.3 「Selection for Location deviation counter option when Drive restriction is
enabled」can be set to hold the position deviation counter. Initial value: 「0: Keep」
CWL CW drive ●If COM- disconnected, CW direction drive is prohibited. △ △ ○
restriction ●If the value is beyond the CW direction movement range, please make the wiring which can be
disconnected with COM-.
●It is effective when 「2: Enable CW-drive restriction」or「3: Enable CW/CCW-drive restriction
」is selected in parameter No.67.0「Selection of Drive restriction options」. Initial value: 「0:
Disable」
●The deceleration can be selected in parameter No.67.1 「Deceleration method selection when
Drive restriction is enabled 」. Initial value: 「1: Short brake」.
●After-stop state can be selected in parameter No.67.2 「Selection for Stop condition when
Drive restriction is enabled」. Initial value: 「0: Free-run」
●Parameter No.67.3 「Selection for Location deviation counter option when Drive restriction is
enabled」can be set to hold the position deviation counter. Initial value: 「0: Keep」
TLSEL1 Torque limit ●Torque limit switch. △ ○ ○
●It is effective when 「1: Enable」 is selected in parameter No.144.0「Enable/Disable Torque
command limit Override」
●At open circuit, the parameter No.147.0「Torque command limit Override 1」is preferred. At
power On, the parameter No.148.0「Torque command limit Override 2」is preferred.
PCSTAR CW start ●It is effective when the parameter No.642.0 「Internal speed command - Operation mode」 is △ - -
T1 set to “0=Point table”.
●When PCSEL1 to 4 is specified to point No. and connected to COM-, point table No. and home
position reset can execute.
PCSEL1 Selection 1 of ●Specify the point No. and home position reset to be executed. △ - -
point No.
●According to the setting of parameter No.646.3 「Point No.0 function selection」, when
PCSEL2 Selection 2 of
specifying the point No.0, you can select home position reset or point No..
point No.
Point No. PCSEL1 PCSEL2 PCSEL3 PCSEL4
PCSEL3 Selection 3 of
0 or home OFF OFF OFF OFF
point No.
position reset
PCSEL4 Selection 4 of

point No. 1 ON OFF OFF OFF

2 OFF ON OFF OFF

3 ON ON OFF OFF

4 OFF OFF ON OFF

5 ON OFF ON OFF

6 OFF ON ON OFF

7 ON ON ON OFF

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8 OFF OFF OFF ON

9 ON OFF OFF ON

10 OFF ON OFF ON

11 ON ON OFF ON

12 OFF OFF ON ON

13 ON OFF ON ON

14 OFF ON ON ON

15 ON ON ON ON
(HOME) N
Home position ●Start home position reset after connecting COM-. △ - -
ote 1)
reset start

ORG Home position ●Home position reset with home position sensor, input the home position sensor signal. △ - -
sensor
●Polarity detection can be changed by parameter No.646.1 「Home position sensor input
polarity」.When the initial setting is to be connected to COM- and OFF, the home position sensor
is detected.
VCRUN1 Internal speed ●Enable when select “1=Trapezoid speed command” in parameter No.388.0. - △ -
command start
●After connecting to COM-, the motor starts in CCW direction.
●Set acceleration/deceleration time and target speed in parameter No.390 to No.399.0. There
1

are 8 phases for target speed. The target speed can be switched by the combination of
VCSEL1, VCSEL2 and VCSEL3.
VCRUN2 Internal speed ●Enable when select “1=Trapezoid speed command” in parameter No.388.0. - △ -
command start
●After connecting to COM-, the motor starts in CW direction.
●Set acceleration/deceleration time and target speed in parameter No.390 to No.399.0. There
2

are 8 phases for target speed. The target speed can be switched by the combination of
VCSEL1, VCSEL2 and VCSEL3.
VCSEL1 Internal ●Enable when select “1=Trapezoid speed command” in parameter No.388.0. - △ -
command
●Select the speed command of 8 phases as shown below according to the combination of
selection 1
speed command selection 1 to 3.
VCSEL2 Internal
●Set acceleration/deceleration time and target speed in parameter No.390 to No.399.0.
command
Target speed VCSEL1 VCSEL2 VCSEL3
selection 2

VCSEL3 Internal 1 OFF OFF OFF

command 2 ON OFF OFF

selection 3 3 OFF ON OFF

4 ON ON OFF

5 OFF OFF ON

6 ON OFF ON

7 OFF ON ON

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8 ON ON ON

(RESET/ Alarm clear/ ●After connecting with COM-, RESET and PCLR are executed. △ - -

PCLR) deviation
Note 1)
counter clear

※Control mode:
P: Position control mode, S: Speed control mode, T: Torque control mode indicates it can input signals 「○ 」 and 「 △」
in different control modes. 「 △」can switch signals according to command mode. For details, please refer to user I/O
connector CN1 terminal arrangements for each command mode.

Note 1) For I/O of locator function selection 1.

Signal Pin Contents Function

name No.
O1 13 O1 output ●Parallel I/O output
O2 14 O2 output ●O7+, O7-, O8+ and O8- is differential output.
O3 15 O3 output ●Function varies according to different control modes and command modes. For
O4 16 O4 output details, refer to the following table.
O5 17 O5 output Control Position control Speed control Torque
mode control
O7+ 19 O7 output
+ Command Pulse train Internal Analog Internal Analog
mode command regeneration command regeneration command
O7- 20 O7 output
command command
-
O1 MBRK
O8+ 21 O8 output
+ O2 SERVO

O8- 22 O8 output O3 POSIN MEND (Reserved)

- O4 (Reserved) HEND (Reserved)

O5 T-LIMIT

O7+ SRDY

O7-

O8+ ALM

O8-

O6(OCZ) 18 Encoder Z ●Open collector output of encoder Z-phase signal

phase ●If the Z-phase pulse width is too narrow to be identified by host control device , we
output can set parameter No.276.0, 278.0 「Encoder pulse output division and multiplication
」 to reduce the division and multiplication. Or reduce the speed to expand the pulse
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width. [Pulse width]=1/ speed/(division and multiplication ×2 ).

17

●Note 1)
OUT_A 36 Encoder A ●Output position A phase signal to host control device(differential output).
phase
/OUT_A 37 Encoder A ●Output position A phase signal to host control device(differential output).
phase
OUT_B 38 Encoder B ●Output position B phase signal to host control device(differential output).
phase
/OUT_B 39 Encoder B ●Output position B phase signal to host control device(differential output).
phase
OUT_Z 40 Encoder Z ●Output position Z phase signal to host control device(differential output).
phase ●Note 1)
/OUT_Z 41 Encoder Z ●Output position Z phase signal to host control device(differential output).
phase ●Note 1)
Note 1) Z-phase pulse width: Encoder resolution × Division and multiplication (Parameter No.276.0/No.278.0) and the motor

speed. Z-phase pulse and A-phase pulse are output simultaneously.

Table 8.7.3 I/O output signal

Signal Contents Function Control mode

name P S T

MBRK Brake release ●After the electromagnetic brake is released, the connection with COM- should is OFF. ○ ○ ○
SERVO Servo status ●When the servo is ON, the connection with COM- is OFF. ○ ○ ○
POSIN Positioning ●After positioning was completed, the connection with COM- is OFF. ○ - -
completion
SRDY Servo ready ●OFF at servo ready. When there is voltage in main circuit and no alarm, the servo can be ON. ○ ○ ○
ALM Alarm status ●Open circuit at alarms and power OFF. Closed circuit at power ON. ○ ○ ○
T-LIMIT Torque limit ●If the output torque of the motor is limited, the connection with COM- is closed. ○ ○ ○
●Select the output condition according to “Selection of Torque limit state output mode”.
MEND Action ●When the action of point table, communication and home position reset is completed and the △ - -
completion next step will start, the connection with COM- is closed circuit.
●Closed circuit at power OFF.
HEND Home position ●After the home position reset is completed, the connection with COM- is closed circuit. When △ - -
reset the home position disappears or home position reset, the connection with COM- is open circuit.
completion
(PM1) Point No. According to the output signal allocated by the special I/O setting “Position control/ Internal △ - -
Note 1)
output 1 regeneration command customized 1).
(PM2) Point No. ●Output the start or end of the Point NO..
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Note 1)
output 2 ●Select the time and contents of Point No. according to the setting of Parameter No.644.0 “Point
(PM3) Point No. No. output method”.
Note 1)
output 3 ●Open circuit (Point No. 0) when the drive power supply is ON and servo OFF, home position
reset.
PM1 PM2 PM3 Contents

OFF OFF OFF Point No.0, 8 and so on

ON OFF OFF Point No. 1, 9

OFF ON OFF Point No.2, 10

ON ON OFF Point No.3, 11

OFF OFF ON Point No.4, 12

ON OFF ON Point No.5, 13

OFF ON ON Point No.6, 14

ON ON ON Point No.7, 15
(MEND/ Action ●Output signal allocated by special I/O setting “Position control/ Internal regeneration command △ - -
TLIMIT) completion/ selection 1”.
Note 1)
Torque limit ●Either MEND or T-LIMIT is ON, the connection with COM- is closed circuit.
●For details, refer to the function of MEND and T-LIMIT in this table.
※Control mode:
P: Position control mode, S: Speed control mode, T: Torque control mode indicates it can input signals 「○ 」 and 「 △」
in different control modes. 「 △」can switch signals according to command mode. For details, please refer to user I/O
connector CN1 terminal arrangements for each command mode.

Note 1) For I/O of locator function selection 1.

Table 8.7.4 Reserved pins

Signal name Pin No. Contents Function

NC1 23 Reserved ●Reserved(Disconnected)
SP1 24 Reserved -
SP2 25 Reserved -
A_TRQ 34 Reserved -
A_GND 35 Reserved -
NC2 46 Reserved ●Reserved(Disconnected)
SP3 46 Reserved -
SP4 48 Reserved -

8.8 Adjustment

Table 8.8.1

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Before auto tuning, perform the safety measures, such To prevent the injury and accidents caused by

as danger-prevention, immediate stop and impact unexpected unstable operation and too much impact.

reducing.

In the auto tuning, the servo motor will operate at the To prevent the injury and accidents caused by

speed lower than the acceleration/deceleration. After unexpected unstable operation and too much impact.

confirm it can operate safely, improve the acceleration

/deceleration gradually and adjust them.

■The following occasions may not be suitable for auto tuning.

●The inertia is too small, or too large, or the load inertia changes a lot.
●Mechanical rigidity is too low
●Speed is too low(300r/min or less), and acceleration/deceleration is slow.
●Unbalance load and friction is too large, or the torque is too large or too small
In this case, please set the inertia ratio according to the calculated value.

■The noise and vibration may occur before the estimated load characteristic settles at servo ON or control gain level changes.
After settling, the error may disappear. If not, perform the following measures.

●Reduce the control gain level

●Set the inertia ratio according to the calculated value in the mechanical device.
8.8.1 Simple tuning

■Parameter description
①Selection of inertia condition (only for position control mode)
The characteristic of inertia condition are shown is Table 8.8.2 and Figure 8.8.1. Select it according to the device load

characteristic.

1: Applicable for the device that needs to control the heavy load, or the device that the load changes a lot, or the device of low

rigidity (emphasis on stability).

2: Standard setting

3: Applicable for the device that needs to adjust the light load(emphasis on convergence)

Table 8.8.2 The correspondence between the setting value of inertia condition and characteristics

Setting value Stability of the corresponding load change Convergence rate Position deviation at constant speed

1 Strong Slow Small

3 Weak Quick Large

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Figure 8.8.1 Convergence difference of position deviation by inertia condition

②Selection of control gain set

■Parameter No.113.0(position control) and No.129.0(speed control)
Control gain set is to change the parameter of control gain 1, control gain 2 and integral gain simultaneously.

If the setting value is larger, the traceability of corresponding command gets better, the interference response gets higher, and

the setting time gets shorter. If the setting value is too large, the servo may vibrate. Adjust the response correspondingly in the

condition that the servo does not vibrate. Set the smaller setting value in the beginning, then increase the value slowly while

confirm the operation.

For models of 750W or less, select from 10, 20,30.

For models of 1kW or more, select from 5,10,15.

