R

ADLEEPOWER

INSTRUCTION MANUAL

SERVOMOTOR AND DRIVES

D310, MH, MB Series

THANK YOU VERY MUCH FOR YOUR PURCHASE

ADLEE PRODUCTS.
PLEASE READ THIS INSTRUCTION MANUAL
BEFORE INSTALLATION.
 PREFACE
This D310 drive and brushless servomotor made by ADLEE
Powertronic., Ltd.
Read this instruction manual throughly before operation.
This manual will be helpful in the installation, parameter setting and
troubleshooting of the AC servomotors and drives. To guarantee safe
operation of the equipment, read the following safety guidelines before
connecting power to the drives. Keep this operating manual handy and
distribute to all users for reference.
A. General Precaution
1. There are some covers and shields on this drive. Make sure all covers
and shields are replaced befor operating this product.
2. This manual may be modified when necessary because of improvemen-
t of the product or changes in specification.
3. Contact your ADLEE representative to order a copy of this manual,
if your manual has been damaged or lost.
4. ADLEE is not responsible for any modification of the product made
by the user, since that will void your guarantee.

B. Safety symbols
Symbols which may appear on the manual

WARNING
Indicates a potentially hazardous situation
which, if not avoided, could result in death
or serious injury to personnel.
CAUTION
! Indicates a potentially hazardous situ-
ation which, if not avoided, may re-
sult in minor or moderate injury to p-
ersonnel and damage to equipment.

-I-
RECEIVING

! CAUTION
* Do not install or operate the drive and servomotor which is damaged or
has missing parts.
Failure to observe this caution may result in personal injury or equip-
ment damage.
INSTALLATION

WARNING
* Wiring should be performed by qualified personnel only.
Failure to observe this warning can result in an electrical shock or a fire.
* Only commence wiring after verifying that the power supply is turned
OFF.
Failure to observe this warning can result in an electrical shock or a fire.
* Make sure to ground the ground terminal.
Ground resistance : 100 Ohm or less.
Failure to observe this warning can result in an electrical shock or a fire.
* Never touch any rotating servomotor parts while the servomotor is run-
ning.
Failure to observe this warning can result in injury.
! CAUTION
* Don’t hold the product by the cables or servomotor shaft while trans-
porting it.
Failure to observe this caution may damaged the products.
* Mount the drive on nonflammable material. (i.e. metal)
Failure to observe this caution can result a fire.
* When mounting units in an enclosure, install a fan or other cooling drive
to keep the intake air temperature below 45℃ .
Overheating may cause a fire or damage to the drive.

- II -
 ! CAUTION
* Verify that the drive rated voltage considers with the AC power supply
voltage.
Failure to observe this caution can result in personal injury or a fire.
* Do not perform a withstand voltage test of the drive.
It may cause semi-conductor elements to be damaged.
* To connect a braking resistor, follow in APPENDIX.
Improper connection may cause the unit damaged or a fire.
* Tighten terminal screws.
Failure to observe this caution can result a fire.
* Never connect the AC main circuit power supply to output terminals
U, V and W.
The drive will be damaged and invalidate the guarantee.
OPERATION

WARNING
* Only turn ON the input power supply after replacing the front cover.
Do not remove the cover while current is flowing.
Failure to observe this warning can result in an electrical shock.

! CAUTION
* Since it is easy to change. Operation speed from low to high speed,
verify the safe working speed range of the servomotor and machine
before operation.
Failure to observe this caution can result in personal injury and ma-
chine damage.
* All the contants of the drive have been preset at the factory.
Do not change the settings unnecessary.

- III -
MAINTENANCE AND INSPECTION

WARNING
* Only authorized personnel should be permitted to perform installation,
maintenance, inspections or parts replacement.
Failure to observe this warning can result in an electrical shock.
* Never touch high-voltage terminals in the drive.
Failure to observe this warning can result in an electrical shock.
* Replace all protective covers before powering up the drive.
To remove the cover, make sure to shut OFF the molded-case circuit
breaker.
Failure to observe this warning can result in an electrical shock.
* Never perform maintenance or inspection for five minntes, after the
main circuit power supply is turnned OFF.
The capacitors are still charged and can be dangerous and cause electric
shock.

! CAUTION
* The control PC board employs CMOS ICs. Do not touch the CMOS
elements by hand.
They are easily damaged by static electricity.
* Do not connect or disconnect wires or connectors while power is ap-
plied to the circuit.
Failure to observe this caution can result in personal injury.

OTHERS

WARNING
* Never modify the product.
Failure to observe this warning can result in an electrical shock or
personal injury and will invalidate the guarantee.

- IV -
 CONTENTS

1. RECEIVING 1
2. SPECIFICATIONS 3
3. DIMENSION DRAWINGS 7
4. INSTALLATION 11
5. DESCRIPTION OF TERMINALS 15
6. DISPLAY AND OPERATION . 31
7. DRIVE PARAMETERS 39
8. REPAIRING AND MAINTENANCE 90
9. TROUBLESHOOTING 91
10. MOTOR T-N CURVE 93
11. APPLICATION EXAMPLES 97
12. APPENDIX 104
1. RECEIVING
This D310 serie servomotor drive and MH serie brushless servomotor
have gone through rigorous quality control tests at the factory before
shipment. After receiving the servomotor and drive , please check for the
following:
(1) No damage is found on each product after shipping.
(2) The product is as ordered (check the nameplate, voltage and frequency
).
(3) A set of drive unit and instruction manual is contained in the package.
For any irregularity, contact the sales shop where you purchased imm-
ediately.
(4) The drive has been designed for use in combination with the specified
servomotors only. Check if the specifications of drive and servomotor
are in a set.
(5) Check if the brushless servomotor’s shaft can be rotated smoothly by
hand. (The servomotor shaft cannot be rotated if it is with mechanical
brake.)

1
(6) Description of nameplate

D310 drive
R

MATCHSERVO MTR DRIVE

Model No. D310-120M
INPUT OUTPUT
0~240V 0~200Hz
Output Voltage & Frequency
Input Voltage & Frequency 200~240V 50/60Hz
1PH 1.4A 0.12KW 0.6A Rated Output power & Rated Current
Input phase & Rated Input Current ADLEE POWERTRONIC CO., LTD.

