Servo Driver Operation Manual (V1.01)

ESDB AC SERVO DRIVER
Servo Driver Operation Manual (V1.01)
GUANGDONG ELESY ELECTRIC CO.,LTD

(2014)
2
Safety Notes
The ESDB series general servo driver, which adopts DSP+FPGA system framework, has a series of virtues:
it speeds up the process of data collection and processing, with high integration level and reliability; it has
abundant interfaces for digital and analog input, which can match diversified upper control devices; its optimized
control algorithm makes accurate full-digital control of torque, speed and position come true, which can be used
in various manufacturing fields.
Before storing, installing, wiring, operating, checking and repairing, make sure to understand and obey the
following important notes, so as to operate the product safely.
1．Product inspection
 AC servo drive must operate with matched servo motor.

 Products being damaged or out of order can’t be used, or it may cause fire or equipment failure.
 If using your own motor, please contact our company’s technicians, or normal operation of the
driver can’t be guaranteed.
2．Product installing
 Don’t expose the product to steam, corrosive and combustible gas, otherwise it may cause electric
shock or fire.
 Don’t use the product in the place with direct sunlight or lots of dust, salinity and metal powder.
 Don’t use the product in the place with drippy water, oil and medicine.
1
3．Wiring
 Don’t join up the driver of 220V with the power supply of 380V, or there are danger of machine
damage, electric shock and fire.
 Confirm the one-to-one correspondence between the U,V,W output terminals and the U,V,W
binding posts, otherwise the motor may overspeed and cause damage to the machine and personal
injury.
 The grounding terminal must be grounded correctly; bad ground may cause electric shock or fire.
4．Notes for operation
 Before power on, please make sure the servo driver and servo motor have already been installed and
fixed correctly, and the power voltage and wiring is right.
 Before using the driver, confirm the machine’s couplings or belts are separated, and set the driver’s
parameter to suitable value. Test the servo motor to confirm it is operating correctly, and then
connect to the load; otherwise it may cause machine damage and breakdown.
 Before operating, please confirm the emergency switch can be turned on at any time to stop the
machine.
 Don’t touch any rotating part of the motor; otherwise it may cause personal injury.
 When the equipment is running, don’t move the stub cable, otherwise it may cause personal injury
or machine damage.
 When the equipment is running, don’t touch the drive and motor otherwise it may cause electric
shock or scald.
 Don’t turn on and off the power frequently. If necessary, please control the frequency is below once
every minute.
2
5．Trouble handling
 Except the specified professional staff, please don’t connect, install, operate, dismantle and
repair the machine, for there are risks of electric shock and causing damage to the equipment.
 Please don't reform the driver by oneself for there is danger of electric shock and personal
injury.
 Don’t touch the circuit board with hand directly, or it may destroy the board because of
electrostatic induction.
 When the equipment gives an alarm signal, check it and clear the trouble. Reset the alerting
signal before restarting.
 Be far away from the machine when restart it after unexpected power cut, to prevent
accidents.
3
Contents
Chapter 1 Product introduction ............................................................................................................................. 1
1.1 Nameplate and model introduction..................................................................................................................... 1

1.2 Each part name of servo driver........................................................................................................................... 2
1.3 Technical specification of servo driver ............................................................................................................... 2
Chapter 2 Installation............................................................................................................................................. 4
Chapter 3 Wiring.................................................................................................................................................... 7
3.1 Connection of peripheral equipments ................................................................................................................. 7

3.2 Wiring of servo drive......................................................................................................................................... 8
3.2.1 Power supply wiring................................................................................................................................... 8
3.2.2 Standard wiring diagram of the servo drive ................................................................................................10
3.2.3 Absolute encoder wiring ............................................................................................................................11
3.2.4 Resolver wiring .........................................................................................................................................11
Chapter 4 Interface ...............................................................................................................................................12
4.1 Signal definition of power terminals..................................................................................................................12

4.2 Signal definition of encoder feedback terminals ................................................................................................12
4.3 Signal definition of CN2 connector ...................................................................................................................13
4.4 Signal definition of communication connector...................................................................................................14
4.5 Digital input/output interface principle..............................................................................................................15
4.5.1 Digital input interface principle..................................................................................................................15
4.5.2 Digital output interface principle................................................................................................................16
4.6 Position pulse command input interface principle..............................................................................................16
4.7 Analog input/output interface principle .............................................................................................................20
4.7.1 Analog command input interface principle .................................................................................................20
4.7.2 Analog output interface principle ...............................................................................................................21
4.8 Encoder signal input/output interface principle..................................................................................................21
4.8.1 Encoder signal output interface principle....................................................................................................21
4.8.2 Encoder signal input interface principle......................................................................................................22
Chapter 5 Panel operation ....................................................................................................................................23
5.1 Overview .........................................................................................................................................................23

5.2 Menu structure .................................................................................................................................................23
5.2.1 Monitoring menu.......................................................................................................................................24
5.2.2 Parameter setting mode..............................................................................................................................25
5.2.3 Special function menu ...............................................................................................................................26
Chapter 6 Communication ....................................................................................................................................27
6.1 ModBus overview ............................................................................................................................................27

6.2 ModBus protocol..............................................................................................................................................27
Chapter 7 Parameters ...........................................................................................................................................34
7.1 Parameter summary..........................................................................................................................................34

7.2 Parameter function explanation .........................................................................................................................43
I
7.3 Digital input DI function explanation ................................................................................................................59
7.4 Digital output DO function explanation.............................................................................................................61
Chapter 8 Alarm....................................................................................................................................................63
Chapter 9 Running and adjustment......................................................................................................................66
9.1 Power-on..........................................................................................................................................................66
9.2 Trial running without load.................................................................................................................................66
9.3 Control functions debugging.............................................................................................................................67
9.3.1 Position control .........................................................................................................................................67
9.3.2 speed control .............................................................................................................................................70
9.3.3 Torque control ...........................................................................................................................................71
Chapter 10 Servo motor ........................................................................................................................................73
10.1 Nameplate and model introduction..................................................................................................................73

10.2 Each part name of servo Motor .......................................................................................................................74
10.3 The installation of the servo motor ..................................................................................................................74
10.4 Terminal signal definition of servo motor ........................................................................................................79
Appendix ..................................................................................................................................................................81
 Motor adaptation table....................................................................................................................................81

 Cable model ...................................................................................................................................................82
 Motor signal line (encoder line) cable type description....................................................................................83
 Motor power cable type description ................................................................................................................83
II
Chapter 1 Product introduction
1.1 Nameplate and model introduction
1. Nameplate
Figure 1-1 Servo driver nameplate description
2. Model
Figure 1-2 Servo driver model description
ESDB — 15 A E C
Sequence number of development
Model of encoder ：
E: Incremental encoder;
P: Wire-saving encoder;
S: Absolute encoder;
R: Resolver.
Voltage class：
A：AC220V
B：AC380V
Output power: 15×0.1KW=1.5KW
Serial No.: ESDB
1
1.2 Each part name of servo driver
Figure 1-3 Names of the servo driver’s parts
1.3 Technical specification of servo driver
Single-phase Three-phase
Power
AC220V(-15%~+10%),50/60Hz AC220V (-15~+10%),50/60Hz
Temperature Operation temperature: 0~40℃; Storage temperature: -40~50℃.
Environment Humidity <90% (No moisture condensation)
Vibration <0.5G(4.9m/S2) 10～60Hz , operate discontinuously.
①Position control mode; ②Speed control mode; ③Torque control mode;
Control mode ④Position/speed mode; ⑤Speed/torque mode; ⑥Torque/position mode;
⑦Open-loop operation.
Braking resistor Internally installed or out-connected.
2
Response ≥400Hz
Speed volatility <0.03(Load: 0~100%)
Feature Speed control
1:5000
range
Pulse frequency Differential Input:≤500Kpps; Open-collector input:≤200Kpps.
5 programmable DI input: 1.Servo on; 2.Alarm clear; 3. CCW drive
prohibition; 4.CW drive prohibition; 5.Position deviation counter clear;
6.Pulse command input prohibition; 7.Zero speed clamp; 8.CCW forward
torque limit; 9.CW reversed torque limit; 10.Control mode switching;
11.Internal position selection 1; 12.Internal position selection 2; 13.Internal
position selection 3; 14.Internal speed selection 1; 15.Internal speed
Control input
selection 2; 16.Internal speed selection 3; 17.Internal torque selection 1;
18.Internal torque selection 2; 19.Electronic gear ratio selection 1;
20.Electronic gear ratio selection 2; 21.Speed direction selection 1;
22.Speed direction selection 2；23. Speed command reverse; 25. Homing
startup signal; 26. The homing reference point signal; 27. Inner position
running start signal.
3 programmable DO output: 1.Servo ready; 2.Alarm output; 3.Positioning
Control output completion; 4.Electromagnetic brake; 5.Speed reached signal; 6.Torque
reached signal; 7.Homing completion; 8.Zero speed signal.
Input pulse types:①Pulse+direction; ②CCW pulse/CW pulse;
Position control mode ③Two-phase quadrature pulse.
Eight-optional internal position;
①Eight-optional internal speed;
Speed control mode
②External -10V~10V analog signal control.
①Four-optional internal torque;
Torque control mode
②External -10V~10V analog signal control.
Acceleration/Deceleration
Range: 1~10000ms (0~1000rpm/1000rpm~0) .
time
Torque limitation Range: -300~+300%.
Speed; Feedback pulse; Position command; Position deviation; Torque;
Monitoring
Current; Pulse frequency; Control mode; I/O signal status, Etc.
Overspeed; Overvoltage; Undervoltage; Overcurrent; Overload; Encoder
Protection
abnormity; Overheating; Excessive position deviation,Etc.
Operation&Display 6-bits LED nixie tube, 4 buttons, 2 indicator lights. Support shift operation.
Applicable load inertia Less than 5 times of the inertia of motor.

Communication RS485/RS232 CAN
3
Chapter 2 Installation
1. Installation site
Items ESDB servo driver

Operating
0~40℃(No freezing); Less than 90%RH (No moisture condensation).
temperature&humidity
Storage
temperature& -40~50℃; Less than 0%RH (No moisture condensation).
humidity
Confirm there is no corrosive gas, inflammable gas, oil mist, dust, etc.
Air environment
inside the cabinet.
Should be installed in the place where there is no high- radiation
Installation
equipment, vapor, water-drop, floating metal particle, electromagnetic noise
environment
jamming.
Altitude Elevation: 1000m below.
Vibration Less than 0.5G(4.9m/S2) 10～60Hz,operate discontinuously.
Protection grade IP20
2. Installation dimension
It can be installed in the way of base plate installation, and the installation direction is upwards perpendicular
to fitting surface. Figure 2-1 shows the baseplate installation way.
Figure 2-1 the driver's structure and installation dimension（unit: mm）
Ø5 90
.2
190 64.1 6.5
R
S
T
r
t
B1
B2
P
U
V
W
PE
4
3. Installation direction
As figure 2-2 shows, the installation direction should be perpendicular to the wall’s direction. Adopt mounting
holes in the four corners to fix the servo driver on the wall firmly. If necessary, please install an air fan to apply
forced-cooling to the servo driver.
Figure 2-2 Installation direction of the driver
4. Installation interval
The installation interval for single drive is shown in figure 2-3, and that for multi drives is shown in figure
2-4. Please leave enough space as far as possible in practical installation, so as to guarantee good heat
dissipation condition.
Figure 2-3 Installation intervals for single drive

>100
>100
5
Figure 2-4 Installation intervals for multi drives
For avoiding the environmental temperature of the servo driver rising too high, there
should be convection wind blowing to radiator of driver inside the electric cabinet.
While installing multi drivers, as shown in figure 2-4, please leave room larger than 25mm in each of the two
crosswise sides, and more than 100mm in each of the two vertical sides. Please keep the temperature inside the
electric closet in balance, for avoiding local temperature of the servo driver rising too high. If necessary, please
install forced-cooling convectional fan in the electric closet above the servo driver to pump air out.
6
Chapter 3 Wiring
3.1 Connection of peripheral equipments
The application of servo drive should be equipped with some peripheral equipment. Using proper peripheral
equipment can guarantee the drive’s stable operation; otherwise it may reduce the drive’s service life, even
damage the servo drive.
Figure 3-1 Connection of peripheral equipment
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 Braking resistor should be connected in strict accordance with the manual requests. B1
and P can’t be short circuit, otherwise the driver will be destroyed after power-on.
 Before power on, please check whether R, S, T, r, t wiring is correct.
 Check whether U,V,W,PE wiring is correct .Three-phase terminal sequence
! WARNING can’t be swapped to reverse the motor
 Motor ground terminal must be connected with driver ground terminal PE
 There is large volume electrolytic capacitor in the servo driver, so high
voltage will exist even after power down. Please don’t touch the driver or
motor in five minutes after outage .
3.2 Wiring of servo drive
3.2.1 Power supply wiring
Servo driver power line has two connections which are single-phase 220V and three-phase 220V. Single-phase
connection is only used at below 1.5KW situations. In the three-phase connection, control power r and t can be
connected with any two phases of the three phases.
Figure 3-2 Wiring diagram of single-phase AC220V
emergency ON
OFF MC
stop RA
MC SK
NFB
MC
R U
single-phase
FIL S V
220V M
T W
PE
r
t
Servo PG
driver
ALM+ RA
When choosing inner braking resistor, it
should make B2 and P short circuit, B1
while B1 and P should be open circuit. B2
P ALM-
DC24V
8
Figure 3-3 Wiring diagram of three-phase AC220V
emergency ON MC
OFF RA
stop
MC SK
NFB
MC
380V 220V
R U
FIL S V
M
T W
AC 380 PE
r
t
servo PG
When choosing external braking resistor, it
driver
should make B2 and P open circuit,
meanwhile B1 and P ports are connected RA
with the braking resistor. ALM+
B1
B2
P ALM-
DC24V
9
3.2.2 Standard wiring diagram of the servo drive
Figure 3-4 Wiring diagram of servo drive
10
3.2.3 Absolute encoder wiring
Figure 3-5 Wiring diagram of absolute encoder
3.2.4 Resolver wiring
Figure 3-6 Wiring diagram of resolver
11
Chapter 4 Interface
4.1 Signal definition of power terminals
Terminal Wire diameter requirements

Signal name Functions
sign ＜2.0KW ≥2.0KW
Control power supply Control circuit power input
r t 1.25 mm2
terminal terminal:AC220V，50～60Hz
Main Circuit power input terminal:
RST Main Circuit power 1.25 mm2 2.0 mm2
AC220V，50～60Hz
U V W PE Motor output terminal Connect to servo motor's U,V,W,PE . 1.25 mm2 2.0 mm2
When using inner braking resistor, the B2 and P

ports are short circuit, meanwhile B1 and P ports
are open circuit.
B1 B2 P Brake resistor terminal When using external braking resistor, the B2 and 1.25 mm2
P ports are open circuit, meanwhile B1 and P
ports are connected with the external braking
resistor.
Ground terminals Connect with motor ground. 2.0 mm2 以上
4.2 Signal definition of encoder feedback terminals
Figure 4-1 shows connection terminals of servo driver CN1, which uses SCSI 14P connector.
Figure 4-1 CN1 plug of servo driver
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Table 4-1 Signal definition of CN1 plug
Name and sign