③Auto tuning mode

■Parameter No.110.0
Select 1(standard mode) in the condition that there’s no unbalance in the horizontal axis. Select 2 (Unbalanced mode) when

there’s the unbalance.

■Procedures for auto tuning

Table 8.8.3 Procedures for auto tuning

Steps Operation

1 Make sure all the wiring is correct.

2 Supply the control power to the drive (Note 1)

3 Power ON the main circuit of the dive(200VAC)

4 The SVON input of the drive is ON, the motor starts excitation. (I1 and COM – are connected)

5 The motor operates at the low speed according to the command pulse output by the upper controller.

6 Please follow the methods below to auto tuning.

■Methods by set panel [Table 8.8.4 auto tuning (by set panel)]

■Methods by HCX-SETUP [Table 8.8.5 auto tuning (by HCX-SETUP)]

Note 1: The control power supply for the models of 750W or less are supplied by external 24V DC. 1kW or more are supplied

from internal. So the control power supply of models of 1kW or more can be ON or OFF by switching on or cutting off the main

circuit AC power.

■By set panel

Table 8.8.4 Auto tuning (By set panel)

Display and operation Description

Initial display.

Press for five times Switch to the set panel.

Switch to the auto tuning mode

Press once Enter into the auto tuning mode

Press , button to change the inertia condition. Press the button to set the inertia

condition(from flicker to ON). Press the button to return.

Press once Parameter display change.

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Press , button to change the control gain. Press the button to set the control

gain(from flicker to ON). Press the button to return.

Points to note At adjustment, if vibration occurs, decrease the setting value to no

vibration.

Press twice Parameter display change.

Press , button to change the auto tuning. Press the button to set the auto

tuning(from flicker to ON). Press the button to return.

Press once Parameter display change.

Selection whether to use of real-time auto tuning

Press once Selection whether to use of real-time auto tuning

Display the setting value of the parameter.

Initial value:”0”. The digit that can be changed will flicker.

Press twice Press the UP button to change the setting value.

“2”=Select [inertia ratio + damping ratio]

Press once When the parameter is set to drive RAM, the digit will change from flicker to ON.

Auto tuning begins at the same time.

By the test run of HCX-SETUP or command input, make the motor operate repeatedly until it reaches the operation and inertia

ratio estimated value.

Press once Return to the parameter selection.

Press once Display the setting value of Selection whether to use of real-time auto tuning

Display the setting value of the parameter.

Setting value:2. The digit that can be changed will flicker.

Press once Press the DOWN button to change the setting value.

Select “0” = [Disable real-time auto tuning]

Press once When the parameter is set to the drive RAM, the digit will change from flicker to ON.

Meanwhile, the auto tuning stops.

Press once Return to the parameter selection.

Press three times Change parameter display.

Press to change the control gain level. Press button to change the value. Press

the button to set (from flicker to ON).

Points to note To get the desired response, set the control gain level again.

Press twice Auto tuning completed and switch to the set panel mode.

Switch to parameter saving mode.

Press once The parameter is stored to EEPROM. ([P] in [SAVE_P] will flicker.)

Normal completion.

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■By HCX-SETUP
Two modes [Simple tuning] and [Fine tuning] in the auto tuning mode by HCX-SETUP.

The procedures of [Simple tuning] are described in Table 8.8.5. For corresponding screens, please refer to Figure 8.8.2.

For the details of [Fine tuning], please refer to [HCX-SETUP. User’s Manual].

Table 8.8.5 Auto tuning (by HCX-SETUP)

Steps Operation

1 HCX-SETUP starts and select [Auto tuning].

2 Control gain setting.

Select 5,10,15,20 or 30, then click [Set].

Points:

For models of 750W or less, select from 10, 20,30.

For models of 1kW or more, select from 5,10,15.

Vibration will occur when start auto tuning. If no vibration, reduce the setting value.

3 Set inertia condition. (Position control mode)

Select “1: Heavy, or 2: Medium, or 3: Light”, then click [Set].

Points:

“1: Heavy”, inertia ratio 10 times or more (Note 1), acceleration/deceleration time 0.1s or more

“2: Medium”, inertia ratio 10 times or less (Note 1), acceleration/deceleration time 0.1s or less

“3: Light”, inertia ratio one times or less (Note 1), high acceleration/deceleration

4 Select auto tuning mode.

Select Standard mode or Unbalanced mode

Points:

Standard mode: No unbalance (horizontal axis)

Unbalanced mode: Unbalance(vertical axis)

5 [Parameter automatic updates], Click [Start], auto tuning begins with the inertia ratio, damping ratio and unbalance.

[Estimated value] inertia ratio reaches, click [Stop].

The auto tuning completed when satisfy the needs after confirming the operation of the device.

Points:

Must click [Stop] to complete the auto tuning. Starting the fine tuning or partial tuning in the auto tuning mode, will

make the adjustment difficult because of the changeable inertia ratio.

6 Set the control level as higher as possible in the condition that the motor will not vibrate.

7 After all the check completed, [Write into] to the EEPROM.

Perform the adjustment [Fine tuning] or [Waveform monitoring] (Partial tuning) as needed.

For the details or [Fine tuning] and [Partial tuning], refer to [HCX-SETUP User’s Manual].

Note 1: The inertia ratio is 200 at one times, 1100 at 10 times.

Figure 8.8.2 Auto tuning in Position control mode

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8.8.2 Fine tuning

①Control level adjustment

The adjustment method of control level(position control) No.114.0 is shown below.

Control level is the parameter that the combination of control gain 1 and control gain 2 changed.

Increasing the control level can help to get better command traceability and shorten the setting time. And the response has

also improved. If higher, vibration may occur. Please adjust it to the required response in the absence of vibration.

Furthermore, overshoot occurs if set the higher [Gain FF compensation 1 (Position control)(No.117.0)] and improve the control

level. To avoid the overshoot, adjust the control level after reducing the [Gain FF compensation 1 (Position

control)(No.117.0)] .

Figure 8.8.3 Position deviation convergence difference set by control level

②Integral gain adjustment

The adjustment method of [Integral gain (position control)(Parameter No.119.0) is shown below.

Increasing the integral gain can reduce the influence to the convergence caused by friction or load change and shorten the

setting time. But if higher, vibration may occur. Please adjust it to the required response in the absence of vibration.

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Figure 8.8.4 Position deviation convergence difference set by integral gain

③Gain FF compensation 1 adjustment

The adjustment method of Gain FF compensation 1(Position control) No.117.0 is shown below.

If the Gain FF compensation 1 is higher, the setting time is shorter. But if too high, overshoot may occur. Please adjust it to the

required response in the absence of overshoot.

Figure 8.8.5 Position deviation convergence difference set by Gain FF compensation 1

④Gain FF compensation 2 adjustment

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The adjustment method of Gain FF compensation 2(Position control) No.118.0 is shown below.

Please set the correct inertia ratio. If the setting value is 10000, the position deviation is least. If the value is more than 10000,

the position deviation will be on the negative side(over compensation).

If set the bigger value at lower resolution, the operation noise will become louder. If the position deviation in the operation has

no any other problems, the setting value can be 0.

Figure 8.8.6 Position deviation convergence difference set by Gain FF compensation 2

8.8.3 Vibration reduction adjustment

①Vibration reduction methods for smoothing filter

The adjustment method for [Position command smoothing filter 1(No.66.0)] and [Position command smoothing filter 1 Moving

average order(No.80.0)] are shown below.

Set the [Position command smoothing filter 1(No.66.0)] to “1” and set the [Position command smoothing filter 1 Moving

average order(No.80.0)] to the value calculated by the cycle time of vibration. The bigger the value is, the longer the command

delay time is.

（
Formula: Parameter No.80.0 setting value=Vibration cycle time [s] ×6, 250 750W or less ）
Parameter No.80.0 setting value=Vibration cycle time [s] ×5, 000（1Kw or more）

In this example, the vibration cycle time is 39ms, and the average order is 6250×0. 039＝243.

The delay tie is 243×0. 16ms＝38. 88ms.

Figure 8.8.7 Before Position command smoothing filter 1 setting

Figure 8.8.8 After Position command smoothing filter 1 setting

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②Vibration reduction methods for notch filter

、 ．
The adjustment method for torque command notch filter No.160.1, 168. 0 169. 0 170. 0 are shown below. Set the [Torque

command Selection of whether to use notch filter(No.160.1)] to “1” and set the vibration frequency in the [Torque command

Notch filter frequency(No.168.0)]. The vibration frequency is calculated from the waveform such as the torque command when

the vibration occurs.

When the gap is too big, even if setting the notch filter, the resonance cannot be suppressed completely. At this time, increase

the [Torque command Notch filter depth selection(No.170.0)] to get the shallower filter performance. When multiple notch

frequency exist, increase the [Torque command Notch filter width selection(No.169.0)] to widen the notch frequency.

Width ratio=[ Torque command Notch filter width selection(No.169.0)] ×0. 125
Depth ratio=[ Torque command Notch filter depth selection(No.170.0)] ／256

③Vibration reduction methods for low-pass filter

、
The adjustment method for torque command low-pass filter No. 160. 0 162. 0 are shown below.

Set the [Option for Torque command low-pass filter(No. 160. 0) to “1”(Enable). The default value is “1”(Enable) at factory

shipment. Increasing [Torque command preliminary filter time constant for Low-pass filter(No. 162. 0)] can help to suppress

the resonance. But if increase too much, it will cause some other vibration.

The maximum value is based on the following formula.

8.9 Home position return

8.9.1 Overview

The home position return is the operation of coordinating the command and mechanical coordinates within the drive. When

using the positioning function in the drive, perform the home position return according to the actual needs.

■Using incremental system

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Home position return must be done when power-ON.

■Using absolute system

The encoder battery backs up after power OFF. So when the home position return is performed once in installation, there’s no

need to have the home position return after power ON again

When using the positioning function in the drive, perform the home position return according to the actual needs.

8.9.2 Wiring and basic setting

For the wiring and basic parameter setting, refer to [Appendix 2 SV-A3 Positioner function].

■In home position return, there are Arbitrary position, Stopper and Home position DOG front end and used in the situation of
selection of Z-phase as the base signal.

■The home position return can be started by user I/O input or HCX-SETUP.
■If perform the home position return by Home position DOG front end, please use the user I/O input. The home position return
by Home position DOG frond end cannot be done by HCX-SETUP.

8.9.3 Types and parameter by home position return

1) Arbitrary position

Use the following parameter items in the box when use the arbitrary position as the base signal.

For the details of parameters, refer to [8.9.4 Parameter description].

For the examples of parameter setting method, refer to [8.9.8 Parameter description for home position return].

Figure 8.9.1

2) Stopper

Use the following parameter items in the box when use the stopper.

For the details of parameters, refer to [8.9.4 Parameter description].

For the examples of parameter setting method, refer to [8.9.8 Parameter description for home position return].

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Figure 8.9.2

3) Home position DOG front end (home position sensor)

Use the following parameter items in the box when use the Home position DOG front end.

For the details of parameters, refer to [8.9.4 Parameter description].

For the examples of parameter setting method, refer to [8.9.8 Parameter description for home position return].

Figure 8.9.3

8.9.4 Parameter description

The home position return can be done by the combination of parameter setting.

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The home positon return is specified by the following combination of parameters.

・ No. 645. 0： Base signal 1 selection for Home position

・ No. 645. 1： Base signal 2 selection for Home position
・ No. 645. 3： Home position Base signal 1 redetection
・ No. 646. 0： Home position return direction
・ No. 647. 1： Action at home position return completion
No. Name Unit

645. 0 Base signal 1 selection for Home position -

Select Base signal 1 at determine Home position

0 = Arbitrary position

1 = Stopper

2 = Home position DOG frond end [Initial value]

Take the Encoder Phase Z nearest to the current position as the base signal, set the parameter to “Arbitrary position”. Set the

Base signal 2 selection for Home position (No. 645. 1) to “Encoder Phase Z”.

No. Name Unit

645. 1 Base signal 2 selection for Home position -

Set another base signal(Base signal 2)for home position after detecting Base signal 1.

0 = None [Initial value]

1 = Encoder Phase Z

When setting Base signal 1 selection for Home position(No. 645. 0) to “Home position DOG frond end” and setting Base signal

2 selection for Home position to “Encoder Phase Z”, after detecting the Home position DOG front end, move the Home

position return Phase Z invalidation distance(No.657.0), then set the Encoder Phase Z for the home position.