D310 - 120 M
j k

j: Rated power : 120:120W, 180:180W,

250:250W, 370:370W.
k: Rated speed : L:2000RPM, M:3000RPM, H:6000RPM.
Brushless servomotor
Model No. Rated torque
ADLEEPOWER R

Rated power MODEL

MATCHSERVO MOTOR
MH-120M TORQUE 0.38 N m
Input voltage
OUTPUT 0.12 KW VOLTS 220 V

Rated current AMP.S 0.65 A INS. F Insulation grade

R.P.M 3000 DATE
ADLEE POWERTRONIC CO., LTD.
Rated speed

MH 2 - XXX L
j k l
j: Rated voltage : 2:220V.
k: Rated power : example 370 represent 370W.
l: Rated speed : L:2000RPM, M:3000RPM, H:6000RPM.

2
2. SPECIFICATIONS
(1) D310-MH drive
Rated power (W) 120 180 250 370

Drive No. D310

MH2-350L /
Motor No. MH2-120L/M MH2-180L/M MH2-250L/M
MH2-370M
Input voltage 220VAC± 10% 1∮
Input frequency 50~60
Rated output current
0.64/0.65 0.9/0.9 1.4/1.3 2.2/1.95
(Ams)
Max. output current
1.92/1.7 2.7/2.5 4.2/3.9 6.6/5.88
(Ams)
Encoder type and
A,B,Z,HU,HV,HW open collector, (A, B phase is 128PPR)
resolution
ACC. DEC. time 0.1~60.0Sec
Load ± 0.3% Below (0~rated torque at rated speed)
Speed
Voltage ± 0.3% Below (Source voltage± 10% at rated speed no load)
regulation
Temperature ± 0.3% Below (-10~45℃/32~113℉ at rated speed no load)
Type of control Sin PWM
Mode of control 1.Speed mode 2.Torque mode 3.Position mode

Input Analog 1.Vref, Tref ± 10V analog input 2.Panel VR 0~5V analog input
signal Digital DI0~DI4 and COM common, Input impedance 4.7KΩ to common
Output signal DOx open collector (x=0~1), External voltage (48VDC, 50mA below).
Overload, Over current, Over voltage, Over heat,
Protection
Encoder abnormal, Short circuit
Dimension Fig. 1

3
(2) D310-MB drive
Rated power (W) 120 200 400

Drive No. D310

Motor No. MB2-120M MB2-200M MB2-400M

Input voltage 220VAC± 10% 1∮
Input frequency 50~60
Rated output current
0.84 1.39 2.69
(Ams)
Max. output current
2.52 4.17 8.07
(Ams)
Encoder type and
A,B,Z,HU,HV,HW open collector, (A, B phase is 128PPR)
resolution
ACC. DEC. time 0.1~60.0Sec
Load ± 0.3% Below (0~rated torque at rated speed)
Speed
Voltage ± 0.3% Below (Source voltage± 10% at rated speed no load)
regulation
Temperature ± 0.3% Below (-10~45℃/32~113℉ at rated speed no load)
Type of control Sin PWM
Mode of control 1.Speed mode 2.Torque mode 3.Position mode

Input Analog 1.Vref, Tref ± 10V analog input 2.Panel VR 0~5V analog input
signal Digital DI0~DI4 and COM common, Input impedance 4.7K to common
Output signal DOx open collector (x=0~1), External voltage (48VDC, 50mA below).
Overload, Over current, Over voltage, Over heat,
Protection
Encoder abnormal, Short circuit
Dimension Fig. 1

4
(3) MH servomotor
Rated power (W) 120W 180W 250W 370W
Voltage 220Vac
MH2-350L /
Servomotor No. MH2-120L/M MH2-180L/M MH2-250L/M
MH2-370M
Rated torque (N.m) 0.59/0.39 0.87/0.58 1.19/0.8 1.77/1.18

Max. torque (N.m) 1.77/1.17 2.61/1.74 3.57/2.4 5.3/3.53

Rated current (Arms) 0.64/0.65 0.9/0.9 1.4/1.3 2.2/1.95
Max. current (Arms) 1.92/1.7 2.7/2.5 4.2/3.9 6.6/5.88
Rated speed (RPM) L:2000 / M:3000

Torque constant-KT
1.08/0.71 1.08/0.71 0.95/0.7 0.93/0.7
(N.m/Arms)
Rotor moment of inertia
1.25/1.11 1.25/1.11 1.57/1.42 1.89/1.57
10-4*kgm2
Mechanical time contant
2.2/3.69 2.2/3.69 2.25/2.54 3.18/2.54
(ms)
Electric time contant
2.83/2.15 2.83/2.15 2.58/2.51 1.44/2.51
(ms)
Insulation class Class F
IP rating IP40
Dimension Fig. 1 2 3 L:4 M:3

5
(4) MB servomotor
Rated power (W) 120W 200W 400W
Voltage 220Vac
Servomotor No. MB2-120M MB2-200M MB2-400M
Rated torque (N.m) 0.38 0.64 1.27
Max. torque (N.m) 1.14 1.92 3.81
Rated current (Arms) 0.84 1.39 2.69
Max. current (Arms) 2.52 4.17 8.07
Rated speed (RPM) 3000
Torque constant-KT
0.51 0.53 0.58
(N.m/Arms)
Rotor moment of inertia
0.19 0.27 0.64
10-4 *kgm2
Mechanical time contant
3.37 2.50 1.67
(ms)
Electric time contant
3.46 3.80 4.79
(ms)
Insulation class Class F
IP rating IP40
Dimension Fig. 5 6 7

6
3. DIMENSION DRAWINGS
3-1. D310 drive dimensions

Unit : mm

D310
F310
FG
AC200-240V
L

F310
JP

SPEED
N

SPEED
POWER

ALARM
P PR
MOTOR

+10V
Vref
Tref
ACOM
CCW
CW

GND
AO
S+
S-
D01
RPM

D00
DI4 WARNING :Disconnect all power
DI3 and wait 5min. before
DI2
DI1
servicing. May cause
DI0 electric shock.
COM
COM
Use proper grounding techniques.
SENSOR

+24V

SINK
ADLEE POWERTRONIC CO.,LTD.
SOURCE

URL:http://www.adlee.com
ADLEEPOWER R

Fig 1

7
3-2. Brushless servomotor - MH series

SHAFT END
Fig No. £ P ∮ M ∮S ∮ N T L LA LB LD LE AE AD A
ED Q E ∮D GA F

1 12 13.5 4
164 132 60
2
90 104 8.5 83 2.5 8 56 70 58.4 28.5 25 29 32
3 179 147 75 14 16 5