Pin Wire-saving
Incremental encoder Absolute encoder Resolver
encoder
CN1- 1 Encoder W+ input: W+
CN1- 2 Encoder W- input: W-
CN1- 3 Encoder V+ input: V+
CN1- 4 Encoder V- input: V-
CN1- 5 Encoder U+ input: U+
CN1- 6 Encoder U- input: U-
CN1- 7 Encoder Z+ input: Z+ Analog input SIN+: SIN+
CN1- 8 Encoder Z- input: Z- Analog input COS-: COS-
CN1- 9 Encoder B+ input: B+ Encoder SD+ input: SD+ R2
CN1-10 Encoder B- input: B- Encoder SD- input: SD- Analog input COS+: COS+
CN1-11 Encoder A+ input: A+ R1
CN1-12 Encoder A- input: A- Analog input SIN-: SIN-
CN1-13 Encoder power negative : 0V
CN1-14 Encoder power positive : +5V
4.3 Signal definition of CN2 connector
Figure 4-2 shows CN2 plug of the servo driver (in the face of soldering lug of the pin). It uses SCSI 50P
connector.
Figure 4-2 CN2 plug of servo driver
Table 4-2 Signal definition of CN2 plug
Application
Pin Name Functions
way
CN2-11 EXVCC P,S,T I/O input circuit external power supply, +12V~+24V
CN2-9 DI1
CN2-33 DI2
CN2-31 DI3
Photoelectric isolation programmable digital input pins. Functions of
CN2-32 DI4 P,S,T
DI1~DI5 can be customized by parameters P-301~P-307.
CN2-34 DI5
CN2-8 DI6
CN2-30 DI7
CN2-41 PULS+ P External pulse command input:
CN2-43 PULS- 1） Pulse + Direction;
13
CN2-37 DIR+ 2） CCW Pulse /CW Pulse;
CN2-36 DIR- 1） Two-phase quadrature pulse.
External DC24V power for pulse input using open collector
CN2-17 PULL HI P
connection.
CN2-19 VPP The +24V voltage is supplied by driver.
P,S,T
CN2-20 COM The ground of VPP.
CN2-12 DAC1
S,T Analog output, -10V～+10V.
CN2-13 DAC2
CN2-40 T-REF Analog torque command input:-10V～+10V
S,T
CN2-42 V-REF Analog speed command input:-10V～+10V
CN2-18 GND
S,T Analog ground.
CN2-44 GND
CN2-7 DO1+
CN2-6 DO1-
CN2-28 DO2+
CN2-27 DO2- Photoelectric isolation programmable digital output pins. Functions of
P,S,T
CN2-3 DO3+ DO1~DO3 can be customized by parameters P-309~P-312.
CN2-2 DO3-
CN2-1 DO4+
CN2-26 DO4-
CN2-48 DO5+
P,S,T Z-phase open collector output.
CN2-47 DO5-
CN2-21 EXTA+
P,S,T Position feedback pulse A phase differential output.
CN2-22 EXTA-
CN2-25 EXTB+
P,S,T Position feedback pulse B phase differential output.
CN2-23 EXTB-
CN2-50 EXTZ+
P,S,T Position feedback pulse Z phase differential output.
CN2-24 EXTZ-
4.4 Signal definition of communication connector
Figure 4-3 Communication connector CN3 plug
5 3 1
6 4 2
Figure 4-4 Wiring diagram of drive CN3 plug (RS232 interface) and PC
14
Figure 4-5 Wiring diagram of drive CN3 plug and RS485 converter
Through the RS485 interface can simultaneously achieve asynchronous serial half-duplex communication
with 32 servo drivers. The cable length is related to the baud rate and the cable diameter. For example, if the baud
rate is 9600bps and AWG26 cable is chosen, the maximum communication distance is 1Km.
Table 4-3 Signal definition of CN3
Pin Name Sign Functions

RS485 differential signal - RS-485-
CN3-1
CAN differential signal - CANL RS-485 and CAN shared data bus. Users can choose
RS485 differential signal + RS-485+ either one by internal jumper.
CN3-2
CAN differential signal + CANH
Data receiving terminal of driver RS232 interface,
CN3-3 RS-232 data receiving RXD232
connect to PC data transmitting terminal.
Data transmitting terminal of driver RS232 interface,
CN3-4 RS-232 data transmitting TXD232
connect to PC data receiving terminal.
CN3-5 Ground GND
+5V Power supply.
CN3-6 +5V +5V
4.5 Digital input/output interface principle
4.5.1 Digital input interface principle
The digital input signals with two connections as follows.

Figure 4-6 Digital input interface
Relay circuit example Open-collector example
 The input power (DC12～24V) is supplied by user, the power load capacity is 100mA and above.
 If power polarity reversed, servo drive will fail to work.
15
4.5.2 Digital output interface principle
Servo digital outputs are all couple-terminal open-collector output. In order to guarantee reliability of signal
transmission, all the output signals are valid only when the optical coupler is turned on. Wiring is showed as
followings.
Figure 4-7 Digital output interface
External optical coupler output examples External relay output examples
 The power is supplied by users. Notice that the servo driver will be damaged if the power polarity is
reversed.
 The maximum power supply voltage is +24V.

 The output is open-collector form, with the maximum current of 150mA.
 If the load is an inductive load such as relay, it is necessary to wire a diode parallel with the load. If the diode
is in a wrong direction, the servo driver will be damaged.
4.6 Position pulse command input interface principle
1. Pulse command input interface
User can use both differential input connection and open-collector single input connection
Figure 4-8 Pulse command differential input
The maximum frequency is 500Kpps. In order to transmit pulse quantity correctly, differential
driving mode is recommended.
16
Figure 4-9 Pulse command input with internal power
Figure 4-10 Pulse command input with external power

Circumscribed resistance R should be adjusted by Adjustment using internal resistance , the internal
VCC makes the driving current to meet 6~10mA.The resistance 1.5KΩ. The maximum input pulse
maximum input pulse frequency is 200Kpps. frequency is 200Kpps.
VCC R
24V 1KΩ
12V 680Ω
5V 100Ω
 Because the driver provides internal power supply, external power supply is not necessary.
 In order to improve the anti-interference ability, differential connection is recommended.
 Single-terminal mode will reduce the reception range of command pulse frequency.
2. Position pulse command types
These types command pulse can be received, which is selected by Pn-014,as follows.Pn-015 is used to
change counting direction,and Pn-047 adjusts the counting edge of PULS and DIR signal.
17
Table 4-4 Position pulse input types(Note: Pn-015=0，Pn-047=0)
Run in CCW direction Run in CW direction

Pulse types
(Anti-clockwise) (Clockwise)
Pn-014=0, Pulse + direction
Pn-014=1, CCW /CW pulse
Pn-014=2, Two phase quadrature

pulse
Table 4-5 Pulse input timing parameters
Single terminal driving

Parameters Differential driving input
input
tck >2μS >5μS
th >1μS >2.5μS
tl >1μS >2.5μS
trh <0.2μS <0.3μS
trl <0.2μS <0.3μS
ts >1μS >2.5μS
tqck >8μS >10μS
tqh >4μS >5μS
tql >4μS >5μS
tqrh >0.2μS <0.3μS
tqrl >0.2μS <0.3μS
tqs >1μS >2.5μS
(1) Pulse + direction input timing diagram (The maximum frequency is 500KHZ)
Figure 4-11 Pulse + direction input timing diagram
ts tck
90%
10%
trh trl tl ts
ts
90%
10%
trh trl
18
(2) CCW pulse/CW pulse input timing diagram (The maximum frequency is 500KHZ).
Figure 4-12 CCW/CW pulse input timing diagram
tck
th
90%
tl
10%
ts
90%
10%
trh trl
(3) Two phase quadrature pulse input timing diagram (The maximum frequency is 300KHZ).
Figure 4-13 Two phase quadrature pulse input timing diagram
tqck
tqh
90%
tql
10%
tqs
tqrh tqrl
tqs
90%
10%
tqrl tqrh
19
4.7 Analog input/output interface principle
4.7.1 Analog command input interface principle
Figure 4-14 Analog input interface
 Analog input voltage range is -10V~+10V，and the driver may be damaged if the voltage value is in excess of
this range.
 The analog interface is not isolated. The analog ground line and the negative terminal of the analog input are
connected in the driver side.
 Zero offset exists in the analog input. In the analog speed/torque control mode, even if the analog command
voltage is 0V, sometimes motor still rotates at tiny speed, because of common ground voltage difference. It
can be compensated automatically or manually by parameter setting.
1) Auto compensation:In analog speed mode, enter into menu of ‘AU-’. Choose the submenu of ‘AU-SPd’,
and press ‘SET’ key, until ‘donE’ is displayed on nixie tube, compensation value will be write to
parameter ‘Pn-043’.In analog torque mode, choose the submenu of ‘AU-trq’, and press ‘SET’ key, until
‘donE’ is displayed on nixie tube, compensation value will be write to parameter ‘Pn-045’.
2) Manual compensation: Enable the servo driver, the motor runs in the analog speed mode. The speed
command offset can be observed by ‘dP-CS’, and then users can manually change the value of ‘Pn-043’
based on the observed offset. If the motor runs in the analog torque mode，the torque command offset
can be observed by ‘dP-Ct’, and then users can manually change the value of ‘Pn-045’ based on the
observed offset.
3) When the analog input voltage is 0V, parameter Pn-044 can be used to make motor stop stably in analog
speed mode. If the analog input voltage (absolute value) is smaller than the setting value, the motor will
be locked. In analog torque mode, the parameter Pn-046 is used. Method of operation refers to analog
speed mode.
20
4.7.2 Analog output interface principle
Figure 4-15 Analog output interface
Related parameters setting refer to chapter 7.
4.8 Encoder signal input/output interface principle
4.8.1 Encoder signal output interface principle
Position output signals EXTA+/EXTA-,EXTB+/EXTB-,EXTZ+/EXTZ- use differential output way. The
wiring diagram is shown below.
Figure 4-16 Position feedback pulse photocoupler connection
21
Figure 4-17 Position feedback pulse differential connection
4.8.2 Encoder signal input interface principle
Figure 4-18 Encoder signal input interface
22
Chapter 5 Panel operation
5.1 Overview
The drive panel is made up of 6 bits 8-segment LED nixie tubes, 4 keys and 2 indicator lights. They are used
for displaying various status of the driver and setting parameters.
Figure 5-1 Operation panel
The specific function of each part is illustrated as follows:
Name Functions
The 6 bits 8-segment digital tubes are used for displaying monitoring value, setting value,
Display
parameter value and alarm information.
▲ key Change menu, parameter number or increase the parameter values.
▼ key Change menu, parameter number or decreases the parameter values.
◄ key Return to upper layer menu, or cancel operation.
SET key Enter the next layer menu,shift, or input confirmed.
POWER The indicator light up means the drive is powered up.
RUN The indicator light up means the drive is enabled.
5.2 Menu structure
The driver’s operation adopts multilayer menu structure. Operation flow shown in Figure 5-2.
Figure 5-2 Menu operation diagram
23
Explanation: In the third layer’s menu, users can return to the second layer’s menu by pressing ‘◄’ key or
‘SET’ key. The difference: Press the ‘SET’ key to confirm the change of parameter’s value, while the ‘◄’ key
cancel the change.
5.2.1 Monitoring menu
After power-on, the driver enters into monitoring mode automatically, and nixie tube displays the monitoring
item which was set in advance (the power-on monitoring item was set by parameter Pn-003). In this menu there
are 26 monitoring items for users' choosing by ‘▲’ key or ‘▼’ key, and when press ‘SET’ key once the driver will
display specific monitoring value.
Figure 5-3 Operation chart of monitoring mode
Instructions to some items in the ‘d-’ menu group:
1.Current position feedback by motor encoder is composed of ‘dP-PoS.’ and ‘dP-PoS’ . For example, The value of
dP-PoS. is ,and value of dP-PoS is , the current position pulse is calculated as
following:
 100000 + = 1245806 (pluse)
Position command and position deviation similar.
2. Position command pulse ‘dP-Cpo’ is the value of input pulse magnified by electronic gear ratio.
3. Current control mode ‘dP-Cnt’ displays: 0-Positional control mode; 1-Speed control mode; 2-Sr trial run mode;
3-JOG trial run mode; 5-Analog speed control mode; 6-Torque control mode; 7-Open-loop operation mode.
4. If display numbers go up to 6 digits (e.g. -12345), it will not display prompting character.
5. Position command pulse frequency ‘dP-Frq’ is the actual pulse frequency before electronic gear magnifying.
The minimum value is 0.1 kHz. Positive rotation displays positive number, and reverse rotation displays
negative number.
6. Alarm code displays ‘dP-Err’. For the specific meaning of alarm codes, please read chapter 8.
7. Digital input port (DIn) high status ‘dP-InH’ and low status ‘dP-InL’ display as follows. Input port (DIn)
functions can be customized. (1-Invalid; 0-Valid.)

24
Digital tube definition of ‘dP-InL’:
Digital tube definition of ‘dP-InH’:
8. Digital output port (DOn) status as shown below. Output port (DOn) functions can be customized. (1-Invalid;
0-Valid.)
Digital tube definition of ‘dP-oUt’:
9. Display of the encoder UVW status ‘dP-Cod’: Each signal corresponding to a digital tube display, the digital
tube is 0 means the terminal is OFF (digital signal 0), while the digital tube is 1 means the terminal is ON
(digital signal 1). The detailed correspondence is shown as following table:
Display item Digital tube display Meaning
Encoder U phase
Encoder V phase
Encoder UVW signal
Encoder W phase
5.2.2 Parameter setting mode
Select ‘Pn-’ in main menu, and press ‘SET’ key to enter parameter setting mode. ‘▲/▼’ key are used to
increase/decrease the value of the parameter. Press and hold the ‘SET’ key for 3 seconds to confirm the change of
25
parameter’s value, while the ‘◄’ key cancel the change.
e.g.:Set the value of Pn-005 to 180,as follows.
Figure 5-4 Block diagram of parameter setting
Note: ‘Pn-0_ _’ segment parameters are password-protected. User password is 288. Correct password can access
the segment parameters.
5.2.3 Special function menu
This menu includes save parameters, recover defaults,Sr control,JOG control, analog zero drift compensation
and historical alarm.Refer to chapter 7.2.
26
Chapter 6 Communication
6.1 ModBus overview
Servo driver provides RS485, RS232 and CAN three kinds of communication interface. Adopt of
international standard Modbus communication protocol. Through the RS485 interface can simultaneously achieve
asynchronous serial half-duplex communication with 32 servo drivers.
The following functions can be realized：
 Read/Write servo driver’s parameters.
 Monitor the work status of the servo driver.
 Control the running of the servo driver.
6.2 ModBus protocol
1. Communication mode
Two different serial transmission modes are defined：The ASCII mode and the RTU mode。Through the
parameter Pn-102 set the transmission mode and the format for each byte, the parameter’s description is specified
in next chapters.
(1) The RTU transmission mode:

In RTU mode, message frames are separated by a silent interval of at least 3.5 character times. If a silent
interval of more than 1.5 character times occurs between two characters, the message frame is declared
incomplete and should be discarded by the receiver. Frame format is shown below.
Figure 6-1 Frame format of RTU mode
27
(2) The ASCII transmission mode:
In ASCII mode, a message is delimited by specific characters as Start-of-frames and End-of-frames. A typical
message frame is shown below.
Figure 6-2 Frame format of ASCII mode
Each data byte needs two characters for encoding. For example, the data byte 0x12 (ASCII 0x31 and 0x32).
Table 6-1 ASCII coded table

Character ‘0’ ‘1’ ‘2’ ‘3’ ‘4’ ‘5’ ‘6’ ‘7’
ASCII coded 0x30 0x31 0x32 0x33 0x34 0x35 0x36 0x37
Character ‘8’ ‘9’ ‘A’ ‘B’ ‘C’ ‘D’ ‘E’ ‘F’
ASCII coded 0x38 0x39 0x41 0x42 0x43 0x44 0x45 0x46
Character ‘:’ ‘CR’ ‘LF’
ASCII coded 0x3A 0x0D 0x0A
2. Protocol description
Read function code: 0x03.
Write function codes: 0x06 and 0x10.
(1) Read data frame description (0x03).