No. Name Unit

645. 3 Home position Base signal 1 redetection -

The selection of redetection can be done after returning in the [Home position return Creep speed] when the Home position

DOG frond end is detected by the Home position return Speed detection. To improve the detection accuracy of home position

base signal, set the Home position return Creep speed to a lower value.

0 = Disable (Initial value)

1 = Enable

Only applicable for the situation that setting the [Base signal 1 selection for Home position] to “2= Home position DOG front

end”.

If set to “1= Enable”, back and return to home position DOG front end after home position speed detects the home position

DOG front end. The home position creep speed detects the home position DOG front end.

The start point of home position return is judged by the internal or external of the home position sensor, which depends on

ORG signal of user input I/O in the home position return.

For details, refer to [8.9.5 Home position sensor exit]

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Figure 8.9.4 Home position Base signal 1 redetection

No. Name Unit

646.0 Home position return direction -

Set Home position return base signal 1 direction

0 = CCW [Initial value]

1 = CW

1) Under the condition that home position base signal 1 is “Arbitrary position”.

When set the Base signal 2 selection for Home position to “1=Encoder Phase Z”, the operation direction of Encoder Phase Z

can be detected, that is the home position base signal moves in the direction of home position travel distance.

Figure 8.9.5 Home position return direction (Arbitrary position)

2) Under the condition that home position base signal 1 is “Stopper”.

The operation direction that the home position return starts.

When the Base signal 2 selection for Home position is set to “1=Encoder Phase Z”, the direction is opposite to the one of the

encoder phase Z detection. Figure 8.9.6 is the example to set the home position travel distance after detecting Phase Z. The

direction of moving home position travel distance from home position base signal is opposite. The home position return

direction from ① Start (home position return starts) is opposite to ②Stopper is opposite to the direction from ② to ③ End
(home position return completion).

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Figure 8.9.6 Home position return direction (Stopper)

3) Under the condition that home position base signal 1 is “Home position DOG frond end ”.

Set the direction from Home position DOG sensor front to Home position DOG front end.

If the start point of home position return is in the front of home position DOG sensor, it is the operation direction after home

position return starts. If the start point is inside the home position DOG sensor, it moves automatically in the opposite direction

of home position return. When it moves out from the home position DOG sensor, the home position DOG front end can be

detected.

When the Base signal 2 selection for Home position is set to “1=Encoder Phase Z”, the direction is same to the encoder phase

Z detection direction.

Figure 6.9.4 is the example of setting home position travel distance after detecting phase Z. The direction from home position

base signal to home position travel distance should be set here, as the start point of home position return is inside the home

①Start(home position start) to② Home position sensor detection (Home position
position sensor. That is the direction from

DOG front end detection), and from ② to ③End (Home position return completion).

The direction from home position base signal to home position travel distance.

Figure 8.9.7 Home position return direction (home position DOG front end)

No. Name Unit

646.1 Home position sensor input polarity -

Set Home position sensor input polarity by user I/O ORG

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0 = When OFF, detect Home position dog front end [Initial value]

1 = When ON, detect Home position dog front end

Selecting “0”, detect the home position sensor at open-circuit between ORG and COM-.

Selecting “1”, detect the home position sensor at closed-circuit between ORG and COM-.

Figure 8.9.8 Home position sensor input polarity

No. Name Unit

646.2 Home positon return Timeout option -

Enable/Disable Home position return Timeout.

0 = Disable

1 = Enable [Initial value]

The function corresponds to collision.

When selecting “1 =Enable”, count the elapsed time after home position return starts. If exceeding the home position return

timeout(No.659.0), alarm of “Position command overflow/home position return failure” occurs and make the servo disconnect.

No. Name Unit

646.3 Point No.0 function selection -

Selecting Point No.0 and function of inputting user I/O CW start PCSTART1.

0 = Return to home position [Initial value]

1 = Point table operation

Set “0 = Return to home position”, the home position return starts.

Set “1 = Point table operation”, the operation of Point No.0 starts.

This parameter is used to start the home position return when there’s no home position input HOME in I/O.

No. Name Unit

647.0 Home position return Torque limit option -

This is the safety function against the collision in home position return.

Enable/Disable Home position return Torque limit. Set the home position return torque limit value in Parameter No.656.0.

0 = Disable [Initial value]

1 = Enable

But, when selecting “Stopper” in base signal 1 for home position(No. 645. 0), it is not relevant to this setting. Torque limit value

to the stopper is the Home position return Torque limit value(No. 656. 0).

No. Name Unit

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647.1 Action at home position return completion -

Select an action at home position return completion.

0 = No move [Initial value]

1 = Move

When selecting “No move”, after detecting the base signal for home position, deceleration to stop and home position return

completed.

When selecting “Move”, after detecting the base signal for home position, deceleration to stop and perform the positioning

operation according to the parameter set.

No. Name Unit

648.0 Home position return Speed rpm

Set Home position return Speed.

[Setting range] 1 to max. speed of the motor

[Initial value] 500

Figure 8.9.9 Home position return Speed

No. Name Unit

649.0 Home position return Creep speed rpm

Set Creep speed after Home position Base signal 1 detection.

[Setting range] 1 to max. speed of the motor

[Initial value] 10

No. Name Unit

650.0 Home position return Acceleration/deceleration time ms/1000rpm

Set Acceleration/Deceleration time for Home position return.

Set the acceleration time from speed 0 to 1000rpm and deceleration time from 1000 to 0rpm.

～
[Setting range] 0 5, 000

[Initial value] 30

No. Name Unit

651.0 Home position Return Shift-to-home-position quantity Command unit(Note 1)

Set shift quantity from the position where the Base signal was detected to the home position.

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In the situation except “1: Stopper” in home position base signal 1(No. 645. 0), the base signal begins to shift to the home

position(No. 646. 0). The home position returns according to the shift quantity(No. 646. 0).

If “1: Stopper” in home position base signal 1 is set, the direction between shift-to-home-position and home position return(No.

646. 0) is opposite.

～
[Setting range] 0 1, 000, 000, 000

[Initial value] 0[command unit]

No. Name Unit

651.0 Home position return Home position data Command unit(Note 1)

Set a position at the time of home position return complete.

When home position return is completed, change the setting value to ABS position feedback of home position return.

～
[Setting range] -1, 000, 000, 000 1, 000, 000, 000

[Initial value] 0 [command unit]

No. Name Unit

655.0 Home position return Press detection time ms

Set the time from pressing the stopper to detecting the home position return.

This parameter is valid when the base signal 1 for home position (No.645. 0) is set to “Stopper”.

～
[Setting range] 5 1, 000

[Initial value] 100[ms]

No. Name Unit

656.0 Home position return Torque limit value 0.1%

Set Torque limit value at the time of home position return

This value is measured in terms of proportion to rated torque.

This value is the torque limit value of pressing the stopper when selecting ‘Stopper” in the base signal 1 for home position.

When selecting “Enable” in Home position return Torque limit option(No. 647. 0), this parameter is the safety measure against

collision in home position return .

～
[Setting range] 10 3, 000

％
[Initial value] 500[ 0. 1 ]

No. Name Unit

657.0 Home position return Phase Z invalidation distance Command unit(Note 1)

Set a distance from the positon where Base signal 1 for home position is detected to the position where Phase Z detection

starts.

～
[Setting range] 0 1, 000, 000, 000

[Initial value] 0[ command unit]

No. Name Unit

659.0 Home position return Timeout Time 10ms

Set Home position return Timeout Time.

This parameter is valid when Home positon return Timeout option(No. 646. 2) is set to :Enable”.

～
[Setting range] 0 60, 000

[Initial value] 60, 000[ 10ms]

Note 1) The command unit can be got by 「command division and multiplication(numerator) (No. 34. 0) 」, 「command
division and multiplication(denominator) (No. 36. 0) 」 and encoder unit.

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The command unit can be got by the encoder unit 131, 072ppr.

For example, when the parameter No. 34. 0 is set to 32, 768, No. 36. 0 is set to 2, 500, the command unit will be 10, 000ppr.

When the ratio of command division and multiplication is 1 times or less, the speed of home position return cannot reach the

speed set in home position return(No. 648. 0) and home position return creep speed (No. 649. 0).

8.9.5 User I/O description

■Input
On when connected to COM- at closed-circuit; OFF when connected to COM- at open-circuit.

） （ ）
1 PCSTART1 CW start 6 pins

・Use PCSTART1(6 pins) to start home position return

・Specify “0” to the Point No. in PCSEL1. . . 4 in user I/O, the PCSTART1 changes from open-circuit to closed-circuit to start
the home position return.

（～ ）
2) PCSEL1. . . 4 point No. selection 7 10 pins
・Set 「Point No.0 function selection」 ( No. 646. 3) to “0: home position return”.
・When perform the home position return by PCSTART1, specify “0” to the Point No. in PCSEL1. . . 4 in user I/O.

Note: C:contact closed-circuit, O: contact open-circuit

（
Figure 8.9.10 The start of home position return PCSTART1 ）
3) Home position return start (Valid when positioner I/O is set to Item 1).

・This parameter is valid when positioner I/O is set to Item 1.

(For the setting of Item 1, refer to「Appendix 3 SV-A3 special I/O setting」
）
・The home position return starts from HOME open to close

Note: C:contact closed-circuit, O: contact open-circuit

（
Figure 8.9.11 The start of home position return HOME ）
4) ORG home position sensor (11 pins)
・Enter the home position sensor signal when have the home position return by home position sensor.
・Have the setting as below:
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「Base signal 1 selection for Home position」（No. 645. 0）: 2 = Home position DOG frond end
「Home position sensor input polarity」（No. 646. 1）: (Either polarity is Ok)
The initial setting of home position sensor input polarity is the home position sensor signal when connected with COM- from

ON to OFF.

■Output
On when connected to COM- at closed-circuit; OFF when connected to COM- at open-circuit.

1) HEND home position return completion (16 pins) (Note 1)

・Change to be ON at home position return completion. When “Absolute system” is selected for “Selection of an encoder
system” (No. 257. 0), there is no need to have the home position return when power ON the drive next time after the home

position return has been completed.

・HEND will be OFF in the following situation:
a) In the process of home position return

b) Interrupted before HEND becomes ON in the home position return

The home position return interrupts in the following situations;

○Make the servo OFF in the home position return with the operation
○Perform the deviation counter clearing in the home position return with the operation
○Input the drive restriction and perform the deviation counter clearing in the home position return with the operation
○Alarms occur and servo OFF in the home position return with the operation
c) “Incremental system” is selected to “Selection of an encoder system” after the power is supplied to the drive

d) “Absolute system” is selected for “Selection of an encoder system”, but the multi-rotation data of the encoder disappear.

・The minimum OFF time of the signal is 3ms.

2) MEND completion (15 pins)(Note 1)
・When perform the home position return at servo ON, confirm if you can start the home position return or not. Please make
sure this signal is ON before home position return.
・OFF at servo OFF.
・The minimum OFF time of the signal is 3ms.
3) MEND/T-LIMIT completion / torque limit (Valid when positioner I/O is set to Item 1).

・This parameter is valid when positioner I/O is set to Item 1.

(For the setting of Item 1, refer to「Appendix 3 SV-A3 special I/O setting」 ）
・Be ON either MEND or T-LIMIT is ON.
・This signal, used in the device of torque limit, including stopper, is T-LIMIT. And the other operations is used as MEND
signal. As T-LIMIT, the torque limit TLSEL1 is ON and as MEND, TLSEL1 is OFF.

Set the following parameters first when using this signal.

“Torque command limit override selection”(No. 144. 0): “1: Enable”

“Selection of Torque limit state output mode(No. 144. 1)”: “2 : Torque command limit Override 2”

）
Note 1) Action at home position return completion(No. 647. 1 : HEND and MEND

1) When set the Action at home position return completion(No. 647. 1 ） to “1 = Move”
After the base signal for home position is detected, it will decelerate to stop and HEND is ON at home position return

completion.

Then shift to home position according to the action of home position return completion, the MEND becomes ON after the

operation has been completed. The ABS position command becomes the home position return position data after the

operation has been completed.