4 216 184 112

8
3-3. Brushless servomotor - MB series

Fig No. £ P ∮M ∮S ∮N T Q ∮D L LA AA AB AC AD AE AF AG

5 115.9

6 90 104 8.5 83 2 37 12 120.8 10 11 1000 15 5 50.5 11 42

7 144.6

9
3-4. F310

REV FWD

ADLEEPOWER F 310

FUNC

STOP

10
4. INSTALLATION
4-1. Servomotor drive
Inadequate environment around installation site and installation
surface can result in damage to the drive.
Before operating the D310 series drive, please check the following
points :
(1) Avoid high temperature, high humidity, easy-to-dew ambient envi-
ronment. Don’t expose to dust or dirt, corrosive gas, and coolant
mist, and direct sunlight. Place the unit in a well-ventilated room.
(2) Avoid a place subjected to substantial vibration.
(3) When installing the unit within the cabinet. Please pay attention to
ventilation and limit the ambient temperature in between -10℃ ~
45℃ . (14℉ ~ 113℉ ).
(4) Use a nonflammable material, such a steel sheet on the wall for
installation. (The rear side will generate heat)
(5) Install the unit always vertically with a marginal spacing around.
6cm
6cm

5cm 5cm 4cm

AIR FLOW

11
(6) Please confirm power source voltage to drive input rated voltage.
(7) Please make sure the wiring is correct when drive adds a braking res-
ister.
(8) is grounding symbols. Be sure ground both the drive and servo-
motor.
(9) Be sure to connect the power source to L, N (input terminals) and
the servomotor to U.V.W. (output terminals). (Wrong connection will
damage the drive.)
(10) Do not install relay between power source and drive for operating
start and stop.
(11) Do not put the advance phase capacitor between the drive and motor.
Phase advancing
capacitor

D310
power source

ON - OFF
Servomotor

(12) For operating motor “start” and “stop” should use keypad or terminal
to control these functions.
ON - OFF

D310
power source

(NFB)
Servomotor

12
4-2. Brushless servomotor

(1) Environmental requests

Air temperature -10~45℃(14~113℉ )
Air pressure 86~106kPa
Attitude Under 1000 meters
Less than 20HZ : maximum 9.86m/s2
Vibration
20~50HZ : maximum 5.88m/s2
Humidity Less than 90%, no frosting
* Free of corrosive or explosive gases.
* Well-ventilated and free of dust and moisture.

(2) Alignment
Take care alignment before connecting shafts between servomotor and
equipment. Vibration may occur and damage the bearings and encoder
if the shafts are not correctly aligned.

Measure these distances at four different

positions on the circumference. The dif-
ference between the maximum and mini-
mum measurements must be 0.03mm
(0.0012in) or less. (Turn together with
coupling.)

13
(3) Install motor and coupling
Don’t the motor while installing or removing it . Otherwise, the
motor parts will be damaged.

Hammer Hammer

(4) Handling oil and water

Servomotor needs to install oil seal to seal the through shaft section,
if it locates at water drop or oil mist environment.

oil seal

14
 D310
Ground F310 port

F310
Case ground

Power input F310/speed VR select

Internal speed setting

Power LED Fault LED

External brake resistor connector V U

+10V Analog source

Vref 10V analog terminal 1
Tref 10V analog terminal 2
ACOM Analog common terninal FG W
GND
AO

15
(1) Main circuit connection diagram

S+ RS485 S+
S- RS485 S- HB EZ
DO1 5V EB
Motor DO0
DI4 SPD1
DI3 SST
Direction LED DI2 ARST
5. DESCRIPTION OF TERMINALS

DI1
GND EA
Speed/error display REV HA HC
DI0 FWD
COM
COM
+24V

SINK External terminal NPN(SINK)

structure. (Default value)
R
ADLEEPOWER SOURCE External terminal PNP(SOURCE)
structure.
(2) Main circuit terminals
Cable size Cable specification Skew torque
Input power 14AWG ~ 16AWG Stranded copper only 8Kg-cm
(L, N, ) (2.0mm2 ~ 1.3mm 2) (300V/80℃) (6.95lb-in)
24AWG Stranded copper only 5Kg-cm
Control terminal
(0.2mm2) (300V/80℃) (4.34lb-in)
14AWG ~ 16AWG Stranded copper only 8Kg-cm
Grounding skew(M4)
(2.0mm2 ~ 1.3mm 2) (300V/80℃) (6.95lb-in)

(3) F310 panel

Power on F310 at speed command status, press key 1 time display
change to actual speed, press key again display change to current,
press key again display change to speed command.
Note 1 : Current means peak value of sine wave of current.
Note 2 : key in operation mode : display item selection.
key in parameter setting : shift key.

16
Symbol Terminal name Description
DI0 Multi-function input terminal 0 See functions description (Pn010)
DI1 Multi-function input terminal 1 See functions description (Pn011)
DI2 Multi-function input terminal 2 See functions description (Pn012)
DI3 Multi-function input terminal 3 See functions description (Pn013)
DI4 Multi-function input terminal 4 See functions description (Pn014)
DO0 Multi-function output terminal 0 See functions description (Pn026)(max. 50mA)
DO1 Multi-function output terminal 1 See functions description (Pn027)(max. 50mA)
COM Common terminal Common terminal of DO and DI control terminals
+24V +24V output Max. 20mA to COM
10V Analog source Power source +10V of analog terminals
ACOM Analog common terminal Common terminal of free analog terminals
Tref Torque analog command terminal Torque analog command input 10V
Vref Speed analog command terminal Speed analog command input 10V
GND Encoder power supply GND Encoder power supply GND
AO Encoder output signal terminal Encoder A signal output (128PPR)
S+ RS485 TXD Communication port
S- RS485 RXD Communication port

17
(4) S1 switch terminal control structure
SINK SOURCE
Sink : External terminal NPN (SINK) structure.
(Default value)
SINK SOURCE
Source : External terminal PNP (SOURCE) structure.

(5) Wiring diagrams of DI terminals (DI0~DI4)

A. Relay、 Switch、 NPN, use of internal power supply (S1:Sink)
D310 drive

internal power supply

24V

4.7K
DIx

COM

B. Relay、 Switch、 PNP, use of external power supply (S1:Source)

D310 drive

DIx
4.7K
24V

COM

Note : Drive will damage if +24V terminal connects to external +24V

power supply.

18
C. Relay、 Switch、 PNP, use of internal power supply (S1:Source)
D310

24V
DIx
4.7K

COM

(6) Wiring diagram of DO terminals (DO0~DO1)

A. General load
D310 drive
Note :
DO0
1. Maximum voltage of DO terminals
~

DO1 R DC 24V
are 48VDC.
2. Maximum current of DO0~DO1
terminals are 50mA.