RTU ASCII
START ≥3.5 character times. Start,‘Colon’ (:), ASCII 0x3A.
ADDR Slave address (parameter Pn-100),1 char. Slave address (parameter Pn-100),2 chars.
CMD Function code, 0x03. Function code, 0x30 and 0x33..
Read parameters start address,1 word. The
DATA1 high-order byte is appended first, followed by the Read parameters start address, 4 chars.
low-order byte.
The number of reading data words (N≤16), 1
DATA2 word. The high–order byte is appended first, The number of reading data words (≤16), 4 chars.
followed by the low–order byte.
CRC Checking, 1 word. The low–order byte is
CRC/LRC LRC Checking ,2 chars.
appended first, followed by the high–order byte.
End,‘Carriage return - line feed’ (CR LF), ASCII
END ≥3.5 character times.
0x0D and 0x0A.
Response: The correct communication process returns the following frame. Slave returns error messages if the
communication abnormality.(Description in next chapters.)
28
RTU ASCII
CMD Function code, 0x03. Function code, 0x30 and 0x33.
DATA The number of returned data bytes, 2 times of N,1
The number of returned data bytes, 2 chars.
LENGTH char.
DATA The returned parameter values. The returned parameter values.
0x0D and 0x0A.
(2) Write data frame description (0x06).
RTU ASCII

Write parameters start address, 1 word.
DATA1 The high-order byte is appended first, followed by Write parameters start address, 4 chars.
the low-order byte.
DATA2 Parameter values (≤16 words). Parameter values.
0x0D and 0x0A.
Response: The correct communication process returns the same frame as received. Slave returns error messages if
the communication abnormality. (Description in next chapters.)
(3) Write data frame description (0x10).
RTU ASCII
Write parameters start address,1 word.
DATA1 The high-order byte is appended first, followed by Write parameters start address, 4 chars.
the low-order byte.
The number of writing data words (N≤16), 1
DATA2 word. The high–order byte is appended first, The number of writing data words , 4 chars.
followed by the low–order byte.
DATA3 The number of writing data bytes (≤2*N), 1 char. The number of writing data bytes , 2 chars.
DATAn Parameter Values. Parameter Values.
END ≥3.5 character times. End,‘Carriage return - line feed’ (CR LF), ASCII
29
0x0D and 0x0A.
Response: The correct communication process returns the frame as follows.
Correct response: Start + Address + Function code (0x10) + Write parameters start address + The number of
writing data words + CRC/LRC + End
Slave returns error messages if the communication abnormality. (Description in next chapters.)
(4) Communication abnormality.

Response frame format:
RTU ASCII
CMD Function code, 0x83 or 0x86 or 0x90. Function code.
ERROR CODE Error code,1 char. Error code,2 chars.
CRC Checking, 1 word. The low–order byte
CRC/LRC is appended first, followed by the LRC Checking ,2 chars.
high–order byte.
End,‘Carriage return - line feed’ (CR LF),
ASCII 0x0D and 0x0A.
Error code:
Error Code Description
0x01 CRC/LRC error.
0x02 Parity error.
0x03 Function code is not valid or unknown.
0x04 Value range of parameter exceeded.
0x05 Unrecognized parameter address.
0x06 Slave busy.
0x07 Frame length error.
0x08 Read-only.
0x09 The number of writing data words greater than 16.
0x0A The number of reading data words less than 1 or greater than 16.
(5)Special communication address
Address Definitions Write Read

1:Start. 1:Operatiing.
0x1000 Save parameter Note:Write other values return an error 2:Success.
message. 3:Failure.
0x1001 Recover defaults Note:Write other values return an error 2:Success.
message. 3:Failure.
Write the address,make servo drive switch
Return the speed of Sr
0x1002 Sr trial run to Sr control mode.And the motor speed
mode.
is the value send by master.
30
Write the address,make servo drive switch
to JOG control mode. 0:Stop。
0x1003 JOG trial run 0:Stop servo drive。 1:Run in CW。
1:Make the servo drive run in CW。 2:Run in CCW。
2:Make the servo drive run in CCW。
Analog speed zero
0x1004 Note:Write other values return an error 2:Success.
drift compensation
message. 3:Failure.
Analog torque zero
0x1005 Note:Write other values return an error 2:Success.
drift compensation
message. 3:Failure.
Historical alarm Returns historical alarm
0x1007 Read-only.
information information.
(6)ModBus communication example.
① Read parameters
e.g.: Read the values of ‘Pn-004’ and ‘Pn-005’ of servo driver.(Pn-004=1,Pn-005=150.Communication address
refer to chapter 7.)
The RTU mode:
Send message format: 0x01 0x03 0x00 0x04 0x00 0x02 0x85 0xCA
Correct response: 0x01 0x03 0x04 0x00 0x01 0x00 0x96 0x2B 0x9D
Error response: 0x01 0x83 0x01 0x80 0xF0(Error code 0x01:CRC error)
The ASCII mode:
Send message format: 0x3A 0x30 0x31 0x30 0x33 0x30 0x30 0x30 0x34 0x30 0x30 0x30 0x32 0x46 0x36
0x0D 0x0A
Correct response: 0x3A 0x30 0x31 0x30 0x33 0x30 0x34 0x30 0x30 0x30 0x31 0x30 0x30 0x39 0x36
0x36 0x31 0x0D 0x0A
Error response: 0x3A 0x30 0x31 0x38 0x33 0x30 0x31 0x37 0x42 0x0D 0x0A (Error code “0x30
0x31”->0x01: LRC error)
② Write parameters
e.g.: Modify the value of ‘Pn-200’ to 100. (Communication address refer to chapter 7)
The RTU mode (Function code 0x06):
Send message format: 0x01 0x06 0x02 0x00 0x00 0x64 0x89 0x99
Correct response: 0x01 0x06 0x02 0x00 0x00 0x64 0x89 0x99
Error response: 0x01 0x86 0x02 0xC3 0xA1 (Error code 0x02：Parity error)
The RTU mode (Function code 0x10):
31
Send message format: 0x01 0x10 0x02 0x00 0x00 0x01 0x02 0x00 0x64 0x84 0x7B
Correct response: 0x01 0x10 0x02 0x00 0x00 0x01 0x00 0x71
Error response: 0x01 0x90 0x02 0xCD 0xC1 (Error code 0x02: Parity error)
The ASCII mode:
Send message format: 0x3A 0x30 0x31 0x30 0x36 0x30 0x32 0x30 0x30 0x30 0x30 0x36 0x34 0x39 0x33
0x0D 0x0A
Correct response: 0x3A 0x30 0x31 0x30 0x36 0x30 0x32 0x30 0x30 0x30 0x30 0x36 0x34 0x39 0x33
0x0D 0x0A
Error response: 0x3A 0x30 0x31 0x38 0x36 0x30 0x32 0x37 0x37 0x0D 0x0A (“0x30 0x32”->0x02:
Parity error)
Note: The slave address of above instance is 1. (Pn-100=1)
3. Checking
(1) CRC checking
The RTU mode includes an error–checking field that is based on a Cyclical Redundancy Checking (CRC)
method performed on the message contents. The CRC field checks the contents of the entire message. It is applied
regardless of any parity checking method used for the individual characters of the message. The CRC field
contains a 16–bit value implemented as two 8–bit bytes. When this is done, the low–order byte of the field is
CRC generation function (Generating polynomial = x  x  x 1 ):

16 15 2
unsigned char* ParaDate;
unsigned char DataLen;
unsigned int CRCdat(unsigned char* ParaDate, unsigned char DataLen)
int i;
unsigned int CRC_reg=0xffff;
while(DataLen--)
CRC_reg ^= *ParaDate++;
for(i=0;i<8;i++)
if(CRC_reg & 0x01) CRC_reg=( CRC_reg>>1)^0xa001;
32
else CRC_reg= CRC_reg>>1;
return CRC_reg;
(2) LRC checking

In ASCII mode, messages include an error–checking field that is based on a Longitudinal Redundancy
Checking ( LRC) calculation that is performed on the message contents, exclusive of the beginning ‘colon’ and
terminating CR LF pair characters. It is applied regardless of any parity checking method used for the individual
characters of the message. The LRC is calculated by adding together successive 8–bit bytes of the message,
discarding any carries, and then two’s complementing the result. In ASCII mode, the resulting LRC is ASCII
encoded into two bytes and placed at the end of ASCII mode frame prior to the CR LF.
33
Chapter 7 Parameters
7.1 Parameter summary
The defaults in the following table apply to 130EMA-060B motor (Pn-001=42). Different model of motors
have different parameter values. If there are any differences, please take the display value of servo driver as the
standard.‘Pn-0_ _’ segment parameters are password-protected. User password is “Pn-000=288”. Correct
password can access the segment parameters.
Symbols of parameters table are described below:
“☆”:Indicates the parameter value can be changed while the servo drive is running or stopping.
“★”:Changes the value of the parameter need to save to non-volatile memory,and re-power.
“●”:Read-only parameter, cannot be changed.
“*” :Factory parameter, prohibit users to operate
“”: Special function parameter.

Communication
Parameter Name Range Unit Default Property
address
Special Function Parameter Group
EE-SEt 0x1000 Save parameters — — — 
EE-dEF 0x1001 Recover defaults — — — 
Sr- 0x1002 Sr trail run — — — 
Jr- 0x1003 JOG trail run — — — 

Analog speed zero drift
AU-SPd 0x1004 — — — 
compensation
Analog torque zero drift
AU-trq 0x1005 — — — 
compensation
CO-rdy 0x1006 Factory parameter — — — *
Fn-Err 0x1007 Historical alarms — — — ●

Monitoring Group
dP-SPd 0x2000 Motor speed — rpm — ●
dP -PoS 0x2001 Current position low 5 bits — pulse — ●
dP-PoS. 0x2002 Current position high 5 bits — 105 pulse — ●
dP-CPo 0x2003 Position commamd low 5 bits — pulse — ●
dP-Cpo. 0x2004 Position commamd high 5 bits — 105 pulse — ●
34
Communication
address
dP -EPo 0x2005 Position deviation low 5 bits — pulse — ●
dP-Epo. 0x2006 Position deviation high 5 bits — 105 pulse — ●
dP-trq 0x2007 Motor torque — % — ●
dP- I 0x2008 Motor current — A — ●
dP-InH 0x2009 Digital input status of DI5~DI7 — — — ●
dP-InL 0x200A Digital input status of DI1~DI4 — — — ●

Digital input status of
dP-oUt 0x200B — — — ●
DO1~DO4
dP-Cnt 0x200C Contor mode — — — ●
Position command pulse
dP-Frq 0x200D — KHz — ●
Frequency
dP-CS 0x200E Speed command — rpm — ●
dP-Ct 0x200F Torque command — % — ●
dP-APo 0x2010 Encoder position — pulse — ●
dP-Cod 0x2011 Encoder UVW signals — — — ●
dP-Id 0x2012 FPGA software version — — — ●
dP-Err 0x2013 Alarm code — — — ●
dP-CCr 0x2014 Reserved — — — ●
dP-Cr 0x2015 Reserved — — — ●
dP-rES 0x2016 Reserved — — — ●
dP-ALE 0x2017 Absolute encoder inner alarms — — — ●

Absolute encoder laps
dP-Abr 0x2018 — r — ●
Information
dP-tn 0x2019 Reserved — — — ●
dP-UdC 0x201A Reserved — — — ●
Parameters of group 0
Pn-000 0x0000 Password 0~9999 — 288 ☆
Pn-001 0x0001 Motor model 0~103 — 42 ★
Pn-002 0x0002 Software version — — — ●
Pn-003 0x0003 Power-on display setting 0~26 — 0 ★
Pn-004 0x0004 Control mode 0~10 — 0 ☆
35
Communication
address
Pn-005 0x0005 Speed proportional gain 5～1000 Hz 150 ☆
Pn-006 0x0006 Speed integral constant 1～1000 ms 30 ☆
Pn-007 0x0007 Torque command filter 0～500 — 100 ☆
Pn-008 0x0008 Speed feedback filter 1～500 — 100 ☆
Pn-009 0x0009 Position proportional gain 1～2000 1/S 40 ☆

Position loop feed forward
Pn-010 0x000A 0～100 % 0 ☆
gain
Position feed forward filter
Pn-011 0x000B 1～1200 Hz 300 ☆
coefficient
Electronic
Pn-012 0x000C 1～65535 pulse 1 ☆
gear ratio numerator 1
Electronic
Pn-013 0x000D 1～65535 pulse 1 ☆
gear ratio denominator
Pn-014 0x000E Position command input types 0～2 — 0 ★
Inverse the counting direction
Pn-015 0x000F 0～1 — 0 ☆
of position command
Pn-016 0x0010 Reserved — — — —
Pn-017 0x0011 Reserved — — — —
Pn-018 0x0012 Reserved — — — —

Position command smooth
Pn-019 0x0013 0~20000 0.1ms 0 ☆
filter
Pn-020 0x0014 Drive forbid control 0~2 — 1 ☆
Pn-021 0x0015 Reserved — — — —
Pn-022 0x0016 JOG run speed 0~6000 rpm 100 ☆
Pn-023 0x0017 Maximum speed limit 0~6000 rpm 2500 ☆
Pn-024 0x0018 Speed command setting 0~2 — 1 ☆
Pn-025 0x0019 Position command setting 0~1 — 0 ☆
Pn-026 0x001A Torque command setting 0~2 — 0 ☆
Pn-027 0x001B Torque limit mode 0~2 — 0 ☆
Pn-028 0x001C Speed limit mode 0~2 — 0 ☆
Pn-029 0x001D Speed command filter 1~100 ms 100 ☆
Pn-030 0x001E Reserved — — — —

Analog speed command filter
Pn-031 0x001F 1~100 — 100 ☆
coefficient
36
Communication
address
Analog torque command filter
Pn-032 0x0020 1~100 — 100 ☆
coefficient
Processing method of
Pn-033 0x0021 0~1 — 0 ☆
overspeed in torque mode
Pn-034 0x0022 Internal CCW torque limit 0~300 % 200 ☆
Pn-035 0x0023 Internal CW torque limit -300~0 % -200 ☆
Pn-036 0x0024 External CCW torque limit 0~300 % 100 ☆
Pn-037 0x0025 External CW torque limit -300~0 % -100 ☆

Torque limit for speed trial run
Pn-038 0x0026 0~300 % 100 ☆
and JOG trial run
Pn-039 0x0027 Factory parameter — — — —
Pn-041 0x0029 Analog torque command gain 0~1000 — 100 ☆