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Figure8.9.12 Action at home position return completion(when the setting is valid)

2) When set the Action at home position return completion(No. 647. 1 ） to “0= No move”
After the base signal for home position is detected, it will decelerate to stop and HEND is ON at home position return

completion.

Then do not shift to the home position return. The action will be completed at the position of deceleration stop and output

MEND to be ON.

Figure8.9.13 Action at home position return completion(when the setting is invalid)

「
Note2) But, in the following situation, the torque limit value of home position return is applicable for Home position return

（
Torque limit value No.656.0 ）」.
「
1) Set Base signal 1 selection for Home position (No.645.0）」to “1(stopper)”.
2) Set「Home position return Torque limit option (No.647.0）」to “1(Enable)”.

8.9.6 Precautions

1) Install a home position sensor to the machinery when use the Home position DOG front end as the base signal for home

position. Besides, set the “home position return direction”(No. 646. 0) from home position DOG sensor front end to home

position DOG front end. There is the danger of collision for the machinery if the home position direction is far away from the

home position sensor.

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2) Please save the parameters after changing the command division and multiplication. Perform the home position return

operation again after power ON next time.

3) When home position return with Encoder phase Z, do not design it to the start position of phase Z detection or near the

motor phase Z. Phase Z detection position sometimes changes. The phase Z position can be confirmed at the position where

the status value of “Encoder 1 rotation angle data” is 0.

4) The home position return will be interrupted and become uncompleted in the following situations at the home position return

with operation.

■Servo OFF
■Deviation counter clearing
When performing the deviation counter clearing, it will emergency stop.

■Input the drive restriction, then perform the deviation counter clearing.
「Selection of Auto interpolation for command division and multiplication」(No. 32. 2) to “1: Enable”. The initial value
5) Set the

is “1: Enable”. The speed can change rapidly if set it to “0:Disable”.

8.9.7 Precautions

The operation of home position return can be done by user I/O input or HCX-SETUP.

1) By the method of user I/O input

①Set the parameters in table 8.9.1

②Start the home position return in the following method
・After specify Point No. 0 to the PCSEL1. . . 4, input PCSTART1.
・Input HOME when select I/O setting of Item1
For details, refer to “section 8.9.5 User I/O description”.

Points: Generally, the home position return can start after confirming MEND is close ON （ ） at servo ON. The home position
return cannot start when the MEND is open(OFF) at servo ON.

Table 8.9.1 Parameters of home position return by user I/O

No. Parameter Setting value Description

2. 0 Control mode selection 0 Position control mode

3. 0 Command mode selection 3 Internal generation command

9. 0 Selection of Operation mode 0 I/O

642. 0 Internal speed command - Operation mode 0 Point Table

Note 1) Selection of Operation mode selects “I/O” when power ON the drive. This cannot be set by the set panel. If change it

by HCX-SETUP, then change back to “I/O” by HCX-SETUP.

■Timing chart
The operation procedures of home position return with home position sensor front end are shown below.

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Figure 8.9.15 Timing chart (home position return at servo ON)

Note 1) When the User I/O output the MEND of MEND/T-LIMIT action completion, make the T-LIMIT output OFF by setting the

（ ）
parameters and TLSEL1 OFF . For details, refer t section 8.9.5 User I/O description.

Note 2) Timing chart with no I/O input. The start will delay if vibration occurs.

Note 3) The start time varies from the different conditions.

Table 8.9.2 Operation procedures for home position return at servo ON

No. Items Description

1 Parameter setting for Set the parameter of home position return speed, home position return creep

home position return speed, home position return acceleration/deceleration time.

2 Confirm the start of home Make sure MEND is in closed-circuit state, standby in the open-circuit state.

position return

3 Specify Point No. After PCSEL1. . . 4 is open-circuit, specify points NO. 0. No need when start the

home position return by HOME.

4 Start of home position After 10ms when input PCSEL1. . 4, change the PCSTART1 or HOME from the

return open-circuit to closed-circuit.

5 Confirmation of command Open-circuit from standby to MEND. If open-circuit, make the PCSTART or HOME

execution to the open-circuit.

6 Confirmation of action Confirm the action completion by MEND. When the MEND changes from

completion open-circuit to closed-circuit, the action completed.

7 Confirmation of home After action completion, confirm the home position return completion by HEND.

position return completion When the HEND is closed-circuit, the home position return completed.

2) By the method of HCX- SETUP

Table 8.9.3 Parameters for home position return by HCX- SETUP

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No. Parameter Setting value Description

2. 0 Control mode selection 0 Position control mode

3. 0 Command mode selection 3 Internal generation

command

9. 0 Selection of Operation mode 1 Communication

642. 0 Internal speed command - Operation mode 0 Point Table

Figure 8.9.16 Operation procedures 1 for home position return(HCX-SETUP)

Figure 8.9.17 Operation procedures 2 for home position return(HCX-SETUP)

Step1 Set the parameters for home position return in [Parameter] screen.

Step 2 Open the [Point table]. Press the button [Servo ON] to make the servo ON.

Step 3 Press the [Start] button to start the home position return. To press the button [Interrupt] to interrupt the home position

return.

After the home position return completed, the indicator on the left side of [Start] screen will light green. The current position will

be displayed in the [Current position] after the home position return has completed.

8.9.8 Detailed description for home position return

A) Home position return with arbitrary position

Home position return with the current position or Encoder phase Z near the current position.

■ Parameters
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Table 8.9.4 Parameters of home position return with arbitrary position

No. Parameter Setting

645. 0 Base signal 1 selection for Home Set “0 = Arbitrary position”

position

645. 1 Base signal 2 selection for Home Set the Encoder phase Z to the base signal for home position

position

646. 0 Home position return direction Set the direction for home position travel distance and Encoder phase Z

647. 1 Action at home position return Selection of shifting to home position after detecting base signal for

completion home position

649. 0 Home position return Creep speed Set the speed after Encoder phase Z detection and home position return

completion

650. 0 Home position return Set Acceleration/Deceleration time for Home position return

Acceleration/Deceleration time

651. 0 Home position Return Set shift quantity from the position where the Base signal was detected

Shift-to-home-position quantity to the home position

653. 0 Home position return Home position Set a position at the time of home position return complete

data

657. 0 Home position return Phase Z Set a distance from the positon where Base signal 1 for home position is

invalidation distance detected to the position where Phase Z detection starts. This parameter

is needed when NO.645.1 =1

Table 8.9.5 Example for Parameters of home position return with arbitrary position

No. Parameter name Setting description

646. 0 Home position return direction 0=CCW

647. 1 Action at home position return 1=Move

completion

1) When not to use Encoder phase Z

Set “Base signal 2 selection for Home position” to “0=None”.

Figure 8.9.18 Overview diagram with horizontal axis(home position return with arbitrary position)

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Note) I/O state: “C” indicates the closed-circuit for internal output circuit contact or external contact.

“O” indicates open-circuit.

Figure 8.9.19 Timing chart ((home position return with arbitrary position)
・When set the Action at home position return completion(No. 647. 1) to “No move”, it will not shift to the home position and
end the action.

2) When use Encoder phase Z

Set “Base signal 2 selection for Home position” to “1=Encoder phase Z”.

Figure 8.9.20 Overview diagram with horizontal axis(home position return with arbitrary position, encoder phase Z)

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Note) ) I/O state: “C” indicates the closed-circuit for internal output circuit contact or external contact.

“O” indicates open-circuit.

Figure 8.9.21 Timing chart ((home position return with arbitrary position, Encoder phase Z)

・When set the Action at home position return completion(No. 647. 1) to “No move”, it will not shift to the home position and
end the action.

3) Home position return at servo OFF

The home position return with Move must be done at servo ON. But if meet the following conditions, the home position return

can be done at servo OFF.

Table 8.9.6

No. Parameter Setting value

645. 0 Base signal 1 selection for Home position 0 = Arbitrary position

647. 1 Action at home position return completion 0 = No move

657. 0 Home position return Phase Z invalidation distance 0

B) Home position return with Stopper

Home position return with the stopper or Encoder phase Z near the stopper.

■ Parameters
Table 8.9.7 Parameters for home position return with stopper

No. Parameters Setting

645. 0 Base signal 1 selection for Home Set to “1 = Stopper”

position

645. 1 Base signal 2 selection for Home Set the Encoder phase Z to the base signal for home position after

position detecting Base signal 1

646. 0 Home position return direction Set the direction of detecting stopper

647. 1 Action at home position return Selection of shifting to home position after detecting base signal for

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completion home position

648. 0 Home position return Speed Set the speed before press the stopper

649. 0 Home position return Creep speed Set the speed after press the stopper

650. 0 Home position return Set Acceleration/Deceleration time for Home position return

Acceleration/Deceleration time

651. 0 Home position Return Set shift quantity from the position where the Base signal was detected

Shift-to-home-position quantity to the home position

653. 0 Home position return Home Set a position at the time of home position return complete

position data

655. 0 Home position return Press Set the time at the time of press home position return

detection time

656. 0 Home position return Torque limit Set Torque limit value at the time of home position return

value

657. 0 Home position return Phase Z Set a distance from the positon where Base signal 1 for home position is

invalidation distance detected to the position where Phase Z detection starts. This parameter

is needed when NO.645.1 =1

Table 8.9.8 Parameter setting for home position return with stopper

No. Parameter Setting value

646. 0 Home position return direction 0 = CCW direction

647. 1 Action at home position return completion 1 = Move

1) When not to use Encoder phase Z

Set “Base signal 2 selection for Home position” to “0=None”.

Figure 8.9.22 Overview diagram with horizontal axis(home position return with stopper)

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Note) ) I/O state: “C” indicates the closed-circuit for internal output circuit contact or external contact.

“O” indicates open-circuit.

Figure 8.9.23 Timing chart ((home position return with stopper)

・When set the Action at home position return completion(No. 647. 1) to “No move”, it will not shift to the home position and
end the action.
・Torque limit value(T0) returns to the normal setting after home position returns complete.
・The torque limit value from home position return starts to pressing detection time completion is the torque limit value of
home position return(No. 647. 0).

・The torque limit value(T1) from home position return pressing detection time completion to home position return completion
is the torque limit value for home position return when set the Home position return Torque limit option(No. 647. 0) to

“1=Enable”. If set to “0 = Disable”, the toque limit value will return to the normal setting.

・The home position return completed when confirm the position according to the stop position from outputting torque limit to
pressing detection time (No. 655. 0).

2) When use Encoder phase Z

Set “Base signal 2 selection for Home position” to “1=Encoder phase Z”.

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Figure 8.9.24 Overview diagram with horizontal axis(home position return with stopper and encoder phase Z)

Note) ) I/O state: “C” indicates the closed-circuit for internal output circuit contact or external contact.

“O” indicates open-circuit.

Figure 8.9.25 Timing chart ((home position return with stopper and encoder phase Z)
・When set the Action at home position return completion(No. 647. 1) to “No move”, it will not shift to the home position and
end the action.
・Torque limit value(T0) returns to the normal setting after home position returns complete.
・The torque limit value from home position return starts to pressing detection time completion is the torque limit value of
home position return(No. 647. 0).
・The torque limit value(T1) from home position return pressing detection time completion to home position return completion
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is the torque limit value for home position return when set the Home position return Torque limit option(No. 647. 0) to

“1=Enable”. If set to “0 = Disable”, the toque limit value will return to the normal setting.

・The home position return completed when confirm the position according to the stop position from outputting torque limit to
pressing detection time (No. 655. 0).

C) Home position return with Home position DOG front end

Home position return with the Home position DOG front end or Encoder phase Z near the Home position DOG front end.