COM

B. Inductive load
Make sure the polarity(+,-) of the diode is correct.
Otherwise, the drive may damage.
D310 drive

DO0
~

DO1

DC 24V

COM

19
(7) Analog input (Vref, Tref)

D310 drive

Vref.Tref
R
4.7K
10V R R
10KΩ
ACOM

20
(8) Wiring
Terminals wiring diagram - speed control

External braking
60Ω / 80W

MCCB P PR
L U
Signal phase N
FG V M
E
W Servomotor
Ground
S+ RS485 TXD

FWD DI0 S- RS485 RXD

REV DI1
10V Analog source
ARST DI2
Vref 10V analog terminal 1
SST DI3

SPD1 DI4 Tref 10V analog terminal 2

ACOM Common terminal of analog terminal

DO0

DO1 DOx

COM

COM

21
 Terminals wiring diagram - position control (register)

External braking
60Ω / 80W

MCCB
L U
Signal phase N
FG V M
E
W Servomotor
Ground
RS485 TXD

FWD DI0 RS485 RXD

CTRG DI1
Analog source
ARST DI2
10V analog terminal 1
HOME DI3

ORGP DI4 10V analog terminal 2

Common terminal of analog terminal

DO0

DO1 DOx

COM

COM

22
 Terminals wiring diagram - torque control

External braking
60 Ω / 80W

MCCB
P PR
L U
Single phase N
FG V M
E
W Servomotor
Ground
S+ RS485 TXD

FWD DI0 S- RS485 RXD

REV DI1
10V Analog source
Pot DI2
Vref 10V analog terminal 1
Not DI3

TCM1 DI4 Tref 10V analog terminal 2

ACOM Common terminal of analog terminal

DO0

DO1 DOx

COM

COM

23
(9) Time chart of control
A. Position mode

1.HOME
OFF ON
REV/FWD

OFF
HOME

CTRG
pulse width over 2ms

SERVO MOTOR
SPEED

ORGP
POT

2. Run
Pn446=0
REV/FWD ON

CTRG
stage 1 stage 2
stage 7

Pn446=1
REV/FWD

CTRG

stage 1 stage 2 stage 7 stage 1

24
B. Speed control mode
1. Panel control

CASE1:

REV STOP
Panel
ON ON

SPD1 SPD3 SPD1 SPD3

Pn203
Pn202
Servomotor speed

CASE2:

REV

SPD1 SPD2 SPD1 SPD3

Follow Pn006 mode

Servomotor speed

25
2. Terminal control

CASE1:
ON
REV/FWD

SPD1 SPD2 SPD1 SPD3

Follow Pn006 mode

Servomotor speed

CASE2:
REV/FWD ON

SPD1 SPD3 SPD1 SPD3

Servomotor speed

Pot ON
or
Not

26
C. Torque control mode
1. Panel control

CASE1:

REV STOP
Panel
ON ON

TCM1 TCM2 TCM1 TCM2

Pn313
Pn312
Servomotor speed

CASE2:

REV
Panel

TCM1 TCM2 TCM1 TCM2

Follow Pn006 mode

Servomotor speed

CASE3:

REV
Panel
ON

TCM1 TCM2 TCM1 TCM2

Servomotor speed

Pot ON
or
Not

27
2. Terminal control

CASE1:
ON
REV/FWD

TCM1 TCM2 TCM1 TCM2

Follow Pn006 mode

Servomotor speed

CASE2:
ON
REV/FWD

TCM1 TCM2 TCM1 TCM2

Servomotor speed

ON
Pot
or
Not

28
(10) Wiring compoments
Select the wiring equipment and wiring size, refer to the table below.
1. On the input power side, a molded case circuit breaker (MCCB) to
protect drive primary wiring should be installed.
2. A leakage current breaker threshold of 200mA and above, or of
driver use is recommended.
3. Use of input side magnetic contactor. An input MC can be used to
prevent an automatic restart after recovery from an external power
loss during remote control operation. However, do not use the MC
reduced reliability.
4. In general, magnetic contactors on the output of the drive can not be
used for motor control. Starting a motor with the drive running will
cause large surge currents and the drive overcurrent protector to tri-
gger.
Model D310-MH series D310-MB series
Model No 120 180 250 370 120 200 400
Circuit Breaker (MCCB)(A) 10 10 15 15 10 10 15
Electro-Magnetic Contactor (A) 6 6 9 9 6 6 9

(11) Surge absorber

In order to prevent malfunction, provide the surge absorber on the
coils of the electromagnetic contactors, relays and other devices
which are to be used adjacent of the drive.

29
(12) Wiring and cautionary points
A. Main circuit
1. Connect the cables of the power supply side to the U,V and W out-
put terminals for the motor.
2. Don’t connect any electromagnetic contactor between the drive and
servomotor.
3. Don’t put the advance phase capacitor between the drive and servo-
motor.
4. Put MCCB in the input power supply.
B. Control signal circuit
1. Separate the power cables of main circuit etc. from the control cabl-
es of the sequence and analog signals by passing the cables through
the different ducts for 30cm distance away.
2. Use twisted pair shielded wire for control signal and connect the shi-
eld to earth terminal at the end. Leave the other end of shielding open.
3. Avoid common Ground leads between high and low level voltage eq-
uipment.
C. Grounding
1. Be sure ground both the drive and servomotor.
2. Keep grounded leads as short as possible.
3. Shield cables use to protect low-level signal leads should grounded
at one end point.
4. Provide class 3 grounding (100Ω or less) for a terminal.
5. When grounding several drive, make connections as shown below,
no loop is produced as shown in FIG a, FIG b.

(a) (b) (c)

30
6. Display and operation
6-1. Digital panel

REV FWD

ADLEEPOWER F 310

FUNC

STOP

Keypad Function Description

Shift Select the digit

Down Decrease the parameter value 9~0

Up Increase the parameter value 0~9

Enter Save the setting parameter value

FUNC Function Select function

Panel operation "FWD Run"

FWD / REV Run
Panel operation "REV Run"

STOP Stop Panel operation "Stop"

31
6-2. Operation flowchart
(1) Panel operation flowchart

FUNC FUNC FUNC FUNC

Status Monitor Parameter Special
display Un000 Pn000 Cn000

FUNC
FUNC FUNC FUNC
UnXXX PnXXX CnXXX

Display
UnXXX AAAA
content
Input
CnXXX
value

BBBB

PnXXX

32
6-3. Status display
Display status such as SOFF, SON, Pot, Not, Err03.
An ellipsis Show content

Servo OFF

Servo ON

Forward run inhibit

Reverse run inhibit

Alarm code refer to below list

Alarm code
1. ERR01 : EEPROM error.
2. ERR02 : ADC fail.
3. ERR03 : Over voltage.
4. ERR04 : Low voltage.
5. ERR05 : Over current.
6. ERR06 : Over load.
7. ERR07 : Over target speed 25%.
8. ERR08 : Encoder error.
9. ERR09 : Drive over heat.
10. ERR10 : Excessive following position deviation range.
11. ERR11 : Pot or Not action. For possition mode only. There is no
error 11 in speed and torque mode, but servomotor stops
also.