Speed command direction of
Pn-042 0x002A 0~1 — 0 ☆
speed mode
Analog speed zero drift
Pn-043 0x002B -5.000~5.000 V 0.000 ★
compensation value
Analog speed zero speed
Pn-044 0x002C -5.000~5.000 V 0.050 ☆
hysteresis threshold
Analog torque zero drift
Pn-045 0x002D -5.000~5.000 V 0.000 ★
compensation value
Analog torque zero speed
Pn-046 0x002E -5.000~5.000 V 0.050 ☆
hysteresis threshold
Pn-047 0x002F Input pulse phase control 0~3 — 0 ★
Pn-048 0x0030 Factory parameter 0~3000 ms 0 ☆
Pn-049 0x0031 Factory parameter 0~3000 rpm 0 ☆
Pn-050 0x0032 Encoder type 0~3 — 0 ★
Pn-051 0x0033 Analog speed command gain 0~1000 — 100 ☆
Pn-052 0x0034 Speed acceleration time 0~30000 100us 10 ☆
Pn-053 0x0035 Speed deceleration time 0~30000 100us 10 ☆
Pn-057 0x0039 Force enable 1~3 — 3 ☆
37
Communication
address
Pn-100 0x0100 Node ID 0~32 — 1 ★
Pn-101 0x0101 Baud rate 0~6 bps 1 ★
Pn-102 0x0102 Transmission mode 0~8 — 6 ★
Pn-103 0x0103 Reserved — — — —
Pn-104 0x0104 Communication protocol 0~2 — 0 ★
Pn-105 0x0105 Reserved — — — —
Pn-106 0x0106 Input IO signal control 0~127 — 0 ☆

Communication response delay
Pn-107 0x0107 0~32767 50us 0 ☆
time
Pn-108 0x0108 Reserved — — — —
DI signal status software
Pn-109 0x0109 0~127 — 127 ☆
control
Pn-110 0x010A
~ ~ Reserved — — — —
Pn-127 0x011B
Pn-200 0x0200 Internal speed 1 -5000~5000 rpm 10 ☆

Laps of the 1st inner position
Pn-208 0x0208 -32768~32767 pulse 10 ☆
command
Pulses of the 1st inner position
Pn-209 0x0209 -32768~32767 pulse 0 ☆
command
Speed of the 1st inner position
Pn-210 0x020A 0~5000 rpm 100 ☆
command
Acc/Dec time of the 1st inner
Pn-211 0x020B 0~30000 ms 100 ☆
position command
Pause time of the 1st inner
Pn-212 0x020C 0~30000 6ms 100 ☆
position command
38
Communication
address
Laps of the 2nd inner position
Pn-213 0x020D -32768~32767 pulse 50 ☆
command
Pulses of the 2nd inner position
Pn-214 0x020E -32768~32767 pulse 0 ☆
command
Speed of the 2nd inner position
Pn-215 0x020F 0~5000 rpm 100 ☆
command
Acc/Dec time of the 2nd inner
Pn-216 0x0210 0~30000 ms 100 ☆
position command
Pause time of the 2nd inner
Pn-217 0x0211 0~30000 6ms 100 ☆
position command
Laps of the 3rd inner position
Pn-218 0x0212 -32768~32767 pulse 100 ☆
command
Pulses of the 3rd inner position
Pn-219 0x0213 -32768~32767 pulse 0 ☆
command
Speed of the 3rd inner position
Pn-220 0x0214 0~5000 rpm 500 ☆
command
Acc/Dec time of the 3rd inner
Pn-221 0x0215 0~30000 ms 100 ☆
position command
Pause time of the 3rd inner
Pn-222 0x0216 0~30000 6ms 100 ☆
position command
Laps of the 4th inner position
Pn-223 0x0217 -32768~32767 pulse 55 ☆
command
Pulses of the 4th inner position
Pn-224 0x0218 -32768~32767 pulse 0 ☆
command
Speed of the 4th inner position
Pn-225 0x0219 0~5000 rpm 1000 ☆
command
Acc/Dec time of the 4th inner
Pn-226 0x021A 0~30000 ms 100 ☆
position command
Pause time of the 4th inner
Pn-227 0x021B 0~30000 6ms 100 ☆
position command
Pn-228 0x021C -32768~32767 pulse 60 ☆
command
Pn-229 0x021D -32768~32767 pulse 0 ☆
command
Pn-230 0x021E 0~5000 rpm 1200 ☆
command
Pn-231 0x021F 0~30000 ms 100 ☆
position command
Pn-232 0x0220 0~30000 6ms 100 ☆
position command
Pn-233 0x0221 -32768~32767 pulse 0 ☆
command
Pn-234 0x0222 -32768~32767 pulse 0 ☆
command
39
Communication
address
Pn-235 0x0223 0~5000 rpm 0 ☆
command
Pn-236 0x0224 0~30000 ms 100 ☆
position command
Pn-237 0x0225 0~30000 6ms 100 ☆
position command
Pn-238 0x0226 -32768~32767 pulse 0 ☆
command
Pn-239 0x0227 -32768~32767 pulse 0 ☆
command
Pn-240 0x0228 0~5000 rpm 0 ☆
command
Pn-241 0x0229 0~30000 ms 100 ☆
position command
Pn-242 0x022A 0~30000 6ms 100 ☆
position command
Pn-243 0x022B -32768~32767 pulse 0 ☆
command
Pn-244 0x022C -32768~32767 pulse 0 ☆
command
Pn-245 0x022D 0~5000 rpm 0 ☆
command
Pn-246 0x022E 0~30000 ms 100 ☆
position command
Pn-247 0x022F 0~30000 ms 100 ☆
position command
Internal position command
Pn-248 0x0230 0~3 — 0 ☆
mode
Running mode of inner
Pn-249 0x0231 0~3 — 0 ☆
position control
Pause mode of inner position
Pn-250 0x0232 0~1 — 1 ☆
control
Number of segments of inner
Pn-251 0x0233 1~8 — 1 ☆
position
Pn-252 0x0234 Torque arrival signal filter time 0~6000 10ms 100 ☆
Pn-253 0x0235 Undervoltage alarm filter time 0~32767 ms 400 ☆

Range of positioning
Pn-254 0x0236 0~32767 pulse 100 ☆
completion
Detection range of position
Pn-255 0x0237 0~30000 pulse 400 ☆
deviation alarm
Pn-256 0x0238 Speed arrival signal threshold -5000~5000 rpm 500 ☆
Pn-257 0x0239 Detection range of overspeed 0~6000 rpm 0 ☆
40
Communication
address
Pn-258 0x023A Servo on delay time 0~32767 0.1s 0 ☆
Pn-259 0x023B Torque arrival signal threshold 0~300 % 100 ☆
Pn-260 0x023C Internal torque 1 -300.00~300.00 % 100.00 ☆
Pn-261 0x023D Internal torque 2 -300.00~300.00 % 100.00 ☆
Pn-262 0x023E Internal torque 3 -300.00~300.00 % 100.00 ☆
Pn-263 0x023F Internal torque 4 -300.00~300.00 % 100.00 ☆
Pn-264 0x0240 Alarm clear restrictions 0~20 — 5 ★
Pn-265 0x0241 Reserved — — — —
Pn-267 0x0243 Reserved — — — —
Pn-268 0x0244 Torque command direction 0~1 — 0 ☆

Torque acceleration/
Pn-269 0x0245 0~16000 0.1ms 10 ☆
deceleration time
Pn-270 0x0246 Reserved — — — —
Pn-271 0x0247 Speed limit of torque mode 0~3000 rpm 1000 ☆

In torque mode the permitted
Pn-272 0x0248 0~10000 0.1ms 5000 ☆
time for overspeed
Pn-273 0x0249 Zero speed 0~3000 rpm 10 ☆
Pn-274 0x024A Zero speed hysteresis 0~1000 rpm 10 ☆
Pn-275 0x024B Zero speed clamp mode 0~2 — 0 ☆
Pn-276 0x024C Offset laps -32768~32767 pulse 0 ☆
Pn-277 0x024D Offset pulses -32768~32767 pulse 0 ☆
Pn-300 0x0300 Digital input filter time 0~100 ms 0 ☆
Pn-301 0x0301 Digital input DI1 function 0~27 — 1 ☆
41
Communication
address
Pn-308 0x0308 Reserved 0~27 — 8 ☆
Pn-309 0x0309 Digital output DO1 function 0~8 — 1 ☆
Pn-310 0x030A Digital output DO2 function 0~8 — 2 ☆
Pn-311 0x030B Digital output DO3 function 0~8 — 3 ☆
Pn-312 0x030C Digital output DO4 function 0~8 — 4 ☆
Pn-313 0x030D Reverse digital input DI1~DI4 0~15 — 0 ☆
Pn-314 0x030E Reverse digital input DI5~DI7 0~15 — 0 ☆

Reverse digital output
Pn-315 0x030F 0~15 — 0 ☆
DO1~DO4
Pn-316 0x0310 Factory parameter 0~15 — 15 ☆
Pn-317 0x0311 Reserved — — — —

Zero speed detection point of
Pn-318 0x0312 0~5000 rpm 15 ☆
electromagnetic brake
Electromagnetic brake delay
Pn-319 0x0313 time when the motor is 0~30000 ms 0 ☆
stationary
Electromagnetic brake delay
Pn-320 0x0314 0~30000 ms 500 ☆
time when the motor is running
Electromagnetic brake
Pn-321 0x0315 operation speed when the 0~5000 rpm 100 ☆
motor is running
Position feedback pulse
Pn-322 0x0316 1~32767 pulse 1 ☆
division numerator
Position feedback pulse
Pn-323 0x0317 1~32767 pulse 1 ☆
division denominator
Pn-324 0x0318 The width of Z pulse 0~127 50us 0 ★
Reverse position feedback
Pn-325 0x0319 0~1 — 0 ☆
pulse
The 2nd electronic gear ratio
Pn-326 0x031A 1~32767 pulse 1 ☆
numerator
The 3rd electronic gear ratio
Pn-327 0x031B 1~32767 pulse 1 ☆
numerator
The 4th electronic gear ratio
Pn-328 0x031C 1~32767 pulse 1 ☆
numerator
Pn-329 0x031D Reserved — — — —
Pn-330 0x031E Reserved — — — —
Pn-331 0x031F Reserved — — — —
Pn-332 0x0320 Homing startup mode 0~2 — 0 ★
42
Communication
address
Pn-333 0x0321 The homing reference point 0~3 — 0 ☆

Running mode after find the
Pn-334 0x0322 0~1 — 0 ☆
homing reference point
Pn-335 0x0323 Offset laps of homing -3000~3000 pulse 0 ☆
Pn-336 0x0324 Offset pulses of homing -10000~10000 pulse 0 ☆
Pn-337 0x0325 The 1st homing speed -5000~5000 rpm 500 ☆
Pn-338 0x0326 The 2nd homing speed -5000~5000 rpm 50 ☆
Pn-339 0x0327 Acceleration time of homing 0~10000 0.1ms 0 ☆
Pn-340 0x0328 Deceleration time of homing 0~10000 0.1ms 0 ☆
Pn-341 0x0329 Homing time limit 0~300 S 30.0 ☆
Pn-342 0x032A Reserved — — — —
Pn-343 0x032B Reserved — — — —

Function of analog output
Pn-344 0x032C 0~3 — 2 ★
(DAC1)
Proportional of analog output
Pn-345 0x032D -100~100 — 100 ☆
(DAC1)
Function of analog output
Pn-346 0x032E 0~3 — 2 ★
(DAC2)
Proportional of analog output
Pn-347 0x032F -100~100 — 100 ☆
(DAC2)
7.2 Parameter function explanation
Special Function Parameter
Parameter
Name Function
code
Save the current parameter values to non-volatile memory, for avoiding losing
parameters because of power-off.
EE-SEt Save parameters Operation Instruction: Enter into the menu group of ‘EE-’ and select ‘EE- SEt’,
press ‘SET’ key. If ‘donE’ is shown on nixie tube means the driver’s parameters
have been saved,while if ‘Error’ is shown, means failure.
Recover parameters of parameter table and non-volatile memory to its defaults
from factory.
EE-dEF Recover defaults Operation Instruction of recover defaults: Set motor model parameter ‘Pn-001’
according to the motor adapter table (Appendix). Enter into the ‘EE-’ menu group
and select ‘EE-dEF’ , press ‘SET’ key until display ‘StArt’ . If operation
43
succeeds, ‘donE’ will show in 1~3 seconds, power on again.
Set parameter of ‘Pn-004’ to 2 to select speed trial run mode.Enter into menu of
‘Sr-’,press SET key.Set speed command by ‘▲’ and ‘▼’,motor will rotate at the
set speed. Positive means motor rotates in the direction of CCW, while negative
means in the direction of CW. Minimum given speed is 1rpm.
Sr- Sr trail run
Set parameter of ‘Pn-004’ to 3 to select JOG trial run mode.Modify parameter
‘Pn-022’, and set suitable JOG speed.Enter into menu of ‘Jr-’, the nixie tube will
display ‘J - 120’, the numerical part of which is speed value set by parameter
‘Pn-022’.At the moment, pressing ‘▲’ key and hold, motor will rotate in the
Jr- JOG trail run
direction of CCW at constant setting speed. Release the button, motor will be in
the state of zero-speed locked. While pressing ‘▼’ key and hold, motor will rotate
in the direction of CW at constant setting speed. Release the button, motor will be
in the state of zero-speed locked.
In the analog speed control mode, even if the analog command voltage is 0V,
sometimes motor still rotates at tiny speed, because of common ground voltage
difference. It can be compensated automatically.
Analog speed zero Operation: Enter into menu of ‘AU-’. Choose the submenu of ‘AU-SPd’, and
AU-SPd
drift compensation press ‘SET’ key, until ‘donE’ is displayed on nixie tube, compensation value will
be write to parameter ‘Pn-043’.Then save parameter values to non-volatile
memory.
In the analog torque control mode, even if the analog command voltage is 0V,
sometimes motor still rotates at tiny speed, because of common ground voltage
difference. It can be compensated automatically.
Analog torque zero
AU-trq Operation: Enter into menu of ‘AU-’. Choose the submenu of ‘AU-trq’, and press
drift compensation
‘SET’ key, until ‘donE’ is displayed on nixie tube, compensation value will be
write to parameter ‘Pn-045’.Then save parameter values to non-volatile memory.
The parameter stores the last five alarms.Enter into menu of ‘Fn-’, choose the
Fn-Err Historical alarms submenu of ‘Fn- Err’,press SET key,the nixie tube will display alarm
code.Switching alarm code by ‘’ and ‘▼’.
44
Parameter
Name Function
code
User password is 288 which can modify all parameters of group 0.The wrong
Pn-000 Password
password can not visit those parameters.
Set the corresponding motor model code according to the motor adaptation table
Pn-001 Motor model (Appendix), and it can be used to recover the default settings of the correlated
parameters.
The version code for the driver software, it is read-only parameter which can’t be
Pn-002 Software version
modified.
Used to select the initial display content when power-on.
13:Position command pulse
0:Motor speed.
frequency.
1:Current position low 5 bits. 14:Speed command.
2:Current position high 5 bits. 15:Torque command.
3:Position command low 5 bits. 16:Encoder position.
4:Position command high 5 bits. 17:Encoder UVW signals.
Power-on display 5:Position deviation low 5 bits 18: FPGA software version.
Pn-003
setting 6:Position deviation high 5 bits 19: Alarm code.
7:Motor torque. 20: Reserved
8:Motor current. 21: Reserved
9:Digital input status of DI5~DI7. 22: Reserved
10:Digital input status of DI1~DI4. 23: Absolute encoder inner alarms.
11: Digital output status. 24:Absolute encoder laps
12: Control mode. information.
Used to set control mode. (If the setting value is 8, 9 or 10, refer to the CMODE
signal in chapter 7.3.)
0: Position control mode. 6: Torque control mode.
1: Speed control mode. 7: Open-loop control mode.
Pn-004 Control mode 2:Sr trail run mode. 8: Position/speed mode.
3:JOG trail run mode. 9: Speed/torque mode.
4: Reserved 10:Torque/position mode.
5: Analog speed control mode.
 The higher the speed proportional gain is, the greater the servo stiffness is, the
Speed faster the speed response is. If it’s over high, noise and vibration will easily
Pn-005
proportional gain generated.
 Under the condition of not shocking, set the value relatively high as possible.
 It is the integral time constant for the speed regulator. The lower the value sets，
Speed integral the faster the integral speed is, the greater the stiffness is. If it’s too small, noise
Pn-006
constant and vibration will easily generate.
 Under the condition of not shocking, reduce the value as possible.
45
 Set the features of torque command filter, which can restrain resonance
produced by torque fluctuations. (Motor generates shake and sharp noise.)
 If the motor generates vibration and noise, please reduce the parameter value.
 The smaller the value is, the lower the cut-off frequency is, and the lower the
Torque command
Pn-007 noise is. If the load inertia is too big, reduce the parameter value properly. If the
filter
value is too small, the response will slow down and cause instability.
 To the contrary, the larger the value is, the higher the cut-off frequency is, and
the faster the response is. If you need relatively higher machinery stiffness,
increase the setting value properly.
 Set the features of speed detection low pass filter.