■ Parameters
Table 8.9.9 Parameters for home position return with Home position DOG front end

No. Parameters Setting

645. 0 Base signal 1 selection for Home Set to “2 = Home position DOG front end”

position

645. 1 Base signal 2 selection for Home Set the Encoder phase Z to the base signal for home position after

position detecting Base signal 1

643. 0 Home position Base signal 1 Redetection of home position return creep speed after home position

redetection return speed detecting home position DOG front end

646. 0 Home position return direction Set the direction of Home position DOG front end from home position

sensor front end

646. 1 Home position sensor input polarity Set Home position sensor input polarity

647. 1 Action at home position return Selection of shifting to home position after detecting base signal for

completion home position

648. 0 Home position return Speed Set the speed before detecting home position DOG front end

649. 0 Home position return Creep speed Set the speed after detecting home position DOG front end

650. 0 Home position return Set Acceleration/Deceleration time for Home position return

Acceleration/Deceleration time

651. 0 Home position Return Set shift quantity from the position where the Base signal was detected

Shift-to-home-position quantity to the home position

653. 0 Home position return Home Set a position at the time of home position return complete

position data

657. 0 Home position return Phase Z Set a distance from the positon where Base signal 1 for home position is

invalidation distance detected to the position where Phase Z detection starts. This parameter

is needed when NO.645.1 =1

Table 8.9.10 Parameter setting for home position return with Home position DOG front end

No. Parameter Setting value

643. 0 Home position Base signal 1 redetection 1=Enable

646. 0 Home position return direction 0 = CCW direction

646. 1 Home position sensor input polarity 0 = When OFF, detect Home

position dog front end

647. 1 Action at home position return completion 1 = Move

1) When not to use Encoder phase Z

Set “Base signal 2 selection for Home position” to “0=None”.

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Figure 8.9.26 Overview diagram with horizontal axis(home position return with Home position DOG front end)

Note) ) I/O state: “C” indicates the closed-circuit for internal output circuit contact or external contact.

“O” indicates open-circuit.

Figure 8.9.27 Timing chart ((home position return with Home position DOG front end)

・When set the Action at home position return completion(No. 647. 1) to “No move”, it will not shift to the home position and
end the action.

・When set Home position Base signal 1 redetection (No. 645. 3) to “Disable”, no backward action for detecting home position
DOG front end.
・When start the home position return on the home position sensor, it will be back to home position DOG sensor front end and
have the home position DOG front end detection with home position return creep speed.

2) When use Encoder phase Z

Set “Base signal 2 selection for Home position” to “1=Encoder phase Z”.

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Figure 8.9.28 Overview diagram with horizontal axis(home position return with Home position DOG front end and phase Z)

Note) ) I/O state: “C” indicates the closed-circuit for internal output circuit contact or external contact.

“O” indicates open-circuit.

Figure 8.9.29 Timing chart ((home position return with Home position DOG front end and phase Z)
・When set the Action at home position return completion(No. 647. 1) to “No move”, it will not shift to the home position and
end the action.
・When set Home position Base signal 1 redetection (No. 645. 3) to “Disable”, no backward action for detecting home position
DOG front end.

・When start the home position return on the home position sensor, it will be back to home position DOG sensor front end and
have the home position DOG front end detection with home position return creep speed.

3) About the exit of home position DOG sensor

「
Set the Base signal 1 selection for Home position( No. 645. 0) 」 to “2 = Home position DOG front end”.
When the start point of home position return is on the home position DOG sensor, back to the position where the home

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「
position return can proceed to start the home position return. Take it as the example with “set Base signal 2 selection for

Home position(No. 645. 1 ）」to “1 = Encoder Phase Z”.

No matter how to set 「Home position Base signal 1 redetection(No. 645. 3）」, it will back and perform the creep operation.
Move in the opposite direction of the home position return and exit from the home position DOG sensor, CCW, and move at

the home position creep speed. Redetect the home position DOG front end.

Figure 8.9.30 Exit of home position DOG sensor( The setting of the “Home position Base signal 1 redetection” is invalid)

9. Troubleshooting and countermeasures

9.1 Alarm display

When the alarm occurs, the alarm description can be confirmed according to the alarm code on the panel of servo drive. The

alarm code and alarm description are shown in the 「Warning list」.
The alarm description can be confirmed by using [Alarm status] monitor in the dedicated software 「HCX-SETUP」of
SV-A3/A3P. For the operation methods, refer to HCX-SETUP user’s manual.

If you want to consult with ACTION TECHNOLOGY Corporation, make a record of the alarm and contact with us.

9.2 Alarm handling and alarm reset

For alarm handling and resetting, please refer to “Warning List”. There are three ways for alarm reset. It varies according
to different alarm items.

① The host control device sends reset clear signal (RESET of CN1 5pin)to the drive..

② Restart drive control power supply.

② Press SHIFT+UP at the same time.
③ Table 9.2.1
No Alarm Description Handling ways Reset method

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0 System alarm Control circuit error Consult ACTION TECHNOLOGY distributors. Restart control

・CPU in control circuit cannot work normally. power supply

1 EEPROM data ・Parameter writing error After confirming cables, rewrite the parameters. Reset

error

2 Model code error The model code cannot be read normally. ・Check the combination of motor and drive. Restart control
・ The combination of motor and drive is ・Please Check the encoder cable. power supply

incorrect.
・The encoder cable does not connect to the
drive correctly.(including disconnect).

4 Overspeed error ・Motor rotates exceeding the max. speed ・Please adjust the parameters. Reset
・ Inappropriate command from upper ・Check the command
controller ・Check if the limit sensor position changes.
・ Accumulated pulses maybe caused by
「drive restriction」
5 Speed deviation Position control and speed control error ・Check the command from the upper controller Reset

error ・Inappropriate command ・Adjust gain parameter

・ Overload, cannot catch up with the ・Check the setting value of Speed deviation error
command speed detection value(No.90.0).
・ Speed deviation error detection ・Check if the brake has been released
value(No.90.0) is incorrect ・Check whether the torque limit operates or not
6 Position deviation Position control error ・Adjust gain parameter Reset

error ・The acceleration time is too short ・Check the command from the upper controller
・The power cable or encoder cable wiring ・Check the wiring
error or disconnect ・Check the setting value of Position deviation error
・ Position deviation error Detection value Detection value (No.87.0)

(No.87.0) is incorrect ・Check if the brake has been released

・Check whether the torque limit operates or not
7 Overload error Position control error after operation starts: Continuous operation can cause overload or burn Reset

1. The motor does not operate the motor.

2. Motor operates for a short time ・

1&2. Check the motor power cable wiring

3.Alarm occurs after operation starts 3. ・ Check the selected motor capacity

In operating ・Check if the brake has been released

4.In operating, alarm occurs at the same ・Check the reduction ratio
period 4. ・ Check the acceleration time, torque

The acceleration time is too short or no waveform , load rate [in acceleration]

acceleration. (bump into other objects) ・Check there are no obstacles to the driving
5,Motor capacity is too small /too heavy load range [Outside the acceleration]

6. Excessive vibration 5. ・Check the torque waveform and load rate

7.Control gain or command not correct(CCW ・Check the inertia ratio

rapidly) →Install the reducer to improve the motor capacity
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8.Noise occurs ・
6&7. Adjust gain parameter

・Check if there are rapid CCW in command

・Use command smoothing filter
8. ・Use notch filter and low-pass filter to suppress
the noise

8 Command Position control error ・ Check Command division and multiplication Reset

overspeed error ・ Position command input exceed max. (No.34.0、No.36.0)

speed ・Check the command from upper controller

・ The command from upper controller is

inappropriate.

9 Encoder pulse ・ Encoder pulse output frequency exceeds ・Check the value of Encoder pulse output Division Restart control

output frequency 4Mpps and multiplication(No.276.0, No.278.0) power supply

error ・Check the encoder pulse output frequency upper

limit value(No.285.0) and error detection delay time

(No.286.0)

10 Internal positon ・ Internal position command outside the ・Adjust the overflow detection (No.643.0) Reset

command range （±1,073,741,823） ・Adjust the travel distance

overflow error/ ・Travel distance of the command outside the ・Adjust the parameters for home position return
home position range （±2,147,483,647）

return failure ・Home position return failure or timeout

11 Encoder error ・Multi-rotation data of the encoder outside ・ Check the setting in Selection of an encoder Restart control

(multi-rotation the range of ±32,767 system(No.257.0) power supply

counter overflow ) ・Make sure the multi-rotation travel distance is

within ±32,767

12 Overheat error ・Temperature of control circuit exceeds the ・Check the setting and environment of the drive Reset

upper limit ・The ambient temperature of drive should be in

accordance with 「 Installation direction and

clearances」

14 Overvoltage error ・Main circuit voltage exceeds the upper limit Only under the occasion of deceleration Reset

of drive circuit ・Confirm the regenerative resistor warning on the

setting panel or HCX-SETUP and install the

regenerative resistor if necessary.

・Check the operation mode of command

・Use filter to slow down the deceleration
Not only for the occasion of deceleration
・Check whether the main circuit voltage is outside
the specified range
・Check if the voltage changes when driven
15 Power supply Main circuit voltage too high or too low Under the occasion from servo ON to start operating Reset

error (main circuit ・Do not enter the main circuit power ・Check the main circuit power to the drive
power) ・ Main circuit power outside the specified ・Check the main circuit power voltage
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range ・Check the timing of main circuit power ON and

・ Main circuit voltage change outside the SVON signal input

specified range Under the occasion of operating

・ Input SVON signal without main circuit ・ Check if the voltage changes by the overall

power operation of the device. And use the sufficient power

Action time of regenerative control circuit supply to avoid the voltage changes.

outside the specified range Under the occasion of deceleration

・Continuous regeneration ON ・Confirm the regenerative resistor warning on the

setting panel or HCX-SETUP and install the

regenerative resistor if necessary.

・Check the operation mode of command

・Use filter to slow down the deceleration
16 Encoder error ・Encoder data changes sharply in a short ・Check if there’s the wire breakage or pins off Restart control

(data receive) time ・Use the cable at a length of less than 20m power supply

17 Encoder error (No ・Encoder communication interrupts ・Check the disturbance by the noise
response) -Use shielded twisted pair cable

19 Encoder error ・Cannot communicate with the encoder -Separate encoder cable from the power cable

(communication) -Connect FG

20 Encoder error ・ Multi-revolution data of the absolute -Install a filter ring to the power cable and encoder

(Multi-revolution encoder changes sharply in a short time cable

data) ・Multi-revolution data of the encoder cannot ・ Consult ACTION TECHNOLOGY distributor if

receive the communication have not been improved

18 Encoder ・ The battery voltage of absolute encoder When use absolute system Restart control

error(circuit) drops or battery removed (Alarm of items 21 ・Change the battery and initialize the encoder power supply and

occurs) When using absolute system encoder clearing

・Outside the specification and temperature When not use absolute system

range of encoder, the output data error ・Check if outside the specification and temperature
・Encoder itself error range of encoder,
・ Consult ACTION TECHNOLOGY distributor if

have not been improved

21 Encoder error ・Battery voltage is too low ・Check if the battery voltage drops Restart control

(voltage drops) ・Battery drops ・Check if the battery and cable removed power supply and
・When the battery is connected for the first ・Initialize the encoder encoder clearing

time

22 Power supply ・Voltage of control power drops ・Check the control power voltage Reset

error (control ・Check the power capacity

power) ・ Check the 24V （ 1pin,2pin ） wiring of user I/O
connector

Alarm No.15(power error) or other alarms may occur

simultaneously. Please check all the alarms.

23 Switching ・Control circuit error ・Consult ACTION TECHNOLOGY distributor Reset

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circuit error

24 Overcurrent error ・Motor current error detected by drive ・Check the motor power cable Reset

-Grounding or not

-Power cable wiring

・Check the control gain and operation mode

-Increase acceleration/deceleration time

-Set the command smoothing filter ((No.66.0,

No.66.1, No.80.0,No.81.0)
・Release the brake and stopper to make the motor
operate
・Check the encoder cable
-Wiring(bad contact)

-Use shielded twisted pair cable

・ Consult ACTION TECHNOLOGY distributor if

have not been improved

25 Inverter error 1 ・Control circuit error ・Check the motor power cable Reset

26 Inverter error 2 ・Control circuit error -Grounding or not

・Servo ON timeout -Power cable wiring

・ Consult ACTION TECHNOLOGY distributor if

have not been improved

27 Current sensor ・Ambient temperature of current sensor is ・Check the setting and temperature of the drive Reset

error too high ・ Consult ACTION TECHNOLOGY distributor if

・Current sensor error have not been improved

29 Power error ・Control power supply (DC5V) voltage drops ・Check if short-circuit on the encoder cable wiring Reset

(Inside the drive) in the drive ・ Consult ACTION TECHNOLOGY distributor if

have not been improved

9.3 Troubleshooting

When no alarm occurs, confirm the following items if the drive does not operate and the motor does not rotate.