33
6-4. Monitor function UnXXX
(1) Keypad operating procedure
When power ON, display shows SOFF normally.
Example : Set display show motor speed.
Setting Display
Description
sequence indicator

Power on

FUNC Press FUNC key, display Un000(speed)

Press key, when stop show 00000

When running display motor speed

34
(2) Monitor function list
Monitor function Function name Unit Note

Un000 Servomotor speed RPM

Un001 Drive speed command RPM

Un002 Servomotor torque A
Un003 Torque command A
Un004 Stage of multi-stages
Un005 Digital input monitor
Un006 Digital output monitor
Un007 Error code display
Un008 Last 1 error recode
Un009 Last 2 error recode
Un010 Last 3 error recode
Un011 Last 4 error recode
Un012 Software version
Un013 Servomotor position pulse
Un014 Servomotor position rev number of rotation
Un015 Drive position command pulse
Un016 Drive position command rev number of rotation
Un017 Following position deviation pulse
1 : FWD
Un018 Operation status 2 : REV
3 : STOP

Note : Display ratio Pn008 is available at Un000 only.

35
Un005 : Digital input monitor
0~6 : according to DI0~DI4
ON : light
OFF : extinguish
43210

Example : DI0 “ON”, DI4 “ON”, other input “OFF”

4 0
Un006 : Digital output signal
0~1 : according to DO0~DO1
ON : light
OFF : extinguish
10
Un007~Un011 : Error code
Errors record flowchart when Error occur. The new content will shift the
other contents to one higher Un code and the highest one will be discard-
ed.
Error
Un007 Un008 Un009 Un010 Un011 Discard
occur

Un013~Un016 : Position
Example : Un013=256, Un014=2000, means 2000 turns and 256 pulses.
Note : Reverse position is a “-” number.
Note : 1. Forward run “+”, reverse run “-”.
2. Press STOP for 2 seconds to clear Un013~Un016 numbers.

Un017 : Position deviation between servomotor position and drive posi-

tion command.

36
6-5. Parameter function PnXXX
Parameter key-in sequence
Example : Pn200(Source of speed command) Vref change to panel VR,
then modify Pn223(Torque limit command source) digital torque limit
change to analog torque limit Tref.
Setting Display
Description
sequence indicator
Power on

FUNC FUNC Press FUNC key 2 times, display Pn000

Press key 2 times

Press key 2 times

Press keys ,then display 0

Press keys ,then display 1

Press key, then display Pn200

Press key 3 times, then display Pn203

Press key, display Pn203

Press key 2 times, then display Pn223

Press key, then display 0

Press key, then display 1

Press key, then display Pn223

FUNC Press FUNC key, then display Cn000

FUNC Press FUNC key, back to status

37
6-6. CnXXX Special function
Specical function Content
Cn000 Password input
0 : No function
Cn001 Default
1 : Default(Effective after repower "ON")
0 : No function
Cn002 Clear error records
1 : Clear error records
0 : Normal
Cn003 JOG
1 : Enable JOG function
Note : Remove password effective by turn OFF and turn ON power
source.

JOG function description

Setting Display
Description
sequence indicator

FUNC Press FUNC key, display Un000

FUNC Press FUNC key, display Pn000

FUNC Press FUNC key, display Cn000

Press key 3 times, display Cn003

Press key, display 0

Press key, display 1

Press key enable JOG function

Press or key, JOG SERVO ON

Press key, forword run speed and torque controlled by

panel VR at torque and speed mode. Position mode is
operated as speed mode.
Press key, reverse run speed and torque controlled by
panel VR at torque and speed mode. Position mode is
operated as speed mode.

STOP Press STOP key, JOG SERVO OFF

Note : JOG function is available on all control modes.

38
7. Drive parameters
(1) Parameter summary
General use parameter
DISPLAY
FUNCTION DEFAULT VALUE
CODE

Pn000 Password
Pn002 Drive model code
Pn003 Control mode 0
Pn004 Operation command source 1
Pn005 Direction definition 0
Pn006 Stop type of SERVO OFF 1
Pn007 FWD & REV all on 0
Pn008 Display ratio 100
Pn009 Direction limit 0
Pn010 DI0 multi-function signal input 0
Pn011 DI1 multi-function signal input 1
Pn012 DI2 multi-function signal input 2
Pn013 DI3 multi-function signal input 6
Pn014 DI4 multi-function signal input 7
Pn026 DO0 multi-function signal output 0
Pn027 DO1 multi-function signal output 4
Pn034 SERVO HOLD time 0
Pn035 BRKR brake active delay time 0
Pn036 BRKR brake release delay time 0

39
ADJUST
UNIT APPLIED CONTROL MODE NOTE
RANGE

ALL Write only

Display Read only
0~2 ALL
0~2 ALL
0~1 ALL
0~2 S
0~1 S, T
1~300 % ALL
0~2 ALL
00~17 FWD
00~17 REV
00~17 ALL ARST
00~17 SST
00~17 SPD1
0~13 ALRM
ALL
0~13 TSPD
0~300 100ms S
0~1000 ms ALL
0~1000 ms ALL

40
Speed mode parameter
DISPLAY
FUNCTION DEFAULT VALUE
CODE

Pn200 Source of speed command 0

Pn201 Maximum speed limited 3000
Pn202 Accelection time 1 100
Pn203 Deceleration time 1 100
Pn206 Accelection time 2 100
Pn207 Deceleration time 2 100
Pn208 Ki percentage 100
Pn209 Speed loop proportional gain 100
Pn211 Speed loop integral gain 100
Pn212 Speed command 1 0
Pn213 Speed command 2 0
Pn214 Speed command 3 0
Pn215 Speed command 4 0
Pn216 Speed command 5 0
Pn217 Speed command 6 0
Pn218 Speed command 7 0
Pn219 Speed command 8 0
Pn221 Speed arrival detect range 100
Pn222 Zero speed level 30
Pn223 Torque limit command source 0
Pn224 Forward torque limit 300%

41
ADJUST
UNIT APPLIED CONTROL MODE NOTE
RANGE

0~3 S
30~3000 RPM S, P
1~600 0.1Sec S, P
1~600 0.1Sec S, P
1~600 0.1Sec S
1~600 0.1Sec S
0~100 % P
1~500 S, P
10~500 ms S, P
0~3000 RPM S, P
0~3000 RPM S, P
0~3000 RPM S, P
0~3000 RPM S, P
0~3000 RPM S, P
0~3000 RPM S, P
0~3000 RPM S, P
0~3000 RPM S
0~3000 RPM ALL
30~200 RPM ALL
0~1 S, P
0~300% % S, P