 The smaller the value is, the lower the cut-off frequency is, and the lower the
noise is. If the load inertia is too big, reduce the parameter value properly. If the
Speed feedback
Pn-008 value is too small, the response will slow down and cause instability.
filter
 To the contrary, large value will make higher cut-off frequency and faster speed
feed response. If you need relatively higher speed response, increase the setting
value properly.
The proportional gain of position loop adjuster. The larger the value is, the higher
Position the gain proportion is, the larger the stiffness is, and the smaller the position tracking
Pn-009
proportional gain error is. However, the setting value is over large, it may produce vibration and
overshoot.
 Feed forward gain of position loop. The Larger the parameter value is, the
smaller the system position tracking error is, and the faster the response is.
When the value is set at 100%, it means position hysteresis is always zero at
Position loop feed
Pn-010 any command pulse frequency.
forward gain
 If the feed forward gain of position loop is too large, the system position loop
will be unstable and produce shakes. Generally speaking, the position loop feed
forward gain is zero.
Position feed
The cut-off frequency of position loop feed forward low pass filter. It is used to
Pn-011 forward filter
increase the stability of compound position control.
coefficient
The following is the example of incremental encoder:
Electronic  Take fractional frequency or frequency doubling on position command pulse, to
Pn-012 gear ratio match with various pulse sources conveniently and get the pulse resolution
ratio which uses demand.
numerator 1
 P×G=N×C×4
P: Input position pulse.
Pn-012
Electronic G: Electronic gear ratio G=
Pn-013
Pn-013 gear ratio N: Rotation numbers of motor.
denominator C: Encoder line number，the system: C=2500.
Recommended range: 1/50≤G≤50.
Set input types of position command pulse:

Position command 0:Pulse + Direction.
Pn-014
input types 1:CCW/CW pulse.
2:Two-phase quadrature pulse.
46
Inverse the
Adjust the counting direction of pulse input command.
counting direction
Pn-015 0:Normal.
of position
command 1:Inverse.
 Smooth filter the command pulse with the exponential acceleration and
deceleration.
 The filter will not lose input pulse, but the command may be lagged.
 The filter is used:
1.Upper controller don’t have acceleration or deceleration features.
2.Electronic gear ratio is relatively large (>10).
3.Command frequency is relatively low.
4.Jump or jitter when motor runs.
Position command  The filter is out of use when it is set to zero.
Pn-019
smooth filter
Drive forbid 0: CCW+CW input forbid is valid;

Pn-020
control 1: CCW+CW input forbid is invalid.
Pn-022 JOG run speed It is used to set the value of JOG speed.
 Set the maximum speed limit of servo motor.

Maximum speed
Pn-023  It has no relation with rotating direction. If the value exceeds the rated speed,
limit
then actual maximum speed limit is the rated speed.
0:Analog speed mode
1 :Internal speed mode. Select respective internal speed by signals SC1,SC2 and
SC3.
SC3 SC2 SC1 Speed command
OFF OFF OFF Internal speed 1: Pn-200
OFF OFF ON Internal speed 2: Pn-201
OFF ON OFF Internal speed 3: Pn-202
OFF ON ON Internal speed 4: Pn-203
Speed command ON OFF OFF Internal speed 5: Pn-204
Pn-024
setting
ON OFF ON Internal speed 6: Pn-205
ON ON OFF Internal speed 7: Pn-206
ON ON ON Internal speed 8: Pn-207
2: Internal speed+Analog speed mode.
Analog speed command
OFF OFF OFF
input
47
ON OFF OFF Internal speed 5: Pn-204
Position command 0: Pulse input position control.

Pn-025
setting 1: Internal position control.
0: Analog torque mode.

1: Internal torque mode. Select internal torque command through TRQ1 and TRQ2.
TRQ2 TRQ1 Torque command
OFF OFF Internal torque 1: Pn-260
OFF ON Internal torque 2: Pn-261
ON OFF Internal torque 3: Pn-262
Torque command
Pn-026 ON ON Internal torque 4: Pn-263
setting
2: Internal torque+ Analog torque mode.
OFF OFF Analog torque command input
ON ON Internal torque 4: Pn-263
0: Basic limit. Whether the external CCW/CW torque limit is valid decided by
signals TCCW and TCW.In the Sr and JOG mode, it also be limited by P-038.
TCCW=ON: Limited by Pn-034 and TCW=ON: Limited by Pn-035 and
Pn-036. Pn-035.
TCCW=OFF: Limited by Pn-034. TCW=OF: Limited by Pn-035.
Pn-027 Torque limit mode 1: Basic limit +Analog torque limit.
2: Basic limit +Internal torque limit.Select internal torque through TRQ1 and TRQ2.
Note: A plurality of limit occurs , the final limit value is the minimum.
The limit of Pn-034 and Pn-035 are effective at any time.
If the limit value exceeds the maximum allowable torque, the actual torque is
limited to a maximum torque.
Set the speed limit mode in torque control mode.

0: Basic limit. Parameter Pn-023 as the limit.
Pn-028 Speed limit mode
1: Basic limit + Analog speed limit.
2: Basic limit +Internal speed limit. Select internal speed through SC1,SC2 and SC3.
48
 Set the features of speed command filter.
 If the motor generates vibration and noise, please reduce the parameter value.
 The smaller the value is, the lower the cut-off frequency is, the lower the noise
Speed command is. If the load inertia is too big, reduce the parameter value properly. If the value
Pn-029
filter is too small, the response will slow down and cause instability.
 To the contrary, the larger the value is, the higher the cut-off frequency is, the
faster the response is. If you need relatively higher machinery stiffness,
increase the setting value properly.
Analog speed
Smooth analog speed command, and eliminate the effects of interference. The larger
Pn-031 command filter
the parameter value is, the stronger the filtering effect is.
coefficient
Analog torque
Smooth analog torque command, and eliminate the effects of interference. The
Pn-032 command filter
larger the parameter value is, the stronger the filtering effect is.
coefficient
It is used to set the processing method when exceeding the limiting speed in torque
Processing method
mode.
Pn-033 of overspeed in
0: Motor speed is controlled at speed limit value.
torque mode
1: Alarm (Err7) if overspeed.
Internal CCW
Pn-034
torque limit Set internal torque limit at the servo motors’ CCW/ CW direction. The value sets the
Internal CW percentage of rated torque, which is effective at any time.
Pn-035
torque limit
External CCW
Pn-036
torque limit Set external torque limit at the servo motors’ CCW/CW direction. The value sets the
External CW percentage of rated torque.
Pn-037
torque limit
 Set the torque limit in the speed trial run mode and JOG run mode. It is
Torque limit for independent of rotating direction and effective in two directions.
Pn-038 speed trial run and  The value is the percentage of rated torque. For example, the value should be
JOG trial run set at 100 if it is equal to rated torque. Internal and external torque limit are
still effective.
 Set the ratio between torque command input voltage and motor actual torque
command.
 Analog input voltage range:-10V~+10V. When it is set to 100%, 10V input
voltage corresponding to the rated torque.
Analog torque
Pn-041
command gain
Speed command 0: The direction of speed command is controlled by signal CINV;

Pn-042 direction of speed 1: The direction of speed command is controlled by signals SDIR1 and SDIR2.
mode （Refer to chapter 7.3)
49
 When the speed command input is zero, the speed command analog offset can
be eliminated by adjusting this parameter.
 Parameter “AU-SPd” can be used to automatic calibration.
 Manual compensation: Enable the servo driver, motor runs in the analog speed
mode. The speed command offset can be observed by ‘dP-CS’, and then user
can manually change the value of ‘Pn-043’ based on the observed offset.
Analog speed zero
Pn-043 drift compensation
value
If the analog input is smaller than the parameter value, the motor will be locked.
Analog speed
zero speed
Pn-044
hysteresis
threshold
 When the torque command input is zero, the torque command analog offset
can be eliminated by adjusting this parameter.
 Parameter “AU-trq” can be used to automatic calibration.
 Manual compensation: Enable the servo driver, the motor runs in the analog
torque mode. The torque command offset can be observed by “dP-Ct”, and
then users can manually change the value of ‘Pn-045’ based on the observed
Analog torque offset.
zero drift
Pn-045
compensation
value
Analog torque
zero speed If the analog input is smaller than the parameter value, the motor will be
Pn-046
hysteresis locked.(Refer to parameter Pn-044.)
threshold
50
Set the phase of PULS and DIR signals.
Pn-047 PULSE DIR
Input pulse phase 0 In phase In phase
Pn-047 1 Out of phase In phase
control
2 In phase Out of phase
3 Out of phase Out of phase
0: Incremental encoder.
1: Wire-saving encode.
Pn-050 Encoder type 2: Reserved.
3: Absolute encoder.
4: Resolver.
 Set the ratio between speed command input voltage and motor actual speed
command.
 Analog input voltage range:-10V~ +10V. When it is set to 100%, 10V input
voltage corresponding to the rated speed.
Speed command
(r/min)
Rated Speed
Analog speed
Pn-051
command gain
-10 0 10
Input voltage(V)
Rated Speed
Speed acceleration
Pn-052
time
Acc/Dec time of speed control mode.
Speed deceleration
Pn-053
time
Pn-057=2: Enable the servo drive.
Pn-057 Force enable Pn-057=3: Enable the servo drive by external digital IO input signal SV_EN. (Refer
to chapter 7.3.)
Parameter
Name Function
code
Pn-100 Node ID If it is set to 0 (Broadcast ID), the drive receives datas but does not respond.
Modbus baud rate setting,as follows:
0：4800bps 1：9600bps 2：19200bps
Pn-101 Baud rate
3：38400bps 4：57600bps 5：115200bps
51
0: 7-N-2(ASCII), 7 data bits, no parity, 2 stop bits, ASCII mode.
1: 7-E-1(ASCII), 7 data bits, even parity, 1 stop bit, ASCII mode.
2: 7-O-1(ASCII), 7 data bits, odd parity, 1 stop bit, ASCII mode.
Pn-102 Transmission mode 3: 8-N-2(ASCII), 8 data bits, no parity, 2 stop bits, ASCII mode.
4: 8-E-1(ASCII), 8 data bits, even parity, 1 stop bit, ASCII mode.
5: 8-O-1(ASCII), 8 data bits, odd parity, 1 stop bit, ASCII mode.
6: 8-N-2(RTU), 8 data bits, no parity, 2 stop bits, RTU mode.
7: 8-E-1(RTU), 8 data bits, even parity, 1 stop bit, RTU mode.
Communication
Pn-104 P-104=0: Standard MODBUS communication protocol.
protocol
Bit-controlling.Pn-106=bit6×64+bit5×32+bit4×16+bit3×8+bit2×4+bit1×2+bit0,
bit0~bit6 correspond to DI1~ DI7:
0: The DI signal come from external terminal.
1: The DI signal is controlled by parameter ‘Pn-109’.
Input IO signal
Pn-106 Bit6 bit5 bit4 bit3 bit2 bit1 bit0
control
DI7 DI6 DI5 DI4 DI3 DI2 DI1
Pn-106
0 0 0 0 0 0 1
(DI1 state is controlled by Pn-109)
Communication
Pn-107 response delay Delay time of response to master.
time
Bit-controlling.Pn-109=bit6×64+bit5×32+bit4×16+bit3×8+bit2×4+bit1×2+bit0.
The parameter set DI status when the corresponding DI signal is controlled by
parameter ‘Pn-109’. (Refer to Pn-106.)
bit6 bit5 bit4 bit3 bit2 bit1 bit0
DI7 DI6 DI5 DI4 DI3 DI2 DI1
DI signal status
Pn-109 Pn-106
software control
(DI1 state is controlled 0 0 0 0 0 0 1
by bit0 of ‘Pn-109’)
Pn-109
(The status of DI1 is 0) x x x x x x 0
(x=0 or 1)
52
Parameter
Name Function
code
Pn-200 Internal speed 1
Pn-203 Internal speed 4 In internal speed control mode(Pn-004=1，Pn-024=1), these parameters are used to
set running speed. Select respective internal speed by signals SC1,SC2 and
Pn-204 Internal speed 5 SC3.(Refer to chapter 7.3)

Laps of the 1st
Pn-208 inner position In inner position control mode, the parameters is used for setting the 1st position
command command.The calculation method of position pluses is set by parameter Pn-248.In
Pulses of the 1st inner position control mode, select respective inner position by signals SP1 ,SP2
Pn-209 inner position and SP3.
command
Speed of the 1st
Pn-210 inner position The motor speed when running the first position command.
command
Acc/Dec time of the
Pn-211 1st inner position The acceleratio/deceleration time when running the first position command.
command
Pause time of the
Pn-212 1st inner position The pause time when running the first position command.
command
Pn-213 Internal position 2
~ ~ Refer to parameters Pn-208 ~ Pn-212.
Pn-247 Internal position 8
0: Absolute position. ( Laps*10000+ Pulses)
1: Incremental position.( Laps*10000+ Pulses)
2: 32-bit absolute position. (Laps*65536+ Pulses)
3: 32-bit Incremental position.( Laps*65536+ Pulses)
The difference of absolute and incremental:
Internal position
Pn-248
command mode
53
0: When CNTR signal is detected a valid jump,servo drive runs once with the
number of the position segment set by Pn-251,and finally stopped at the first
location.
1: In this mode,if the signal CNTR is valid,the drive will always loop runs with the
number of the position segment set by Pn-251 until CNTR becomes invalid.
Running mode of
2: In this mode, SP1, SP2 and SP3 are set to specify the running position, the
Pn-249 inner position
falling edge of signal CNTR start running.This mode does not controlled by
control
Pn-251.
3: If SP3 signal is detected a valid jump, servo drive runs to the first location; SP2
signal is detected a valid jump, servo drive runs to the previous location,if it is
the first location,stop here; SP1 signal is detected a valid jump, servo drive runs
to the next location,if it is the last location,stop here.
0: When inner position running is suspended and started again, the servo drive will
continue running remaining position pluses.
Pause mode of inner
Pn-250 1: When inner position running is suspended and started again, the servo drive will
position control
back to the first position.
Note:This patameter is used to P-249=0 and P-249=1.
Number of
In inner position control mode,the parameter is use for setting the number of
Pn-251 segments of inner
running position segments.(Refer to parameter Pn-249 .)
position
Torque arrival In torque control mode,when the motor torque exceeds the value of Pn-259,and
Pn-252
signal filter time maintains a certain time set by Pn-252, the signal state of SV_S is ON,else OFF.
Undervoltage alarm When undervoltage signal is detected, servo driver output alarm signal after
Pn-253
filter time specified time is delayed.
Range of
In the position control mode, servo driver output positioning completion signal
Pn-254 positioning
‘SV_F’ when the position deviation is equal to or less than the value of ‘Pn-254’.
completion
Detection range of  In position control mode, servo driver will output the alarm signal (Err8)
Pn-255 position deviation when the position deviation is equal to or greater than the value of ‘Pn-255’.
alarm  It will do not alarm when the parameter’s value is 0.
 No relation with rotation direction. Comparator has hysteresis effect.
Speed arrival signal
Pn-256  In speed control mode, if motor speed exceeds this value, the signal ‘SV_S’
threshold
is ON, otherwise OFF.
 In speed control mode, When the speed deviation surpasses this parameter
Detection range of
Pn-257 value, the servo drive will release overspeed alarm signal.(Err7)
overspeed
 It will not alarm when the parameter’s value is 0.
Pn-258 Servo on delay time Delay time from receiving the enable signal to enable the drive.
Torque arrival In torque control mode, if motor torque exceeds this value, the signal ‘SV_T’ is
Pn-259
signal threshold ON, otherwise OFF.
Pn-260 Internal torque 1
Pn-261 Internal torque 2 In internal torque control mode, select respective internal torque command by
Pn-262 Internal torque 3 signals TRQ1 and TRQ2. (Refer to chapter 7.3)
Pn-263 Internal torque 4
54
Set the number of alarm clearance. Signal RSTSV is used to clear alarms, however,
Alarm clear
Pn-264 if the number of operations exceed the value of Pn-264, the alarm can not be
restrictions
cleared. (Notice：Parts of the alarms can be cleared.)
Torque command 0: Normal.