Figure 9.3.1

Status Description Reference items

Troubleshooting 1 Switch on the control power supply (24V DC), but on any display Table 9.3.1

No display on setting 「 」on the setting panel.

panel

Troubleshooting 2 Even though 「 」is displayed on the setting panel, the Table 9.3.2

Servo not ON servo cannot start.

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Troubleshooting 3 The servo is ON, but the motor will not operate. Table 9.3.3

Motor cannot rotate

Troubleshooting 4 The motor operates unsteadily. Table 9.3.4

Motor operation not

steady

Troubleshooting 5 Vibration and sound occurs when the motor operates. Table 9.3.5

Vibration and sound

■Troubleshooting 1 (No display on setting panel)

Switch on the control power supply (24V DC), but on any display of 「 」on the setting panel.
Table 9.3.1

Cause What to do

The user I/O connector is not connected to 24V Connecting 24V DC to the user I/O connector.

DC. Pin1 and 3 is connected to 24V DC. Pin2 and 12 is connected to GND.

The user I/O connector loosens. Check the connection and make sure it’s OK.

24V DC voltage drops. Check the capacity of 24V DC.

Drive itself failure. Consult with ACTION TECHNOLOGY Corporation.

■Troubleshooting 2 (Servo not ON)

Even though 「 」is displayed on the setting panel, the servo cannot start.
Table 9.3.2

Cause What to do

There is no servo ON(SVON) signal input. Input SVON signal of host control device to the user I/O connector.

Alarm No.15 occurs. Make sure CHARGE LED is ON. If not, check if the 200V AC input

There is no 200V AC input. connector(L1/L2/L3) is loosen or the 200V AC is output or not.

Alarm No.15 occurs. Connect the main circuit power supply.

There is no main circuit power input in

multi-axial drive.

The motor power output connector (U/V/W) Check the connection and make sure it’s OK.

loosen. Make sure if it’s connected in accordance with the connector installing

method in the user’s manual.

Drive itself failure. Consult ACTION TECHNOLOGY Corporation distributor

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■Troubleshooting 3 (Motor cannot rotate)

The servo is ON, but the motor will not operate.

Table 9.3.3

Cause What to do

Wrong parameter setting. For setting all the basic parameters in all control modes, refer to chapter 8

「Table 8.2.4, Table 8.3.2, Table 8.4.2 and Table 8.5.2」.For position control
mode and internal position command mode, refer to 「Appendix 2 SV-A3

Positioner function」.

Do not input the correct commands from upper Check the command input from host control device. Confirm the input

controller command is correct or not according to the waveform input by pulse train

command (position) or analog speed command in HCX-SETUP. Check the

parameter, such as division and multiplication. Sometimes, the motor

rotates quite slowly.

The connection of user I/O connector is not For correct connection, refer to「Figure 8.2.1, Figure 8.2.2, Figure 8.2.3,
correct. Figure 8.3.1, Figure8.4.1 and Figure 8.5.1」. .For position control mode and

internal position command mode, refer to 「Appendix 2 SV-A3 Positioner

function」.

Command input is restricted. Disconnect the HOLD and COM- of user I/O connector.

Torque command limit setting is not correct. Set parameter No.147.0 and 148.0 correctly when using torque command

limit.

CCW/CW drive restriction input becomes Set the parameter No.67.0 to 「0」 when not using CCW/CW drive
effective. restriction input. CCWL, CWL and COM- of user I/O connector should be

closed when using CCW/CW drive restriction input.

■Troubleshooting 4 (Motor operation is not steady)

The motor operates unsteadily.

Table 9.3.4

Cause What to do

FG and GND connection is wrong. Connect FG and GND correctly.

Speed and position command is not steady. Use [Waveform monitor] in HCX-SETUP to check the motor command

input. And check the contact of cables and connectors.

Misadjustment Adjust the parameters.

The motor rotate without host command input. Set the appropriate values for No.33.0 「Pulse train command - Input filter
」
selection in position control mode.

「
Adjust parameter No.60.0 Analog speed command - Fixed offset value 」
in speed control mode.

Adjust parameter No.300.0 「Analog torque command Fixed offset value」

in torque control mode.

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Command is interfered. The shielded twisted-pair cable is used for I/O cable in a vulnerable

environment. So is the encoder cable. The encoder cable should be 20m

or less.

Position deviation occurs. Set the appropriate values for No.33.0 「Pulse train command - Input filter
」
selection in position control/pulse train command mode. Check whether

the pulse output of host control device (such as PLC) is beyond the limit

value. Check whether the product of ①No.33(Pulse command

input(position) and host control device output, ②No.65(Position

command) and No.67(Position feedback), ③No.67 and parameter

No.276.0/278.0(Encoder pulse output division and multiplication) is

consistent with the position feedback of host control device. If inconsistent,

it may be interfered. Then connect FG correctly and adjust parameter

No.33.0.

Please use shielded twisted-pair for I/O cable.

Deviation occurs when home position reset. Check the command input of host control device. Observe the waveform of

pulse train command input(position) or analog speed command input in

HCX-SETUP to check whether the input command is correct or not. Check

whether to get the Z-phase correctly from the host control device. If the

Z-phase pulse amplitude is small, adjust No.276.0 and 278.0 「Encoder

」
output division and multiplication to increase the pulse amplitude.

■Troubleshooting 5(Vibration and sound)

Vibration and sound occurs when the motor operates.

Table 9.3.5

Cause What to do

Large gain Adjust the gain.

The machine or devices loosen. Check the installment of motor, reducer and coupling.

Interference occurs. Check the cables’ length and shielding.

The high-voltage cable(motor power cable) should be isolated from the

signal cable (encoder cable).

Resonance occurs between motor and device. Adjust position command smoothing filter at low-vibration; Adjust low-pass

filter or notch filter at high-vibration.

The drive and motor do not match. Confirm the motor model code in HCX-SETUP [Communication setting]. If

the drive and motor do not match, clear the EEPROM parameter and

change the motor models.

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Appendix

Appendix 1 Recommended wire/cable

Cable name AWG UL Heat-resistance Remark

Motor power cable (750W or less) 18 2517 105℃

Motor power cable (1KW or less) 14 Note 1) 2501 105℃

200VAC input (750W or less) 18 1015 105℃

FG cable Note 2)

200VAC input (1KW or more) 14 Note 1) 1015 105 ℃

FG cable Note 2)

Encoder Power ：22 20276 80 ℃ Max.20m for shielded cable of 5P(10

：
Signal 24 cores) (when using shielded

twisted-pair cable)

User I/O 26 1007 80 ℃ Shielded twisted-pair cable

Recommended length: 50m or less

Regenerative resistor connection 18 1015 105℃

Brake 18 2517 105℃ 1P(2 cores)

Main circuit DC power (750W or 18 1015 105℃

less) Note 2)

Main circuit DC power (1KW or 14 Note 1) 1015 105 ℃

more) Note 2)

Communication between the drives 28 20539 80 ℃ Ribbon cable 10 cores

Note 2) Accessories ((2.54mm spacing)

The length of cable depends on the actual situation.

Note 1) AWG16 cable can be used for 1kW motor.

Note 2)For multi-axial drives

Appendix 2 SV- A3 positioner function

1. Overview

This product has the positioning function of using point table.

Preset the data by the point table in the drive and set the Point No. to be started through I/O input by the upper controller. After

inputting the start signal, the positioning will be done according to the selected Point No.

2. Basic setting [2.1 User I/O connector (CN1) wiring]

Table 2.1 User I/O connector CN1 connector pins arrangements

Name Symbol Pin No. Signal name Contents

User I/O CN1 1 24V Drive control power supply 24V input
●24V power 2 G24V Drive control power supply GND
supply input 3 COM+ I/O power supply 24V input
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●Parallel I/O 4 I1 (SVON) Servo ON input

●Pulse train 5 I2 (RESET/PCLR)Alarm reset/ deviation counter clearing input
Command 6 I3 (PCSTART1)CW start input
input 7 I4 (PCSEL1)Point NO. 1 input
●ABZ output 8 I5 (PCSEL2) Point NO. 2 input
9 I6 (PCSEL3) Point NO. 3 input
10 I7 (PCSEL4) Point NO. 4 input
11 I8 (ORG)Home position sensor input
12 COM- I/O power supply GND
13 O1 (MBRK) Brake release output
14 O2 (SERVO) Servo status output
15 O3 (MEND)Action completion output
16 O4 (HEND)Home position return completion output
17 O5 (T-LIMIT) Torque limit output
18 O6 (OCZ )Encoder Z-phase output (open collector)
19 O7+ (SRDY+) Servo ready output +
20 O7- (SRDY-) Servo ready output -
21 O8+ (ALM+) Servo alarm output+
22 O8- (ALM-) Servo alarm output-
23 NC1 Reserved (Disconnected)
24 SP1 Reserved
25 SP2 Reserved
26 CMD_PLS Reserved
27 /CMD_PLS Pulse command Pulse, orthogonal phase difference A-phase,
CCW
28 CC-P Pulse command 24V of PLS
29 CC-D Pulse command 24V of DIR
30 CMD_DI R Reserved
31 /CMD_DI R Pulse command Direction, orthogonal phase difference
B-phase, CW
32 A SPEED Reserved
33 A_GND Reserved
34 A_TRQ Reserved
35 A_GND Reserved
36 OUT_A Encoder A phase output
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37 /OUT_A Encoder /A phase output

38 OUT_B Encoder B phase output
39 /OUT_B Encoder /B phase output
40 OUT_Z Encoder Z phase output
41 /OUT_Z Encoder /Z phase output
42 SG Signal ground
43 485 RS-485 communication data
44 /485 RS-485 communication /data
45 SG Signal ground
46 NC2 Reserved(Disconnected)
47 SP3 Reserved
48 SP4 Reserved
49 EDM+ Reserved
50 EDM- Reserved

[2.2 Basic parameters setting]

Set the basic parameters.

The following parameters must be set if using the positioning function.

Table 2.2 Parameter of control mode change

Parameter No. Parameter Description

2.0 Select control mode. Set to “0”.

3.0 Select command mode. Set to “3”.

Selection method for different operation modes.

Table 2.3

Operation modes Internal position command Selection of operation Starting method

Selection of operation modes modes

（No. 642. 0） (No. 9. 0 ）

Point table 0 0 （
I /O input PCSTART1 ）
1 HCX-SETUP

Manual pulse input 2 Arbitrary （

I /O input pulse command input ）
[2.3 User I/O description]

The user I/O related to the positioning function are shown below.

■Input
ON when connection with COM- is close; OFF when open.

1) PCSEL1. . . 4 Point NO. selection

・Specify the Point No. and home position return to be started
・Select home position return or Point No.0 for starting Point No.0 according to the setting「Point No.0 function selection」（No.
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646. 3 .

Table 2.4

PCSEL4 PCSEL3 PCSEL2 PCSEL1 Description

OFF OFF OFF OFF Home position return or Point No.0

OFF OFF OFF ON Point No.1

OFF OFF ON ON Point No.2

OFF OFF ON ON Point No.3

--- --- --- --- ------

OFF ON ON ON Point No.7

--- --- --- --- ------

ON ON ON ON Point No.15

2) PCSTART1 CW start
・The action and home position return of Point No. can be specified when the connection with COM- from OFF to ON.
・When set the 「Point No.0 function selection」（No. 646. 3）to “0= Return to home position” and specify 0 to the Point No.,
the home position return can be started by inputting PCSTART1.

3) ORG home position sensor

・Input the home position sensor signal at home position return by home position sensor.
For details, refer to 「8. 9 Home position return」.

4) HOME position return start

・Set the input signal of “Position control/internal generation command dedication 1” to the special I/O. About the special I/O
setting, refer to 「Appendix 3 SV-A3 special I /O setting」.

・The home position return starts when the connection with COM- from open-circuit to close-circuit.
■Output
ON when connection with COM- is close; OFF when open.

1) MEND completion

・If the action of Point table and home position return completed and ready for the next operation, it will become close-circuit.
・OFF when the operation from starts to pauses.
・Make sure the MEND is close-circuit before inputting PCSTART 1. The start command will be ignored when MEND is
open-circuit.
・It is open-circuit at servo OFF.
2) HEND home position return completion

・Close-circuit when home position return completed

・When the command method is absolute, home position return must be done if HEND is open-circuit.
・For details, refer to 「8. 9Home position return」.
3) P M1. . . 3 Point No. output

・Set the input signal of “Position control/internal generation command dedication 1” to the special I/O. About the special I/O
setting, refer to 「Appendix 3 SV-A3 special I /O setting」.