42
 DISPLAY
FUNCTION DEFAULT VALUE
CODE

Pn225 Reverse torque limit 300%

Pn226 Analog speed command reference 1 3000
Pn227 Analog speed command offset 0
Pn228 Zero speed command voltage 100
Pn229 Zero speed definition 30
Pn230 Analog speed command reference 2 3000
Pn231 Minimum speed limited 0

Torque mode parameter

DISPLAY
FUNCTION DEFAULT VALUE
CODE

Pn300 Source of torque command 0

Pn301 Speed limit command source 0
Pn303 Torque command 1 100
Pn304 Torque arrival detect range 10
Pn305 Analog torque command reference 300
Pn306 Analog torque command offset 0
Pn307 Torque command 2 100
Pn308 Torque command 3 100
Pn309 Torque command 4 100
Pn310 Forward speed limit 3000

43
ADJUST
UNIT APPLIED CONTROL MODE NOTE
RANGE

0~300% % S, P
30~3000 RPM S
-500~500 mV S
0~500 mV S
0~300 RPM S
30~3000 RPM S
0~3000 RPM S

ADJUST
UNIT APPLIED CONTROL MODE NOTE
RANGE

0~3 T
0~1 T
0~300 % T
0~100 % T
0~300 % S, T
-100~100 mV T
0~300 % T
0~300 % T
0~300 % T
30~3000 RPM T

44
DISPLAY
FUNCTION DEFAULT VALUE
CODE

Pn311 Reverse speed limit 3000

Pn312 Acceleration time 2
Pn313 Decelection time 2
Pn411 Following position deviation range 2048
Pn412 Position 1 rotation number 0
Pn413 Position 1 pulse number 0
Pn414 Position 2 rotation number 0
Pn415 Position 2 pulse number 0
Pn416 Position 3 rotation number 0
Pn417 Position 3 pulse number 0
Pn418 Position 4 rotation number 0
Pn419 Position 4 pulse number 0
Pn420 Position 5 rotation number 0
Pn421 Position 5 pulse number 0
Pn422 Position 6 rotation number 0
Pn423 Position 6 pulse number 0
Pn424 Position 7 rotation number 0
Pn425 Position 7 pulse number 0
Pn426 Homing offset pulse number 512
Pn428 Position 1 stop time 0
Pn429 Position 2 stop time 0

45
 ADJUST
UNIT APPLIED CONTROL MODE NOTE
RANGE

30~3000 RPM T
0~600 A/10mS T
0~600 A/10mS T
1~4096 pulse P
-3000~+3000 rev P
-511~+511 pulse P
-3000~+3000 rev P
-511~+511 pulse P
-3000~+3000 rev P
-511~+511 pulse P
-3000~+3000 rev P
-511~+511 pulse P
-3000~+3000 rev P
-511~+511 pulse P
-3000~+3000 rev P
-511~+511 pulse P
-3000~+3000 rev P
-511~+511 pulse P
0~9999 pulse P
0~1200 0.1Sec P
0~1200 0.1Sec P

46
 DISPLAY
FUNCTION DEFAULT VALUE
CODE

Pn430 Position 3 stop time 0

Pn431 Position 4 stop time 0
Pn432 Position 5 stop time 0
Pn433 Position 6 stop time 0
Pn434 Position 7 stop time 0
Pn436 Position loop proportional gain 30
Pn438 Position loop feed forward gain 20
Pn439 Homing mode 2
Pn444 High speed of homing 300
Pn445 Low speed of homing 60
Pn446 AUTO RUN operation mode 0

Communication parameter

DISPLAY
FUNCTION DEFAULT VALUE
CODE

Pn500 Communication address setting 1

Pn501 Transmission speed 3
Pn502 Communication potocol 4

47
ADJUST
UNIT APPLIED CONTROL MODE NOTE
RANGE

0~1200 0.1Sec P
0~1200 0.1Sec P
0~1200 0.1Sec P
0~1200 0.1Sec P
0~1200 0.1Sec P
1~200 rad/s P
0~100 % P
0~3 P
30~3000 RPM P
30~500 RPM P
0~1 P

ADJUST
UNIT APPLIED CONTROL MODE NOTE
RANGE

1~255 ALL
0~3 ALL
0~7 ALL

48
Communication write address

DISPLAY
FUNCTION DEFAULT VALUE
CODE

Pn600 Password
Pn601 Reset to default 0
Pn602 Clear error records 0
Pn609 Operation command 0
Pn610 Error reset 0
Pn611 Drive speed command
Pn612 Drive torque command

Communication read address

DISPLAY
FUNCTION DEFAULT VALUE
CODE

Pn700 Servomotor speed

Pn701 Servomotor speed command
Pn702 Servomotor torque
Pn703 Drive torque command
Pn704 Stage of multi-stages
Pn705 DI input status
Pn706 DO output status
Pn707 Error display
Pn708 The last 1 error recode
Pn709 The last 2 error recode

49
ADJUST
UNIT APPLIED CONTROL MODE NOTE
RANGE

ALL Write only

0~1 ALL Write only
0~1 ALL Write only
0~3
0~1
0~3000 RPM S Write only
0~300 % T Write only

ADJUST
UNIT APPLIED CONTROL MODE NOTE
RANGE

RPM ALL Read only

RPM S Read only
0.01A ALL Read only
0.01A T Read only
ALL Read only
ALL Read only
ALL Read only
ALL Read only
ALL Read only
ALL Read only

50
 DISPLAY
FUNCTION DEFAULT VALUE
CODE

Pn710 The last 3 error recode

Pn711 The last 4 error recode
Pn712 Software version
Pn713 Servomotor positiion
Pn714 Servomotor position
Pn715 Drive position command
Pn716 Drive position command
Pn717 Following position deviation
Pn718 Operation status
Pn719 Machine code

Note : Pn000~Pn502 overwrite over 1 million times may cause

EEPROM error.