Pn-268
direction 1: Inverse.
Torque acceleration/
Pn-269 Torque acceleration/deceleration time.
deceleration time
Speed limit of Set the speed limit of servo motor of torque control mode.The actual value of the
Pn-271
torque mode speed limit is the smaller of Pn-271 and Pn-023.
In torque mode the
In torque mode, the parameter is used to set the permitted time of exceeding the
Pn-272 permitted time for
speed limit.
overspeed
Conditions of zero speed clamp:
1.In the speed control mode.
2.The signal ZCLMP is valid (ON).
3.The motor speed less than the zero speed value (Pn-273 ).
Pn-273 Zero speed
Zero speed Comparator has hysteresis characteristics, if the speed is clamped,the drive will
Pn-274
hysteresis exit the clamp when motor speed greater than the value of Pn-273 + Pn-274.
0: After zero speed clamp is valid,the motor speed is forced to 0,it still in speed
control mode,and the motor can be rotated by external force.
1: Motor is fixed in the instant of zero speed clamp,then the drive switch to
position control mode, if motor be rotated because of external force,it will back
Zero speed clamp
Pn-275 to the fixed position.
mode
2:In this mode, if zero speed clamp is valid ,the stop position of motor is respect to
the Z pulse,the position is controlled by parameters Pn-276 and Pn-277. Drive
switch to position control mode, if motor be rotated because of external force,it
will back to the fixed position.(Refer to parameters Pn-276 and Pn-277.)
These parameters are used to zero speed clamp function.The offset pulses is
Pn-276 Offset laps respect to the Z pulse.
Offset pulses = Pn-276*10000+ Pn-277.
Pn-277 Offset pulses Set value is positive, motor rotate in CCW.
Set value is negative, motor rotate in CW.
55
Parameter
Name Function
code
Digital input filter There are too much noises around environment, increasing the value of Pn-300 can
Pn-300
time improve reliability. If the value is too large, it will affect the response time.
Pn-301
Digital input DIn These parameters are used to set functions of digital input DI. The function codes
~
function refer to chapter 7.3. It will have no function when the parameter’s value is 0.
Pn-307
Pn-309
Digital output DOn The function codes refer to chapter 7.4. It will have no function when the
~
function parameter’s value is 0.
Pn-312
Binary display. Reverse the state of DIn if the corresponding bit is 1 , as follows.
Reverse digital bit3 bit2 bit1 bit0

Pn-313 DI4 DI3 DI2 DI1
input DI1~DI4
Reverse DI1,DI2 0 0 1 1
Binary display. Reverse the state of DIn if the corresponding bit is 1 , as follows.
bit3 bit2 bit1 bit0
Reverse digital
Pn-314
input DI5~DI7 Reserve DI7 DI6 DI5
Reverse DI5 0 0 0 1
Binary display. Reverse the state of DOn if the corresponding bit is 1.

bit3 bit2 bit1 bit0
Reverse digital
Pn-315
output DO1~DO4 DO4 DO3 DO2 DO1
Reverse DO2 0 0 1 0
Zero speed The parameter is only used to electromagnetic brake operation timing judgment.
detection point of When the motor’s speed (no relation with direction) is lower than the value of this
Pn-318
electromagnetic parameter think the motor is stationary. (Refer to chapter 7.4, the description of
brake signal BRK.)
 When the system state changes from enabled to does not or alarm. The
parameter is used to set the delay time from the electromagnetic brake signal
Electromagnetic output(BRK signal OFF) to the motor current is cut off during the motor
brake delay time stationary (Motor speed< Pn-318).
Pn-319
when the motor is  The function makes sure that motor cut off current after brakes reliable
stationary braking to avoid slight displacement of motor or dropping. The parameter’s
value should not be less than mechanical braking delay time.
 Timing refers to the description of BRK signal of chapter 7.4.
Electromagnetic  When the system state changes from enabled to does not or alarm. The
brake delay time parameter is used to set the delay time from the motor current is cut off to
Pn-320
when the motor is the electromagnetic brake work (BRK signal OFF) during the motor running
running (Motor speed ≥ Pn-318).
56
 The parameter makes sure that brake works after reducing the speed of the
Electromagnetic motor from the high rotation speed to low-speed to avoid damage to the
brake operation brake.
Pn-321
speed when the  The actual delay time is the shorter of Pn-320 and motor speed decelerates to
motor is running the value of Pn-321.
 Timing refers to the description of BRK signal of chapter 7.4.
Position feedback
Pn-322 pulse division Pn- 322 Pn- 322
numerator
f 2 = f 1*
Pn- 323 Pn- 322
Position feedback  If Pn-322>Pn-323, the ratio outputs as 1:1.

Pn-323 pulse division  f1: Encoder feedback pulses.
denominator f2:The output pulses of the driver.( EXTA+/EXTA-, EXTB+ / EXTB -.)
The parameter is used to set the width of zero pulse (Z pulse).With the motor speed
increases the width of zero pulse narrows, the parameter is set to appropriate value
in accordance with motor speed in order to match kinds of upper control.After
change the parameter,need to re-power.
The width of Z
Pn-324
pulse
Z
EXTZ Wz  ( Pn -324)  50us

Direction of position feedback pulse:
0: Phase relationship of position feedback output signals EXTA and EXTB
unchanged.
1: Phase relationship of position feedback output signal EXTA and EXTB
reversed.
As shown:
Reverse position
Pn-325
feedback pulse
The 2nd electronic

Pn-326
gear ratio numerator
The 3rd electronic Parameter description refer to ‘Pn-012’ and ‘Pn-013’.The selection of electronic
Pn-327
gear ratio numerator gear ratio by input IO signals GEAR1 and GEAR2. (Refer to chapter 7.3.)
The 4th electronic
Pn-328
gear ratio numerator
0: Close homing function.
Homing startup
Pn-332 1: Start homing when the servo drive is powered on and enabled for the first time.
mode
2: Start homing by IO signal ‘SHOM’.
57
0: Motor rotates in the direction of CCW, and the signal CCWI as the homing
reference point.
1: Motor rotates in the direction of CW, and the signal CWI as the homing
The homing reference point.
Pn-333
reference point 2: Motor rotates in the direction of CCW, and the signal ORGP as the homing
reference point.
3: Motor rotates in the direction of CW, and the signal ORGP as the homing
reference point.
0: After find the homing reference point ,reverse to find the Z pulse.
1: After find the homing reference point ,in the same direction to find the Z pulse.
Running mode after Note:
Pn-334 find the homing If CCWI and CWI signals as the homing reference point,drive will reverse to
reference point find Z pulse regardless of the value of the parameter.
When reverse to find Z pulse, if the homing reference point signal is still
valid,drive does not detect Z pulse until the signal is invalid.
These parameters are used to homing function.The offset pulses is respect to the Z
pulse.
Offset laps of
Pn-335 If Pn-248=0 or Pn-248=1: Offset pulses = Pn-335×10000+ Pn-336.
homing
If Pn-248=2 or Pn-248=3: Offset pulses = Pn-335×65536+ Pn-336.
Motor rotates in the direction of CCW,after find the Z pulse:
a. Set value is positive, motor rotate in CW.
b. Set value is negative, motor rotate in CCW.
Offset pulses of
Pn-336 Motor rotates in the direction of CW,after find the Z pulse:
homing
a. Set value is positive, motor rotate in CCW.
b. Set value is negative, motor rotate in CW.
The 1st homing
Pn-337 The motor speed of looking for the homing reference point.
speed
The 2nd homing The parameter is used to set motor speed of finding Z pulse after finding the
Pn-338
speed homing reference point.
Acceleration time of
Pn-339
homing
Acceleration/Deceleration time of homing.
Deceleration time of
Pn-340
homing
If within the time set by the parameter Pn-341 , homing operation is not
Pn-341 Homing time limit
completed , output alarm signal (Err24)
Pn-344=0: Motor speed(+/-10 V/Rated speed)
Function of analog
Pn-344 Pn-344=1: Motor torque (+/-10 V/Rated torque)
output (DAC1)
Pn-344=2: Speed command(+/-10 V/ Rated speed)
Proportional of Pn-344=3: Torque command (+/-10 V/ Rated torque)
Pn-345 analog output e.g.：Pn-344= 0 (DAC1 output motor speed),
(DAC1) Voltage of DAC1 is V1, Motor speed=( Rated speed* V1/10)* Pn-345/100.
Pn-346=0: Motor speed(+/-10 V/Rated speed)
Function of analog
Pn-346 Pn-346=1: Motor torque (+/-10 V/Rated torque)
output (DAC2)
Pn-346=2: Speed command(+/-10 V/ Rated speed)
Proportional of Pn-346=3: Torque command (+/-10 V/ Rated torque)
Pn-347 analog output e.g.：Pn-346= 0 (DAC2 output motor speed),
(DAC2) Voltage of DAC2 is V2, Motor speed=( Rated speed* V2/10)* Pn-347/100.
58
7.3 Digital input DI function explanation
Note: Digital input DI state definition.

OFF - The switch status is opened.
ON - The switch status is turned.
Value Sign Function description
1 SV_ON Servo on. Servo enable when the signal is ON.
Alarms clear. Parts of alarms are cleared when RSTSV signal is ON. (The
2 RSTSV
alarms can be cleared are Err7,Err8,Err9,Err14,Err15,Err16,Err18 and Err24.)
CCW drives prohibition. The function is valid only when the value of Pn-020
3 CCWI is 0. Motor rotates anti-clockwise, when detects CCWI signal is ON the drive
capability is inhibited in CCW direction.
CW drives prohibition. The function is valid only when the value of Pn-020 is
4 CWI 0. Motor rotates clockwise, when detects CWI signal is ON,the drive
capability is inhibited in CW direction.
Position deviation counter clear. In position control mode, turn on the signal
5 PECLR
reset position deviation counter.
Pulse command input prohibition. When PINH signal is ON in position mode,
6 PINH
the external pulse input is invalid and the motor is locked.
Zero speed clamp:In speed control mode, when the speed command is less
than a certain speed ( the speed set by parameter Pn-273), you can make the
motor stop and servo lock through the function of ' zero speed clamp '. if the
speed is clamped,the drive will exit the clamp when motor speed greater than
the value of Pn-273 + Pn-274.(Refer to parameters Pn-273~Pn-277.)
7 ZCLAMP
8 TCCW CCW torque limit.
9 TCW CW torque limit.

Control mode switching.
The state of CMODE
Pn-004
ON OFF
10 CMODE
8 Speed control mode Position control mode
9 Torque control mode Speed control mode
10 Torque control mode Position control mode
59
Internal position command selection.
SP3 SP2 SP1 Position command Speed
11 SP1
OFF OFF OFF Pn-208，Pn-209 Pn-210
OFF OFF ON Pn-213，Pn-214 Pn-215
OFF ON OFF Pn-218，Pn-219 Pn-220
12 SP2 OFF ON ON Pn-223，Pn-224 Pn-225
ON OFF OFF Pn-228，Pn-229 Pn-230
ON OFF ON Pn-233，Pn-234 Pn-235
ON ON OFF Pn-238，Pn-239 Pn-240
13 SP3
ON ON ON Pn-243，Pn-244 Pn-245
Internal speed command selection.

14 SC1
OFF OFF OFF Internal speed 1:Pn-200
OFF OFF ON Internal speed 2:Pn-201
OFF ON OFF Internal speed 3:Pn-202
OFF ON ON Internal speed 4:Pn-203
15 SC2
ON OFF OFF Internal speed 5:Pn-204
ON OFF ON Internal speed 6:Pn-205
ON ON OFF Internal speed 7:Pn-206
16 SC3
ON ON ON Internal speed 8:Pn-207
Internal torque command selection.

17 TRQ1
18 TRQ2
Electronic gear ratio selection.

19 GEAR1 GEAR2 GEAR1 Electronic gear ratio
OFF OFF Pn-012/ Pn-013
OFF ON Pn-326/ Pn-013
ON OFF Pn-327/ Pn-013
20 GEAR2
ON ON Pn-328/ Pn-013
Speed direction selection.

If Pn-042=0, the direction of speed command is controlled by signal CINV;
21 SDIR1 If Pn-042=1, the direction of speed command is controlled by signals SDIR1
and SDIR2.
60
SDIR2 SDIR1 The status of motor
OFF OFF The motor is locked.
22 SDIR2 OFF ON Motor rotates in the direction of CCW.
ON OFF Motor rotates in the direction of CW.
ON ON The motor is locked.
Speed command reverse.
If Pn-042=0, the direction of speed command is controlled by signal CINV.
When the signal is OFF, the motor rotates in the direction of speed
23 CINV command .While the signal is ON, the motor rotates in the contrary direction
with speed command.
If Pn-042=1, the direction of speed command is controlled by signals SDIR1
and SDIR2.
25 SHOM Start homing.
26 ORGP The homing reference point.
27 CNTR The signal is used to start inner position running.(Refer to parameter Pn-249.)
7.4 Digital output DO function explanation
Value Sign Function description
Servo ready. When the main power of servo driver is supplied and the driver
1 SV_RY
has not any alarm, the ON signal is output in 1.5 seconds.
Alarm Output. The signal state of ALM is ON when there is alarm displays in
2 ALM
the submenu of ‘dP-Err’.
Positioning completion. In position control mode, if position deviation is equal
to or less than the value of Pn-254, the signal state of SV_F is ON.
Note: The value of ‘Pn-254’ does not influence the actual location accuracy of
servo system. When position deviation is greater than the value of ‘Pn-255’,
driver output position excessive deviation alarm (Err8).
3 SV_F
61
Electromagnetic brake. (Refer to chapter 7.2.)
1.Motor in stationary state (motor speed < Pn-318), timing diagram of BRK is
shown below.
4 BRK 2.Motor in running state (motor speed ≥ Pn-318), timing diagram of BRK is
shown below.
Speed arrival signal. In speed control mode, when motor speed exceeds the
value of Pn-256, the signal state of SV_S is ON.
5 SV_S
Torque arrival signal. In torque control mode, when motor speed exceeds the
6 SV_T
value of Pn-259, the signal state of SV_T is ON.
7 HOME The homing completion signal.
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Chapter 8 Alarm
Alarm code Name The main reason Treatment measures

Normal Normal
Alarm after servo on. Contact the manufacturer.
Unreasonable parameter setting. Adjust parameters.