・Point No. that output starts or ends

・Select the Point No. output time and description in 「Point No. output method」（No. 644. 0）.
・Open-circuit (Point NO.0) at servo OFF and home position return after power ON to the drive.
Table 2.5

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PM3 PM2 PM1 Description

OFF OFF OFF Point No.0 and 8

OFF OFF ON Point No.1 and 9

OFF ON OFF Point No.2 and 8

OFF ON ON Point No.3 and 7

--- --- --- ---

ON ON ON Point No.7 and 15

The running operation and dwell time of Point NO. output in 「Point No. output method」 are shown below.
Table 2.6

Point No. Running operation Dwell time

1 Continuous 0

2 Continuous 0

3 Single Arbitrary value

3. Point table operation

[3.1 Point table data]

The Point table setting are shown below and use HCX-SETUP to edit the Point table.

Table 3.1 Point table data

Items Description Unit Setting range

Command Absolute value: Take the position data as the target position - Absolute value and

method Relative value: Take the travel distance from current position to target relative value

position as the position data

Running Single: Executing the selected one Point No. - Single, continuous

operation Continuous: Execute the next Point No. continuously

Position 1)Select absolute value according to command method [Command -1, 073, 741, 823

Set the target position unit] ～ 1, 073, 741, 823

2) Select relative value according to command method

Set travel distance. Positive value: CCW rotation

Negative value: CW rotation

Speed Set the motor speed at positioning. And the setting value must not be [ rpm] 1~ max.speed of the

outside the max. speed of the motor. motor

Acceleration Set the acceleration time for the motor, that is the time from 0rpm to [ms/ ～
0 5000

time 1000rpm 1000rpm]

Deceleration Set the deceleration time for the motor, that is the time from 1000rpm [ms/ ～
0 5000

time to 0rpm 1000rpm]

Dwell time Set the dwell time for pause after the positioning completion has been [ms] ～
0 20, 000

detected by Point no. positioning completion (range). Execute the

position command for the next Point No. after the dwell time. When

set the running operation to 「Continuous」,the dwell time is 「0」 and

the next Point No. continues.

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Positioning Set the position deviation value to determine positioning completion. [pulse] ～
0 32, 767

completion The dwell time begins after the position command completed

specified by the Point No. and the position deviation is within the

setting range. The unit is same to the encoder pulse unit.

Valid/ invalid Set the valid or invalid to the operation. When set the operation to - Valid/ invalid

invalid, the Point No. will not execute until the next valid Point No.

[3.2 Command unit setting]

The command unit is the unit used for position and distance between upper controller and drives. The mini. Command unit is 1.

The function of command division and multiplication is to change the position data from command unit to encoder pulse unit.

「 （
Set the command division and multiplication by command division and multiplication Numerator ）」No. 34. 0）and 「command
（
division and multiplication Denominator ）」No. 36. 0）. Save the parameters if the command division and multiplication changes
and execute the home position return after the power ON again.

Make sure the range for the ratio of command division and multiplication is 1 to 1000. (In pulse command mode, the range is 0.

001 to 1000).

[3.3 Operation range for position and position command overflow detection]

The operation range for position (ABS position command) of Point table:

～
Absolute position: -1, 073, 741, 823 +1, 073, 741, 823 [command unit]

「 」
Whether the Position command overflow/ home position return failure alarms or not, after the position of Point table (ABS

「
position command value) exceeds the range described above, can be selected by Internal speed command - Overflow

」 ）
detection option (No. 643. 0 . When set it to “0=Disable”, the absolute value cannot be specified to the command method. For

details, refer to「Parameter description Internal speed command - Overflow detection option」.

[3.4 Parameter description]

No. Name Unit

642. 0 Internal speed command - Operation mode -

Set Operation mode for internal position command.

0 = Point Table

1 = Communication operation

2 = Manual pulse input

“1 = Communication operation” is selected in Test run by HCX-SETUP.

No. Name Unit

643. 0 Internal speed command - Overflow detection option -

Enable/Disable Internal position command Overflow detection function

0 = Disable

1 = Enable (Initial setting)

The function of Internal speed command - Overflow detection option is to prevent the target position of Point table and

communication operation(test run) exceeding the absolute position range to make the absolute position disappear. If the target

（ ～
position (ABS position command value) exceeds absolute position range -1, 073, 741, 823 +1, 073, 741, 823 , here can be ）
「 」
set for Position command overflow/ home position return failure to alarm or not.

Set it to “0= Disable” when outside the absolute position range and have the relative position command to the same direction

repeatedly.

■Conditions for alarm occurrence

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1 Set to “1=Enable”
～
The alarm occurs when the target position of ABS position command value exceed the range of -1, 073, 741, 823 +1, 073,

741, 823.

The alarm occurs when the ABS position command value exceeds the range of -1,073,741,823 to +1,073,741,823 after servo

On and the travel distance exceeds the range of -2,147,483,647 to +2,147,483,647.

）
2 Set to “0=Disable”
In the relative command, no alarm occurs even if the ABS position command value exceeds the absolute position range. But

alarm occurs in the absolute command.

The alarm occurs when “Absolute value” exist in the command method of Point table.

■Time for alarm occurrence

No alarm occurs when the ABS position command value exceed absolute position range at servo ON.

The alarm occurs when the operation starts in a single operation setting.

In the continuous operation setting, after the operation starts, the alarm occurs before the Point No. of which the ABS position

command value exceeds the range.

No. Name Unit

644. 0 Point No. output method -

Set Point No. output method to the user I/O PM1. . . 3.

0 = Output Operation start point at Operation start

1 = Output Operation start point at Operation end

2 = Output each point No.at each operation start

For details, refer to 「2-3 User I/O description PM1. . . 3 Point No. output 」
Appendix 3 SV- A3 special I/O setting

1. Preface

The parallel I/O setting changes automatically after setting the control mode and command mode for the drive. Special I/O

setting should be done by HCX-SETUP.

2. Special I/O setting

The parallel I/O can be set specially based on the control mode and command mode. The setting are shown below. There is

only the default I/O setting when no special settings.

（
[2. 1 Position control mode pulse command input ] ）
As shown in Table 3.1 to set the parameters and Table 3.2 to set the special I/O.

For signal details, refer to 「8.7.1 Signal description」.

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Table 3.1 Parameter setting at position control mode(pulse command input)

Parameter No. Parameter Description

2.0 Select control mode. Set to “0”.

3.0 Select command mode. Set to “1”.

Table 3.2 Special I/O setting(dedication 1) at position control mode(pulse command input)

Pin No. Signal name Description Function

4 I1 SVON Servo ON

5 I2 RESET Alarm reset

6 I3 HOLD Command input restriction

7 I4 PCLR Deviation counter clearing

8 I5 HOME Home position return start

9 I6 CCW CCW drive restriction

10 I7 CWL CW drive restriction

11 I8 TLSEL1 Torque limit selection 1

47 I9 Reserved

13 O1 MBRK Break release

14 O2 SERVO Servo status output

15 O3 POSIN Positioning completion output

16 O4 Reserved

17 O5 HEND Home position return completion

18 O6 MEND/T-LIMIT Operation completion/ torque limit

19 O7 OCZ Encoder phase Z output

21 O8 SRDY Servo ready

48 O9 ALM Alarm status

（
[2. 2 Position control mode internal position command ] ）
As shown in Table 3.3 to set the parameters and Table 3.4 to set the special I/O.

For signal details, refer to 「8.7.1 Signal description」.

Table 3.3 Parameter setting at position control mode(internal position command)

Parameter No. Parameter Description

2.0 Select control mode. Set to “0”.

3.0 Select command mode. Set to “3”.

Table 3.4 Special I/O setting(dedication 1) at position control mode(internal position command)

Pin No. Signal name Description Function

4 I1 SVON Servo ON

5 I2 RESET/PCLR Alarm reset/deviation counter clearing

6 I3 PCSTART1 CW start

7 I4 PCSEL1 Point No.1

8 I5 PCSEL2 Point No.2

9 I6 PCSEL3 Point No.3

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10 I7 HOME Home position return start

11 I8 TLSEL1 Torque limit selection 1

47 I9 Reserved

13 O1 PM1 Point No. 1 output

14 O2 PM2 Point No. 2 output

15 O3 PM3 Point No. 3 output

16 O4 Reserved

17 O5 HEND Home position return completion

18 O6 MEND/T-LIMIT Operation completion/ torque limit

19 O7 OCZ Encoder phase Z output

21 O8 SRDY Servo ready

48 O9 ALM Alarm status

Appendix 4 Servo drive power connector （L1/ L2/ L3, U/ V/ W）wiring

Use the crowbar packed with the servo while wiring.

1)The crowbar is packed with the power connector at shipping

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2) Cable connection procedures

1) Attach the crowbar to the handling slot on the upper portion

(removable)

2) Press down the crowbar to push down the spring.

3) Insert the peeled cable while pressing down the lever, until it hits

the insertion

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4)Release the crowbar.

Appendix 5 SV-A3/A3P series absolute system description

1. Overview

This product constitutes the absolute system by using the unique magnetic absolute encoder. Have the encoder clearing after

home position return and no need for home position return when restarting the power supply.

The following procedures are ready for the absolute system:

①Use the motor equipped with the absolute encoder and drive with absolute specifications
②Connecting the encoder battery.
③The upper controller can get the absolute data by RS-485.
2. Applicable models

Use the following motor and drive combination when using absolute system.

Table 1 Applicable motor and drive

Output Motor Drive

400W SV-A3*1.27K**-HN SD-A3W0400**-HN/SD-A3PW0400**-HN

750W SV-A3*2.39K**-HN SD-A3W0750**-HN/SD-A3PW0750**-HN

1KW SV-A3*4.77K**-HN SD-A3W1000**-HN/SD-A3PW1000**-HN

1.5KW SV-A3*7.16K**-HN SD-A3W1500**-HN

2KW SV-A3*9.55K**-HN SD-A3W2000**-HN

3. Setting

[3.1 Setting for absolute system]

■Parameter setting is needed for absolute system of the drive.

■Change the Selection of an encoder system (No.257.0) from 0 (initial setting, incremental system) to “1(absolute system).
This can be set by the set panel or HCX- SETUP.

■Refer to 「5 Absolute encoder initialization」 for the operation procedures.

[3.2 RS-485 communication setting]

Parameter setting must be done for the upper controller to get the absolute data of the drive by RS- 485 communication.

Change the Communication address (No.4.0) from “1(initial value) to the desired address No and the setting range is 1 to 32.

Change the Selection of host communication method(No.8.0) from “0(initial value” to “1(485 asynchronous serial

communication). The parameter change can be done by the set panel or HCX-SETUP.

Refer to 「5 Absolute encoder initialization」 for the operation procedures.

Table Parameter setting

No. Parameter Description Whether to

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restart the

24VDC power

4.0 Communication Set the communication address of servo drive. Yes

address Set to “1” when not the multi-station communication. If using multi-station

communication, set different values for each axis.

[Initial value] 1

[Setting range] 1 to 32

8.0 Selection of host Select host communication mode. Yes

communication 0= Disable

method 1= RS-485 asynchronous serial communication

When connecting RS-485 signal cable and using RS-485 asynchronous

serial communication, select to “1”. If not, select to “0”.

When use USB, it is irrelevant to this setting and can communicate

anytime.

[Initial value] 0 (Disable)

[Setting range] 0 or 1

257. 0 Selection of an Select an option for Absolute system or Incremental system. Yes

encoder system 0 = Incremental system

1 = Absolute system

[Initial value] 0 (Incremental system)

[Setting range] 0 to 2

4 The installation of battery box cable(Optional)

[4.1 Installation of battery box cable]

Figure 1 Installation of battery box cable

Install the battery box on the cable between the drive and motor encoder.