51
ADJUST
UNIT APPLIED CONTROL MODE NOTE
RANGE

ALL Read only

ALL Read only
ALL Read only
pulse ALL Read only
rev ALL Read only
pulse P Read only
rev P Read only
pulse P Read only
ALL Read only

52
(2) Quick start of basic parameter setting
1. Mode selection Pn003, default value:speed mode
0 : Speed mode.
1 : Torque mode.
2 : Position mode.
Note : It must be repower ON to efect new setting mode.
2. Operation command source Pn004, default value:terminal
0 : Panel control ( or / STOP key).
1 : Terminal.
2 : RS485.
3. Source of command
A. Source of speed command Pn200
0 : Vref analog input 10V correspond to 3000RPM.
1 : Panel VR, 0~3000RPM (press or select run direction).
2 : Digital input selected by SPD1~SPD3 terminals, speed setting at
Pn212~Pn219.
3 : Communication command at address 610.
B. Source of torque command Pn300
0 : Tref analog input 10V correspond 300% rate torque.
1 : Panel VR, 0~+300% (press or select run direction).
2 : Digital input selected by TCM1, TCM2 terminals, torque setting
at Pn303 Pn307~Pn309.
3 : Communication command at address 611.
4. Limit
A. Speed mode torque limit
Torque limit command source Pn223, default value:digital
0 : Digital torque limit (Setting at Pn224/Pn225).
1 : Analog torque limit Tref terminal.
B. Torque mode speed limit
Speed limit command source Pn301, default value:analog
0 : Analog speed limit Vref.
1 : Digital speed limit (Setting at Pn310/Pn311).

53
(3) Parameter description
A. General use parameter

Password Setting Range 0000~FFFF(H)

Pn000 Default Value 0000

Set password to prevent parameter change. Key in password at Cn000 to

remove parameter lock. There is no parameter lock if set password at
00000. This is a hexadecimal number.

Drive model code

Pn002

Standard drive model code. (220V)

D310-MH series D310-MB series

Drive 1∮ 120W 180W 250W 370W 120W 200W 400W

Servomotor 120W 180W 250W 370W 120W 200W 400W
Model code 0 1 2 3 0 1 2

Control mode Setting Range 0~2

Pn003 Default Value 0

0 : Speed mode.
1 : Torque mode.
2 : Position mode.
Note : Repower “ON” to effect new setting.

54
 Operation
command source Setting Range 0~2
Pn004 Default Value 1

0 : Panel control by ( or / STOP key).

Press or key to start “RUN”, press STOP key to STOP.
1 : Terminal. (Control by FWD / REV terminal)
2 : RS485. (Control by address Pn609)

Direction definition Setting Range 0~1

Pn005 Default Value 0

0 : Forward is counter clockwise (FWD), viewed from the shaft end.

1 : Forward is clockwise (REV), viewed from the shaft end.

STOP type of
SERVO SOFF Setting Range 0~2
Pn006 Default Value 1

0 : Fast stop.
1 : Deceleration stop.
2 : Free run stop.

FWD & REV all on Setting Range 0~1

Pn007 Default Value 0

0 : Motor REV run.

1 : Motor deceleration stop.

55
 Display ratio Setting Range 1~300%
Pn008 Default Value 100%

Display = Actual / Display ratio.

Available at speed mode only and do not effect at Un000 and Pn700.
Display to the first of decimal place.

Direction limit Setting Range 0~2

Pn009 Default Value 0

0 : Forward and reverse.

1 : Forward only.
2 : Reverse only.
DI0 multi function
signal input Setting Range 0~17
Pn010 Default Value 0 : FWD

0 : FWD.
1 : REV.
2 : ARST, alarm reset. Not effect at encoder error (Err08)
3 : Not, reverse inhibit. Servomotor reverse operation inhibit and forw-
ard operation permit, when terminal “ON”.
4 : Pot, forward inhibit. Servomotor forward operation inhibit and reve-
rse operation permit, when terminal “ON”.
5 : Reserved.
6 : SST, select the 2nd acceleration time Pn206 and 2nd deceleration
time Pn207 when terminal “ON”.

56
7 : Multi stages speed terminal SPD1.
8 : Multi stages speed terminal SPD2.
9 : Multi stages speed terminal SPD3.
SPD3 SPD2 SPD1 Speed command
OFF OFF OFF Pn212
OFF OFF ON Pn213
OFF ON OFF Pn214
OFF ON ON Pn215
ON OFF OFF Pn216
ON OFF ON Pn217
ON ON OFF Pn218
ON ON ON Pn219

10 : Multi stages torque terminal TCM1.

11 : Multi stages torque terminal TCM2.
TCM2 TCM1 Torque command
OFF OFF Pn303
OFF ON Pn307
ON OFF Pn308
ON ON Pn309
12 : HOME (return to reference original point).
13 : CTRG (multi-stages trigger to run).
14 : ORGP (reference original point).
15 : HOLD (position hold).
16 : CCRL (clear following position deviation).

57
17 : AUTORUN (multi-stages positions autorun).
Note 1 : The DI function is actived on last DI terminal if the DI terminal
functions are duplicate.
Note 2 : All multi-functions set at “OFF” if functions do not set at DI
terminals.
Note 3 : Please refer to time chart of control at terminals description
chapter.

DI1 multi function

signal input Setting Range 0~17
Pn011 Default Value 1 : REV

DI2 multi function

signal input Setting Range 0~17
Pn012 Default Value 2 : ARST

DI3 multi function

signal input Setting Range 0~17
Pn013 Default Value 6 : SST

DI4 multi function

signal input Setting Range 0~17

Pn014 Default Value 7 : SPD1

58
 Multi function
signal output DO0 Setting Range 0~13
Pn026 Default Value 0 : ALRM

0 : ALRM, alarm. when error code appear.

1 : SRDY, servo ready.
2 : ZSPD, zero speed, refer to Pn222.
3 : TARR, torque arrival, refer to Pn304.
4 : TSPD, speed arrival, refer to Pn221.
6 : RUN :
a. FWD or REV terminal “ON” in terminal control will output Run
signal.
b. Press or key in panel control will output Run signal.
7 : TQL, under torque limit condition, speed mode only.
8 : BRKR, servomotor mechanical brake output signal, set BRKR at
DO3 terminal (Pn029) for maximum 50mA and 48VDC.
9 : Servomotor running direction output REV=H, FWD=L.
10 : HOME, return to reference original point.
11 : 7 stage complete output.
12 : Each stage complete output.
13 : Low voltage alarm output.
Pn446=1
CTRG
Motor speed
DOx=12
DOx=11

Note :
DOx=11, 7 stages complete (include the last stage STOP time) “ON”
10ms.
DOx=12, each stage complete (include STOP time) “ON” 10ms.

59
 Multi function
signal output DO1 Setting Range 0~13
Pn027 Default Value 4 : TSPD

SERVO HOLD Setting Range 0~300

time
Default Value 0
Pn034 Unit 100ms
Motor deceleration to STOP, then enter “SERVO HOLD” status. After
servo hold time complete, motor shaft become free.
Note : Pn034 function is effective, if Pn006=0 or 1.