Please change motor and driver for high-
IPM protection Driver overheating.
power.
Be disturbed. Bad grounding.
Alarm during start-stop process . Reduce the load inertia.
The load inertia is too large or the Increase acceleration/deceleration time of
acceleration/deceleration time is too short. upper controller.
Alarm after servo on.Driver output short circuit. Eliminate short circuit.
Parameter unreasonable.Adjust
Motor oscillation during operation.
parameters.
Overcurrent Load current is too large. Change for high-power driver.
Poor motor insulation. Change motor.
Alarm during start-stop process . Reduce the load inertia.
The load inertia is too large or the Increase acceleration/deceleration time of
acceleration/deceleration time is too short. upper controller.
Alarm during running .Low power supply
Check power supply voltage.
voltage.
Undervoltage Alarm during power on.Circuit board fault. Contact the manufacturer.
There is no input voltage for main circuit. Reconfirm the power supply.
Brake resistor wire break;

Brake resistor does not work.
Brake resistor is broken;
Overvoltage
Replacement of large capacity brake
Brake resistor capacity is too small.
resistor.
Alarm during power on.Power voltage is too
Check the power voltage.
high.
No current in
Circuit board fault. Contact the manufacturer.
analog channel A.
No current in
Circuit board fault. Contact the manufacturer.
analog channel B.
Alarm during power on.Circuit board fault. Replacement of driver/motor.
Encoder fault. Replacement of encoder.
Input command pulse frequency is too high. Set input pulse correctly.
Acceleration/deceleration time constant is too Increase acceleration/deceleration time of
Overspeed small, causing too large speed overshoot. upper controller.
Input electronic gear ratio is too large. Set electronic gear ratio correctly.
Adjusting the associated gain.If gain

Servo motor is unstable, causing overshoot. could not be set to suitable value, please
reduce the load inertia.
63
Alarm code Name The main reason Treatment measures
Alarm during power on.Circuit board fault. Contact the manufacturer.
Wrong connection of motor U,V,W leads. Correct wiring.
Wrong connection of encoder leads. Change encoder line.
Motor locked-rotor. Check mechanism.
Position excessive Position overshoot detection range is set too Increase position overshoot detection
deviation small. range.
Gain value is too small. Increase gain value.
Torque limit is too small. Increase torque setting value.
Change for high-power motor and
External load is too large.
driver.
Torque command exceed limit of time is greater
Torque command than the allowed time. Adjust torque command.
exceed limit
Parameter setting is not reasonable. Adjust parameters.
Chip data-processing transmission fault. Power-on again.
FPGA chip fault
Chip or circuit board fault. Contact with the manufacturer.
Alarm during power on.Bad connection of
Reconnect encoder line well.
encoder’s wiring.
Alarm during power on.Encoder line fault. Change encoder line.
Alarm during power on.Motor encoder fault. Change motor.
Alarm during power on.Encoder does not match
witch parameter. Modify the parameter Pn-050.
Encoder fault
Alarm during running.The encoder’s plug gets
loose because of mechanical vibration, for it is Reconnect encoder line well.
not screwed well.
Alarm during Operation.Encoder cable is too Shorten the cable.
long, which cause the power supply voltage of Adopt poly-core cable with parallel
encoder too low. connection.
Bad connection of encoder’s wiring. Reconnect encoder line well.
Encoder signal Shorten encoder line as far as possible,

Encoder line suffers from interference.
transmission fault and undertake shielding measures.
Encoder fault. Change motor.

Bad connection of encoder’s wiring. Reconnect encoder line well.
Z pulse lose Encoder fault. Change motor.
Circuit board fault. Change driver.
Alarm during power on.Circuit board fault. Change driver.
Alarm during power on.Unreasonable
Motor thermal Adjust parameters.
parameters setting.
overload
Motor exceed the rated torque running for a long Check load or replace high-power
time driver&motor.
Motor power line not connected.Major loop of
Wiring as it is requested.
driver is not power-on.
Driver overload
protection Motor locked-rotor. Check whether the motor is seized.
Output current of driver is too large. Change driver.
64
Alarm code Name The main reason Treatment
Software The instantaneous current of driver is too

Contact the manufacturer.
overcurrent large.
Alarm during power on.Circuit board fault. Change drive.
Check load.
Reduce start-stop frequency.
Motor exceed the rated torque running for a
Reduce the torque limit value.
long time
Overload driver.
Adjust gain.
Motor shock. Increase the acc/dec time.
Reduce the load inertia.
U、V、W break. Check wire.
Alarm during power on.Circuit board fault. Change drive.
Braking resistor wiring fault Check wire.
Brake resistor does not work. Change brake resistor.
Reduce start-stop frequency.
Brake fault Increase the acc/dec time.
Brake resistor capacity is too small. Reduce the load inertia.
driver.
The main circuit power supply is too high. Check power supply.
Check the signal of homing is
Homing Cannot fine the homing reference point
normal or not.
timeout
Unreasonable parameter setting. Adjust parameters.
Notice: If there is different alarm code from the above table, please contact the manufacturer.
65
Chapter 9 Running and adjustment
According to the steps of ELESY servo driver operation manual make motor normal rotation before connected
load to it. Usually, a driver should take the following tests before put into use.
1. Wiring and inspection.
2. Power-on and adjust parameters.
3. No-load operation.
4. Control function debugging.
9.1 Power-on
1. Checking before power on.

 Whether the specifications of driver and motor match each other.
 Wiring of R,S,T and U,V,W cannot be reversed, and the terminal has not loose phenomenon.
 Check the power supply is normal or not: 3-phase 220V or 1-phase 220V..
 Whether the encoder terminal wiring is correct.
 Whether the driver and motor are well grounded.

2. Power-on sequence
Power supply power-down power-on
<500ms
Alarm signal No alarm
(DOn): <1s
Servo ready ON
OFF
(DOn):
<1s
Electromagnetic ON
OFF
brake (DOn):
<1s
Motor’s power: power-down power-on
Digital input IO (DIn) functions are customized via the parameters ‘Pn-301 ~ Pn-307’. Digital output IO (DOn)
functions are customized via the parameters ‘Pn-309 ~ Pn-312’.
9.2 Trial running without load
1. Sr trail run (Panel operation refer to chapter 5)
1、 Set parameter of ‘Pn-004’ to 2 to select speed trial run control mode. Enter into menu of ‘Sr-’,servo
drive displays “S 0”.
2、 Press ‘▲’ key to increase speed command, then enter into ‘dP-SPd’ submenu to observe whether the
66
actual rotate speed of motor is the setting velocity.
3、 Press ‘▼’ key to decrease speed command to a negative, then enter into ‘dP-SPd’ submenu to observe
whether the actual rotate speed of motor is the setting velocity.
2. JOG trial run
a. Modify parameter ‘Pn-022’ to suitable JOG speed.Set parameter of ‘Pn-004’ to 3 to select JOG trial run
control mode. Enter into menu of ‘Jr-’.Servo drive displays “J 0”.
b. Press ‘▲’ key and hold, motor will rotate in the direction of CCW at the speed of ‘Pn-022’. Release the
key, motor will be in the state of zero-speed locked.
c. Press ‘▼’ key and hold, motor will rotate in the direction of CW at the speed of ‘Pn-022’.Release the key,
motor will be in the state of zero-speed locked.
9.3 Control functions debugging
There are two ways to enable the servo drive:The first,it can be reached by external digital IO input terminal
(DIn),For excample set parameter Pn-301=1,DI1 input the servo on signal.Second, it can be inner compelled by
setting Pn-057 to 2.
9.3.1 Position control
In the position control mode,the position command can be gived by external terminal or parameters.
Measuring the power supply of R,S,T(3-phase 220V or 1-phase 220V) is normal or not befor wiring, Make sure
there are no problems connect the power cord and power on. Reference to the motor adapter table (Appendix)
modifies the parameter of ‘Pn-001’ as the corresponding motor model code. Enter into the menu group of ‘EE-’
and select ‘EE-dEF’, press ‘SET’ key. If ‘donE’ is shown on nixie tube means the driver’s parameters have been
recovered to factory defaults,Power-off. Wiring correct,and no-load test first.
1. Internal position control

(1) Set parameters of “Pn-004=0” and “Pn-025=1” to select internal position control mode.
(2) Operating instructions：
① The position command is supplied by parameters (Pn-208,Pn-209)~(Pn-243,Pn-244). Set the position
command calculation according to parameter Pn-248,difference is shown below.(e.g.: P1=10000，P2=20000.)
67
② Select the running mode of internal position control by parameter Pn-249:
a. Pn-249=0(Pn-251=5): When CNTR signal is detected a valid jump,servo drive runs once with the number
of the position segment set by Pn-251,and finally stopped at the first location,and output positioning
completed signal. It should be noted, the CNTR trigger signal is valid only when the positioning is completed,
otherwise the signal CNTR will not be response.
b. Pn-249=1(Pn-251=6): In this mode,the drive will always loop runs with the number of the position
segment set by Pn-251 until CNTR becomes invalid.
c. Pn-249=2:In this mode, SP1, SP2 and SP3 are set to specify the running position, the falling edge of signal
CNTR start running.
e.g.: [SP3, SP2 ,SP1] = [OFF,OFF,OFF], CNTR signal input falling edge,then the drive runs with the position
command set by parameters Pn-208 and Pn-209, and positioning complete signal output when the position
command is finished.
SP3 SP2 SP1 CNTR Position command Speed
OFF OFF OFF  Pn-208，Pn-209 Pn-210
OFF OFF ON  Pn-213，Pn-214 Pn-215
OFF ON OFF  Pn-218，Pn-219 Pn-220
OFF ON ON  Pn-223，Pn-224 Pn-225
ON OFF OFF  Pn-228，Pn-229 Pn-230
ON OFF ON  Pn-233，Pn-234 Pn-235
ON ON OFF  Pn-238，Pn-239 Pn-240
ON ON ON  Pn-243，Pn-244 Pn-245
68
d. Pn-249=3(Pn-251=5,Current position is P3): SP3 signal is detected a valid jump, servo drive runs to the
first location; SP2 signal is detected a valid jump, servo drive runs to the previous location,if it is the first
location,stop here; SP1 signal is detected a valid jump, servo drive runs to the next location,if it is the last
location,stop here.
(3) Several key parameters associated with internal position control mode: Pn-004，Pn-005，Pn-006，Pn-009，
Pn-010，Pn-025，Pn-208~Pn-251，Pn-301~Pn-307 (Refer to chapter 7). Set the parameter values correct after
power on.If there is no problem enable the drive,and give position command by changing the status of signals
CNTR,SP1,SP2 and SP3. Observe the dynamic effect of motor and adjust gain for reasonable value.
2.Pulse input position control

(1) Set parameter of ‘Pn-004=0’ and ‘Pn-025=0’ to select pulse input position control mode.
(2) According to the input pulse frequency set electronic gear ratio (Pn-012/Pn-013) and set position command
input type by parameters Pn-014,Pn-015 and Pn-047. Adjust several key parameters associated with position
69
control mode: Pn-004，Pn-005，Pn-006，Pn-009，Pn-010，Pn-012，Pn-013，Pn-014，Pn-015，Pn-025，
Pn-047 (Refer to chapter 7). Power on if there is no problem and enable the drive.Give pulse command to
servo drive.,observe the dynamic effect of motor and adjust gain for reasonable value.
9.3.2 speed control
In the speed control mode,the speed command can be gived by analog input or parameters. Measuring the power
supply of R,S,T(3-phase 220V or 1-phase 220V) is normal or not befor wiring, Make sure there are no problems
connect the power cord and power on. Reference to the motor adapter table (Appendix) modifies the parameter of
‘Pn-001’ as the corresponding motor model code. Enter into the menu group of ‘EE-’ and select ‘EE-dEF’, press
‘SET’ key. If ‘donE’ is shown on nixie tube means the driver’s parameters have been recovered to factory
defaults,Power-off. Wiring correct,and no-load test first.
1.Internal speed control
(1) Set parameter of ‘Pn-004=1’ and ‘Pn-024=1’ to select internal speed control mode.
① The speed command is supplied by parameters Pn-200~ Pn-207.
② Set parameters of ‘Pn-302=14’, ‘Pn-303=15’ and ‘Pn-304=16’ which define DI2,DI3 and DI4 input
functions for SC1, SC2 and SC3. Select respective internal speed command by signals SC1,SC2 and
SC3.The corresponding relationship is as follows. (Refer to chapter 7.3.)
Note: OFF-The switch status is opened. ON-The switch status is turned.

OFF OFF OFF Internal speed 1: Pn-200
ON OFF OFF Internal speed 5: Pn-204
③ Several key parameters associated with internal speed control mode: Pn-004，Pn-005，Pn-006，Pn-024，
Pn-042， Pn-052，Pn-053，Pn-200~Pn-207，Pn-301~Pn-307 (Refer to chapter 7). Set the parameter values
correct after power on.If there is no problem enable the drive,and give speed command by changing the status
of signals SC1,SC2 and SC3. Observe the dynamic effect of motor and adjust gain for reasonable value.
70
2. Analog speed control mode
(1) Set parameters of ‘Pn-004=1’ and ‘Pn-024=0’ to select analog speed control mode.
(2) Several key parameters associated with internal speed control mode: Pn-004，Pn-005，Pn-006，Pn-024，
Pn-031，Pn-042，Pn-043， Pn-051，Pn-052，Pn-053 (Refer to chapter 7). Set the parameter values correct after
power on. If there is no problem enable the drive. Wait for the ‘RUN’ indicator light up, perform automatic
zero drift compensation operation: Enter into menu of ‘AU-’. Choose the submenu of ‘AU-SPd’, and press
‘SET’ key, until ‘donE’ is displayed on nixie tube, compensation value will be write to parameter ‘Pn-043’.
Upper control output analog instruction to drive after the above steps are completed. Observe the dynamic
effect of motor and adjust gain for reasonable value.
9.3.3 Torque control
In the torque control mode,the torque command can be gived by analog input or parameters. Measuring the
power supply of R,S,T(3-phase 220V or 1-phase 220V) is normal or not befor wiring, Make sure there are no
problems connect the power cord and power on. Reference to the motor adapter table (Appendix) modifies the
parameter of ‘Pn-001’ as the corresponding motor model code. Enter into the menu group of ‘EE-’ and select
‘EE-dEF’, press ‘SET’ key. If ‘donE’ is shown on nixie tube means the driver’s parameters have been recovered to
factory defaults,Power-off. Wiring correct,and no-load test first.
1. Internal torque control
(1) Set parameters of ‘Pn-004=6’ and ‘Pn-026=1’ to select internal torque control mode.
① The torque command is supplied by parameters Pn-260~ Pn-263.
② Set parameters of ‘Pn-302=17’ and ‘Pn-303=18’ which define DI2,DI3 input functions for TRQ1 and TRQ2.
Select respective internal torque command by signals TRQ1 and TRQ2.The corresponding relationship is as
follows. (Refer to chapter 7.3.)
Note: OFF-The switch status is opened. ON-The switch status is turned.