①Cut off 200VAC and 24VDC, take off the encoder cable from the motor
②Connect the battery box after check the connection direction
③Operate as the「5 Absolute encoder initialization」
[4.2 Battery specification]
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The battery for absolute system are recommended as below:

Table 3 Basic specifications(recommended battery)

Items Description Remark

Battery CR-AGB/C23P Made by Panasonic Note 1)

Series : CR-AG

Nominal voltage 3. 0V

Nominal capacity 2400mAh ℃

Capacity at the temperature of 20 ,

standard discharge current, voltage 1.8V

Standard discharge 2. 5mA

current,

Max. continuous 1A At the temperature of 20℃

discharge current

Appearance As shown in the <Appearance> Note 2)

Weight 24g

Temperature ： ℃ ～ +70℃
Working temperature -40 No condensation

Storage temperature：-20℃ ～ +45℃

Recommended Temperature：5℃ ～ 35℃

storage condition Humidity：70%RH or less

Note 1) Primary lithium battery. Do not charge to avoid the burst.

Note 2) No significant appearance damage and have the obvious identification.

<Appearance>

Figure 2 Recommended battery

[4.3 Battery box wiring]

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Figure 3 Battery wiring

< When you make your own cable for absolute encoder >

Caution
Please use the battery recommended by our company. To avoid the electric shock, injury,

Wire correctly. malfunction or damage.

Please follow the wiring diagram as above. End user prepare the connectors and cables.

The batteries recommended by the company must be used. Using the battery, which does not meet the specifications, may

damage the battery in the worst situation.

For the operating and storage location

・Indoors, free from rain and direct sunlight
・Free from the corrosive gas, oil mist, iron powder
・Good ventilation, no moisture
・No excessive pollution and dust
・No vibration
・No impact to the battery
[4.4 Battery change]

When the battery voltage is too low, the alarm occurs.

At this time, it is necessary to change the battery, which should be done under the condition that the 24V control power for the

servo drive is ON. If not, the multi-rotation data will be lost and need to operate the mechanical home position return once

again.

Caution
・Check the polarity of the battery To avoid the electric shock, injury,

・Do not disassemble the battery malfunction or damage.

・Do not short-circuit the battery

・Do not charge the recommended battery

5 Absolute encoder initialization

Absolute encoder initialization is the encoder clearing. This can be done by the set panel or HCX-SETUP. After encoder

clearing, switch off the 24VDC power. The multi-rotation data has been cleared after switch on the control power again.

[5.1 Method for encoder clearing by set panel]

1) Change the drive parameters(set absolute system and RS-485 communication)

1. Turn on 24VDC power when not connected with the encoder. Change the parameters if no alarm occurs.

2. Change the Parameter No.4.0 Communication address from “initial value 1” to the expected communication address No. .
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The setting range is from 1 to 32. Change Parameter No.8.0 Selection of host communication method from “initial value 0” to

“1(RS-485 asynchronous serial communication)”. Change the parameterNo.257.0 from “initial value 0 (Incremental system) to

“1(Absolute system)”. For the parameter change method, refer to SV-A3 User Manual 「5-6 Parameter setting mode 」
「 」
3. Refer to SV-A3 User Manual 5-8 Parameter saving mode to save the parameters. If not save the parameters, the

changed parameters will be invalid when power ON next time.

4. Switch off the control power (24V).

2) Restart the power

「
1. Refer to 4-1 Battery box cable installation 」to connect the battery box to the encoder and turn on the control power.
2. When restart the control power, the encoder error ( ) will display on the set panel. Simultaneously, the multi-rotation

data error ( Er r . 20) and encoder low-voltage error occur (Err. 21).

3) Move to the home position

Move the axis which does not set the home position to the home position. When moving to the home position by manual is

possible, move it to the home position. This should be done at servo ON. Move them around the home position and perform

the operation of 4) to 6), then 4) to 5).

4) Operating the encoder clearing by set panel

1. Make the panel display . When display , press the MODE( ) button for seven times.

2. Refer to the following figure to press the SET ( ) button once and UP( ) button once to display .
3. Press the SET( ) button to display .

4. After long-press the LEFT( ) button to show , displays and the multi-rotation data
become 0.

5.Switch off the control power. Until now, the absolute encoder initialization has been completed.

The operation procedures to have the encoder clearing by set panel are shown blow.

Operate the encoder clearing at servo OFF. If servo ON, the alarm will occur.

Figure 4 Operation procedures by set panel

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5) Check if the encoder clearing succeeds

1. Turn on the control power

2. No alarm occurs and display. No need for home position return even though switch off the power, unless

remove the battery.

3. Check the following items if alarm occurs.

★Install the battery or not.

★The battery voltage is normal or not.
★Cable connection is correct or not.
★Wiring is correct or not
After check the items above, do the 3) operation.

4. When determine the home position by manual, the absolute encoder setting completes. When the servo drive determines

the home position, after performing 6) operation procedures, then 4) and 5). The setting completes.

6) The servo drive moves to the home position(cannot move to the home position by manual)

1. The drive moves to the home position at servo ON. Please note that the current absolute data will change as the encoder

clearing will be done later.

2. Servo OFF. The alarm of will occur at servo ON.

3. The absolute encoder setting completes after operation procedures of 4) and 5).

[5.2 The method of encoder clearing by HCX-SETUP]

1) Change the drive parameters(absolute system and RS-485 communication setting)

1. Turn on 24VDC power when not connected with the encoder. Change the parameters if no alarm occurs.

2. Start HCX-SETUP and connect with the servo drive.

Figure 5 [Parameters] screen Parameter description(RS-485 communication setting)

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Figure 6 [Parameters] screen Parameter description(absolute system setting)

★Click to the [Parameters] screen. Change the Parameter No.4.0 Communication address from “initial value 1” to the
expected communication address No. . The setting range is from 1 to 32. Change Parameter No.8.0 Selection of host

communication method from “initial value 0” to “1(RS-485 asynchronous serial communication)”. Change the

parameterNo.257.0 from “initial value 0 (Incremental system) to “1(Absolute system)”.

★Press the button [Set] and [Write into] to save the parameters to the servo drive.
★Cut off the communication with HCX-SETUP and turn off the control power.
2) Restart the power

「
1. Refer to 4-1 Battery box cable installation 」to connect the battery box to the encoder and turn on the control power.
2. When restart the control power, the encoder error ( ) will display on the set panel. Simultaneously, the multi-rotation

data error ( Er r . 20) and encoder low-voltage error occur (Err. 21).

3. HCX-SETUP connects to the servo drive.

4. Check the alarm in [Status display] screen. To check if the encoder error, multi-rotation data error and encoder

low-voltage error occur.

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Figure 7 [Status display] screen Checking alarms

3) Move to the home position

Move the axis which does not set the home position to the home position. When moving to the home position by manual is

possible, move it to the home position. This should be done at servo ON. Move them around the home position and perform

the operation of 4) to 6), then 4) to 5).

4) Operating the encoder clearing by HCX-SETUP

1. Click [Auxiliary function] in HCX-SETUP

2. Press the [Encoder clearing] in HCX-SETUP to perform the encoder clearing. The multi-rotation data becomes “0”.

3. Cut off the communication with the HCX-SETUP and switch off the control power. Now, the absolute encoder initialization

completes.

Figure 8 [Auxiliary function] screen Operation procedures

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5) Check if the encoder clearing succeeds

1. Turn on the control power

2. No alarm occurs when HCX-SETUP is connected with the servo drive, which means the setting completes. No need for

home position return even though switch off the power, unless remove the battery.

3. Check the following items if alarm occurs.

★Install the battery or not.

★The battery voltage is normal or not.
★Cable connection is correct or not.
★Wiring is correct or not
After check the items above, do the 3) operation.

4. When determine the home position by manual, the absolute encoder setting completes. When the servo drive determines

the home position, after performing 6) operation procedures, then 4) and 5). The setting completes.

6) The servo drive moves to the home position(cannot move to the home position by manual)

1. The drive moves to the home position at servo ON. Please note that the current absolute data will change as the encoder

clearing will be done later.

2. Servo OFF. Cannot select [Encoder clearing] at servo ON.

3. The absolute encoder setting completes after operation procedures of 4) and 5).

6. Method of obtaining absolute data

The upper controller device can get the absolute data from the drive by RS-485 communication.

[6.1 Wiring for RS-485 communication]

Refer to 「4. 4 RS-485 communication 」for RS-485 communication wiring.

[6.2 About the communication between the upper controller and servo drive]

The upper controller device send communication command GET_STATE_VALUE_4 to read the encoder data by RS-485

communication. This communication command read the state value in 4 bytes.

STEP1) GET_STATE_VALUE_4 Send command

STEP2) G ET_STATE_VALUE_4 Answer the response data to the command from the drive

[6.3 Communication command description]

The absolute data are recorded by “Encoder/ rotor mechanical angle (integrate)”. The upper controller device get the

“Encoder/ rotor mechanical angle (integrate)”, that is the absolute data, from the communication data GET_STATE_VALUE_4.

The sending and receiving method are shown in the following data example. Take the communication address (target address)

“01” as the example.

1. Execute the communication command GET_STATE_VALUE_4. The command code for GET_STATE_VALUE_4 is “11”.

2. The “Encoder/ rotor mechanical angle (integrate)” is used as the transmission data to input. The state variable code for

“Encoder/ rotor mechanical angle (integrate)” is “00C3”.

Sending data Example: Encoder / rotor mechanical angle (integrate)

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3. Receives data with the specified state number.

Example of data reception

7. About alarms

The alarms in absolute system are shown below.

Relative to the incremental system alarm items, the absolute system adds the items of encoder error(( Err. 18)), multi-rotation

data error ((Er r. 2 0) and encoder low-voltage error(Err. 21). These alarms cannot be cleared by alarm resetting or restarting

the 24VDC control power. Restart the control power supply after encoder clearing.

Check the alarms on the [State display] screen

Table 9 Check the alarms on the [State display] screen

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No. Alarm items Description ・handling ways

18 Encoder error The encoder itself error occurs.

20 Multi-rotation data error ☆The multi-rotation data changes sharply.

☆Check the encoder cable wiring and PIN contact
☆Perform FG grounding and countermeasures such as separation of power
cable and encoder cable.

21 Encoder low-voltage error ☆The multi-rotation data changes sharply.

☆Check if the battery voltage is too low for the absolute or battery cable loosen
For alarm details of the encoder, refer to the [Encoder] on the [Auxiliary function] screen.

Table 10 Alarm details for the encoder

No. Alarm items Description ・handling ways

0 Speed error The multi-rotation ABS sensor conversion error occurs at backup or speed error

occurs at power ON

1 MR Low battery voltage warning

2 Multi-rotation ABS Sensor communication error, cannot get the multi-rotation data at power ON.

3 Position error The sensor error results in the different value between the 1-rotation ABS sensor

and multi-rotation ABS sensor, which unable to confirm the encoder position.

4 Low –voltage error Only for multi-rotation ABS encoder

The supply voltage is under the voltage specification described in the manual at

power OFF.

5 EEPROM error Cannot confirm the data stored in the EEPROM

6 Overheat alarm The encoder base circuit temperature is beyond the setting temperature

7 Battery low-voltage error The battery voltage is below the specified value (Note 1)

Note 1) Confirm the battery voltage at power ON and then check it every one hour.

8 [Reference] Confirm the absolute data by HCX-SETUP

Display the absolute data by HCX-SETUP.

1) Checking method in [State display]

1. Start the HCX-SETUP and connect to the servo drive

2. Click the [State display] screen

「
3. Refer to the following screen, display the absolute data in Encoder/rotor mechanical angle(integrate) . 」
①Select 「Encoder/rotor mechanical angle(integrate)」
②Click [Manual monitor] or [Auto monitor]. Get the data when clicking [Manual monitor].
③The data updates continuously until click [Stop record] at [Auto monitor].

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Figure 9 Check the encoder data in [State display]

2) Checking method in [Auxiliary function].

1. Start the HCX-SETUP and connect to the servo drive

2. Select [Auxiliary function] and click the [Get encoder status] to show the encoder data below.

☆「Encoder／rotor mechanical angle（1 rotation）」

☆「Encoder multi-rotation data」
3. The absolute data can be got by the following formula.

／ （
[Absolute data]=[Encoder multi-rotation data] × 217+[ Encoder rotor mechanical angle 1 rotation ] ）

Figure 10 Checking the encoder data on [Auxiliary function] screen

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