③ Several key parameters associated with internal torque control mode: Pn-004，Pn-026，Pn-033，
Pn-260~Pn-263，Pn-268，Pn-269，Pn-271，Pn-272，Pn-301~Pn-307 (Refer to chapter 7). Set the parameter
71
values correct after power on.If there is no problem enable the drive,and give torque command by
changing the status of signals TRQ1 and TRQ2. Observe the dynamic effect of motor and adjust gain for
reasonable value.
2.Analog torque control
(1) Set parameters of ‘Pn-004=6’ and ‘Pn-026=0’ to select analog torque control mode.
(2) Several key parameters associated with analog torque control mode: Pn-004，Pn-026，Pn-033，Pn-041，
Pn-045，Pn-268，Pn-269，Pn-271，Pn-272 (Refer to chapter 7). Set the parameter values correct after power
on.If there is no problem enable the drive. Wait for the ‘RUN’ indicator light up, perform automatic zero drift
compensation operation: Enter into menu of ‘AU-’,choose the submenu of ‘AU-trq’, and press ‘SET’ key,
until ‘donE’ is displayed on nixie tube, compensation value will be write to parameter ‘Pn-045’. Upper control
output analog instruction to drive after the above steps are completed. Observe the dynamic effect of motor
and adjust gain for reasonable value.
72
Chapter 10 Servo motor
10.1 Nameplate and model introduction
1. Nameplate
Figure 10-1 Servo motor nameplate description
2. Model
Figure 10-2 Servo motor model description
73
10.2 Each part name of servo Motor
Figure 10-3 Each part name of servo motor
10.3 The installation of the servo motor
The installation of the servo motor should be in accordance with the manual. If motor is installed improperly or
in the wrong place, the motor’s service life would shorten, even may cause unexpected accident. The shaft end of
the servo motor had been daubed with antirust additive, so please clear the antirust additive before installation.
Figure 10-4 The location of antirust
1. Installation site
The servo motor should be installed inside the room and the following ambient conditions be satisfied:
 There is no corrosive, inflammable and explosive gas.
 Draughty, no dust and dry.
 The ambient temperature for operation is within the limit of 0～40℃.
 Storage temperature:﹣10℃～50℃.
 The relative humidity keeps in the limits of 30%～95%RH; No moisture condensation.
 Be convenient for examining and clearing.
2. Installation dimension
74
(1) 60、80 series motor dimensions
Figure 10-5 The 60,80 series motor installation dimensions
Motor model 60EMA006A 60EMA013A 80EMA016A 80EMA024A 80EMA032A

Rated output power W 200 400 500 750 1000
Rated torque N.m 0.64 1.27 1.6 2.4 3.2
Rated current Arms 1.5 2.5 3.0 4.0 5.2
Rated speed r/min 3000
Moment of inertia  1 0 4 k g  m 2 0.19(0.26) 0.33(0.40) 1.09(1.29) 1.24(1.44) 1.59(1.79)
L mm 140(180) 165(205) 158(201) 173(216) 193(236)

LL mm 110(150) 135(175) 123(166) 138(181) 158(201)
LR mm 30 30 35 35 35
LA mm 70 70 90 90 90
LB mm 50 50 70 70 70
S mm 14 14 19 19 19
LC mm 60 60 80 80 80
LE mm 3 3 3 3 3
LZ mm 5 5 6 6 6
QK mm 20 20 25 25 25
W mm 5 5 6 6 6
T mm 5 5 6 6 6
U mm 3 3 3.5 3.5 3.5
Note: The dimensions in brackets is the size of motor with brake.
75
(2) 110/130 series motor dimensions
Figure 10-6 The 110/130 series motor installation dimensions
110EMA- 130EMA-
Motor model
040B 060B 040B 050B 060B 060E 075B
Rated output power KW 1.0 1.57 1.0 1.3 1.57 0.63 1.96
Rated torque N•m 4.0 6.0 4.0 5.0 6.0 6.0 7.5
Rated current Arms 4.0 6.0 4.2 5.0 6.2 3.6 7.8
Rated speed r/min 2500 1000 2500
5.4 7.5 8.9 9.7 12.4 12.4 17.2
Moment of inertia 104 kg .m 2
(6.0) (8.1) (9.5) (10.3) (13.0) (13.0) (17.8)
L mm 238(293) 278(333) 215(267) 221(273) 231(283) 231(283) 251(303)
LL mm 185(240) 225(280) 159(211) 165(217) 175(227) 175(227) 195(247)
LR mm 53 53 56 56 56 56 56
LA mm 130 130 145 145 145 145 145
LB mm 95 95 110 110 110 110 110
S mm 19 19 22 22 22 22 22
LC mm 110 110 130 130 130 130 130
LE mm 5 5 4 4 4 4 4
LH mm 99 99 113 113 113 113 113
LZ mm 8.5 8.5 9 9 9 9 9
QK mm 35 35 35 35 35 35 35
QL mm 0 0 7.5 7.5 7.5 7.5 7.5
W mm 6 6 6 6 6 6 6
T mm 6 6 6 6 6 6 6
U mm 3.5 3.5 3.5 3.5 3.5 3.5 3.5
76
130EMA-
Motor model
075C 075E 100B 100C 100D 100E 150C 150D
Rated output power KW 1.57 0.79 2.6 2.1 1.57 1.0 3.1 2.35
Rated torque N•m 7.5 7.5 10 10 10 10 15 15
Rated current Arms 6.5 4.5 10.5 9.0 6.5 5.0 11.5 9.0
Rated speed r/min 2000 1000 2500 2000 1500 1000 2000 1500
17.2 17.24 21.9 21.9 21.9 21.9 28.9 28.9
Moment of inertia 104 kg.m2
(17.8) (17.8) (22.5) (22.5) (22.5) (22.5) (29.5) (29.5)
L mm 251(303) 251(303) 271(323) 271(323) 271(323) 271(323) 301(353) 301(353)
LL mm 195(247) 195(247) 215(267) 215(267) 215(267) 215(267) 245(297) 245(297)
LR mm 56 56 56 56 56 56 56 56
LA mm 145 145 145 145 145 145 145 145
LB mm 110 110 110 110 110 110 110 110
S mm 22 22 22 22 22 22 22 22
LC mm 130 130 130 130 130 130 130 130
LE mm 4 4 4 4 4 4 4 4
LH mm 113 113 113 113 113 113 113 113
LZ mm 9 9 9 9 9 9 9 9
QK mm 35 35 35 35 35 35 35 35
QL mm 7.5 7.5 7.5 7.5 7.5 7.5 7.5 7.5
W mm 6 6 6 6 6 6 6 6
T mm 6 6 6 6 6 6 6 6
U mm 3.5 3.5 3.5 3.5 3.5 3.5 3.5 3.5
Note: The dimensions in brackets is the size of motor with brake.
3. Installation direction
The servo motor can be installed horizontally, vertically, or in any direction.
4. Dampproof and dustproof

1. When being used in the place with water-drop dripping, please employ it on the base of confirming the
servo motor’s protection framework (except the shaft opening part).
2. When being used in the place where there is oil-drop dripping to the shaft opening, please appoint servo
motor with oil seal. Please make sure the oil level is lower than the oil seal’s lip while using, and the oil seal
can keep the splashing oil-foam in good condition. When using servo motor above the shaft, please confirm
there is no oil-logged of the oil seal’s lip.
3. When the aviation plug (the leads outlet) can only be installed upwards, please keep the cable baggy to
prevent oil and water. Meanwhile, the cable mustn’t be soaked in water or oil.
5. Coordination with machine

1. When connecting with machine, please use elastic couplings as far as possible, and keep the axle centre of
servo motor is in a line with that of mechanical load. The installation of servo motor should meet the
demand of concentricity tolerance as the following chart shows.
To measure in the quartering of a round, the difference of the maximum and the minimum is less than
0.03mm (rotating with coupling).
77
If the concentricity were out of tolerance, it would cause mechanical
vibration which may damage the bearings and encoder.
2. The encoder is installed in the back end cap of the motor, connecting directly with motor shaft. Do not
thump the motor. If to knock the motor is inevitable because of positioning or any other reason, please
knock the front end of flange plate with rubber hammer or plastic hammer as far as possible
3. For removing wheel and pulley, please use an appropriative puller.
78
10.4 Terminal signal definition of servo motor
1. Motor connector terminals (4-core)
Pin 1 2 3 4
Signal PE U V W
2. Brake connector terminals

(1) 2-core
Pin 1 2
Signal +24 0V
(2) 3 -core
Pin 1 2
Signal +24 0V
3. Encoder feedbackterminals
(1) 9-core
Signal definition
Pin
Wire-saving encoder Absolute encoder Resolver
1 FG FG FG
2 +5V +5V
3 0V 0V
4 A+ R1
5 B+ SD+ R2
6 Z+ VB+ SIN+
7 A- VB- SIN-
8 B- SD- COS+
9 Z- C0S-
79
(2) 15-core
Signal definition
Pin
Incremental encoder Absolute encoder Resolver
1 FG FG FG
2 +5V +5V
3 0V 0V
4 A+ R1
5 B+ SD+ R2
6 Z+ VB+ SIN+
7 A- VB- SIN-
8 B- SD- COS+
9 Z- C0S-
10 U+
11 V+
12 W+
13 U-
14 V-
15 W-
80
Appendix
 Motor adaptation table

Motor Rated
Rated Rated Rated Adapter
model code Motor model
torque speed current power driver
（Pn-001）
10 130EMA-075C 7.5Nm 2000rpm 6.5A 1.57KW
11 130EMA-075B 7.5Nm 2500rpm 7.8A 1.96KW
12 130EMA-075A 7.5Nm 3000rpm 8.8A 2.36KW
13 130EMA-100D 10Nm 1500rpm 6.5A 1.57KW
14 130EMA-100C 10Nm 2000rpm 9.0A 2.1KW ESDB30
15 130EMA-100B 10Nm 2500rpm 10.5A 2.6KW
16 130EMA-100A 10Nm 3000rpm 12.5 A 3.14KW
17 130EMA-150D 15Nm 1500rpm 9.0A 2.35KW
18 130EMA-150C 15Nm 2000rpm 11.5A 3.1KW
22 130EMA/B-060E 6Nm 1000rpm 3.6A 630W
23 130EMA-075E 7.5Nm 1000rpm 4.5A 790W ESDA10
24 130EMA-100E 10Nm 1000rpm 5.0A 1.0W
30 60EMA-006A 0.64Nm 3000rpm 1.5A 200W
ESDA05
31 60EMA-013A 1.27Nm 3000rpm 2.5A 400W
34 80EMA-016A 1.6Nm 3000rpm 3.0A 500W
35 80EMA-024A 2.4Nm 3000rpm 4.0A 750W
ESDA08
36 80EMA-032A 3.2Nm 3000rpm 5.2A 1.0KW
37 80EMA-038A 3.8Nm 3000rpm 5.0A 1.2KW
40 130EMA-040B 4Nm 2500rpm 4.2A 1.0KW
41 130EMA-050B 5Nm 2500rpm 5.0A 1.3KW
42 130EMA-060B 6Nm 2500rpm 6.2A 1.57KW
50 110EMA-040B 4Nm 2500rpm 4.2A 1.0KW
ESDA10
51 110EMA-040A 4Nm 3000rpm 4.6A 1.26KW
ESDB15
52 110EMA-060B 6Nm 2500rpm 6.4A 1.57KW
53 110EMA-060A 6Nm 3000rpm 7.5A 1.89KW
61 130EMA-050A 5Nm 3000rpm 6.8A 1.57KW
62 130EMA-060A 6Nm 3000rpm 7.3A 1.88KW
43 130EMA-075C 7.5Nm 2000rpm 6.5A 1.57KW
44 130EMA-100C 10Nm 2000rpm 9.0A 2.1KW
45 130EMA-100D 10Nm 1500rpm 6.5A 1.57KW
46 130EMA-150D 15Nm 1500rpm 9.0A 2.35KW ESDB25
47 130EMA-075B 7.5Nm 2500rpm 7.8A 1.96KW
48 130EMA-100B 10Nm 2500rpm 10.5A 2.6KW
49 130EMA-150C 15Nm 2000rpm 11.5A 3.1KW
81
 Cable model
Name Model Specification Name Model Specification
JSDA-14A□□□
JSMA-04A□□□
JSDA-14B□□□
JSMA-04B□□□
JSDB-09A□□□
JSMB-04A□□□ Encoder
cable
JSDB-09B□□□
JSMB-04B□□□
JSDC-09A□□□
Power
JSMC-04A□□□
cable JSDC-09B□□□
JSRA-09A□□□
JSMC-04B□□□
Resolver
cable
JSRA-09B□□□
JSMD-04A□□□
JSAB-09A□□□
Absolute
encoder
JSMD-04B□□□ cable
JSAC-09A□□□
82
 Motor signal line (encoder line) cable type description
 Motor power cable type description
83

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What safety precautions should be taken when installing the servo driver?

What safety precautions should be taken when installing the servo driver?

What steps should be taken before powering on the servo driver?

What steps should be taken before powering on the servo driver?

ESDB AC SERVO DRIVER

Servo Driver Operation Manual (V1.01)

GUANGDONG ELESY ELECTRIC CO.,LTD

in various manufacturing fields.

following important notes, so as to operate the product safely.

 AC servo drive must operate with matched servo motor.

driver can’t be guaranteed.

4．Notes for operation

1.1 Nameplate and model introduction..................................................................................................................... 1

3.1 Connection of peripheral equipments ................................................................................................................. 7

Chapter 4 Interface ...............................................................................................................................................12

4.1 Signal definition of power terminals..................................................................................................................12

Chapter 5 Panel operation ....................................................................................................................................23

5.1 Overview .........................................................................................................................................................23

Chapter 6 Communication ....................................................................................................................................27

6.1 ModBus overview ............................................................................................................................................27

Chapter 7 Parameters ...........................................................................................................................................34

7.1 Parameter summary..........................................................................................................................................34

Chapter 9 Running and adjustment......................................................................................................................66

Chapter 10 Servo motor ........................................................................................................................................73

10.1 Nameplate and model introduction..................................................................................................................73

 Motor adaptation table....................................................................................................................................81

1.1 Nameplate and model introduction

Figure 1-1 Servo driver nameplate description

Figure 1-2 Servo driver model description

Figure 1-3 Names of the servo driver’s parts

1.3 Technical specification of servo driver

Applicable load inertia Less than 5 times of the inertia of motor.

Items ESDB servo driver

Altitude Elevation: 1000m below.

Vibration Less than 0.5G(4.9m/S2) 10～60Hz,operate discontinuously.

Protection grade IP20

to fitting surface. Figure 2-1 shows the baseplate installation way.

Figure 2-1 the driver's structure and installation dimension（unit: mm）

Figure 2-3 Installation intervals for single drive

3.1 Connection of peripheral equipments

 Before power on, please check whether R, S, T, r, t wiring is correct.

 Check whether U,V,W,PE wiring is correct .Three-phase terminal sequence

! WARNING can’t be swapped to reverse the motor

 Motor ground terminal must be connected with driver ground terminal PE

 There is large volume electrolytic capacitor in the servo driver, so high

3.2 Wiring of servo drive

3.2.1 Power supply wiring

Figure 3-4 Wiring diagram of servo drive

Figure 3-5 Wiring diagram of absolute encoder

3.2.4 Resolver wiring

Figure 3-6 Wiring diagram of resolver

4.1 Signal definition of power terminals

Terminal Wire diameter requirements

When using inner braking resistor, the B2 and P

Ground terminals Connect with motor ground. 2.0 mm2 以上

4.2 Signal definition of encoder feedback terminals

Figure 4-1 CN1 plug of servo driver

Name and sign

4.3 Signal definition of CN2 connector