BRKR brake
active delay time Setting Range 0~1000ms
Pn035 Default Value 0ms

The delay time of BRKR terminal output signal “ON” when FWD or
REV terminal “ON”. Or delay time by panel or command in
panel control.
Zero speed level (Pn222)
ON
OFF OFF
FWD/REV
ON
OFF
BRKR OFF

Pn035 Pn036

60
 BRKR brake
release delay time Setting Range 0~1000ms
Pn036 Default Value 0ms

When servo OFF, Delay time of BRKR brake terminal output signal
“OFF” when servomotor speed reach zero speed level (Pn222 define).
Zero speed level (Pn222)
ON
OFF OFF
FWD/REV
ON
OFF
BRKR OFF

Pn035 Pn036

B. Speed mode parameter

Source of speed
command Setting Range 0~3
Pn200 Default Value 0

0 : Vref analog command input 0~10V.

1 : Panel VR analog command input 0~5V.
2 : Digital speed command input (1~8 stage speed) ( refer to
Pn212~Pn219).
3 : Communication speed command input address 611.

Maximum speed
limited Setting Range 30~3000RPM
Pn201 Default Value 3000RPM

Limit maximum speed.

61
 Acceleration time 1 Setting Range 1~600
Default Value 100(10.0Sec)
Pn202
Unit 0.1Sec
Acceleration time from 0 to rated speed 3000RPM.
Example : Pn202=2, speed=1500, 0 to 1500RPM need 0.1sec.

Deceleration time 1 Setting Range 1~600

Default Value 100(10.0Sec)
Pn203
Unit 0.1Sec
Deceleration time from rated speed 3000RPM to 0.
Example : Pn203=2, speed=1500, 1500RPM to 0 need 0.1sec to STOP.

Acceleration time 2 Setting Range 1~600

Default Value 100(10.0Sec)
Pn206
Unit 0.1Sec
Acceleration time from 0 to rated speed 3000RPM.
Use SST of DI terminal to active.

Deceleration time 2 Setting Range 1~600

Default Value 100(10.0Sec)
Pn207
Unit 0.1Sec
Deceleration time from rated speed 3000RPM to 0.
Use SST of DI terminal to active.

Ki percentage Setting Range 0~100%

Pn208 Default Value 100%

Final Ki = Pn211 ×Pn208.

62
 Speed loop
proportional gain Setting Range 1~500
Pn209 Default Value 100

Set higher value to have fast response, it may cause vibration if the value
is too high.

Speed loop integral

gain Setting Range 10~500ms
Pn211 Default Value 100ms

Set lower value to have fast response, it may cause vibration if the value
is too low.

Speed command 1 Setting Range 0~3000RPM

Pn212 Default Value 0RPM

SPD3 SPD2 SPD1 Speed command

OFF OFF OFF Pn212
OFF OFF ON Pn213
OFF ON OFF Pn214
OFF ON ON Pn215
ON OFF OFF Pn216
ON OFF ON Pn217
ON ON OFF Pn218
ON ON ON Pn219

63
Speed command 2 Setting Range 0~3000RPM
Pn213 Default Value 0RPM

Speed command 3 Setting Range 0~3000RPM

Pn214 Default Value 0RPM

Speed command 4 Setting Range 0~3000RPM

Pn215 Default Value 0RPM

Speed command 5 Setting Range 0~3000RPM

Pn216 Default Value 0RPM

Speed command 6 Setting Range 0~3000RPM

Pn217 Default Value 0RPM

Speed command 7 Setting Range 0~3000RPM

Pn218 Default Value 0RPM

64
 Speed command 8 Setting Range 0~3000RPM

Pn219 Default Value 0RPM

Speed arrival
detect range Setting Range 0~3000RPM
Pn221 Default Value 100RPM

Set speed arrival detect range. TSPD of DO terminal output “ON” if

speed is within the setting range.
Example : speed command : 2000RPM, Pn221=100RPM.
RPM

2000
1900

T
TSPD

Zero speed level Setting Range 30~200RPM

Pn222 Default Value 30RPM

ZSPD of DO terminal out “ON” if speed is under setting speed.

RPM

Pn222
T
ZSPD

65
 Torque limit
command source Setting Range 0~1
Pn223 Default Value 0

0 : Digital torque limit (Pn224 / Pn225).

1 : Analog torque limit by Tref terminal.

Forward torque
limit Setting Range 0~300%
Pn224 Default Value 300%

Position mode and speed mode are effective.

Forward torque limit = rated torque Í Pn224.

Reverse torque
limit Setting Range 0~300%

Pn225 Default Value 300%

Position mode and speed mode are effective.

Reverse torque limit = rated torque Í Pn225.

Analog speed
command
reference 1 Setting Range 30~3000RPM

Pn226 Default Value 3000RPM

At speed mode, set analog 10V corrosponding to speed command.

At position mode or torque mode, analog 10V corrosponding to speed
limit.
Example : Pn226=1500RPM, means 10V corrospond to 1500RPM.
Note : 0.1V corrosponding to 0RPM.

66
 Analog speed
command offset Setting Range -500~500mV

Pn227 Default Value 0mV

Analog signal Vref and panel VR effective.

At speed mode, use this parameter to stop servomotor if speed command
is zero, but servomotor speed is not zero. Adjust the speed command
offset to opposite servomotor running direction to stop servomotor.
Example : Set Pn227=-XXmV to stop servomotor, when command is
zero, but motor forward run slowly.

Zero speed
command voltage Setting Range 0~500mV

Pn228 Default Value 100mV

When Vref minimum voltage can not zero. So the motor can not stop. Set
this parameter can stop the motor.
Example : Pn228=100 means Vref voltage below 0.1V defined 0RPM.

Zero speed
definition Setting Range 0~300RPM
Pn229 Default Value 30RPM

In speed mode, when command less than Pn229, motor speed is zero.

Analog speed
command
reference 2 Setting Range 30~3000RPM
Pn230 Default Value 3000RPM

67
At speed mode, set analog 10V corrosponding to speed command.
At position mode or torque mode, analog 10V corrosponding to speed
limit.
Example : Pn2230=1500RPM, means 10V corrospond to 1500RPM.
Note : 0.1V corrosponding to 0RPM.

Minimum speed
limited Setting Range 0~3000RPM
Pn231 Default Value 0RPM

Set motor run minimum speed when servo “ON”.

Example : Pn231=100rpm, FWD/REV “ON” motor will run 100rpm or
above.
C. Torque mode parameter
Source of torque
command Setting Range 0~3

Pn300 Default Value 0

0 : Analog torque command by Tref terminal 0~10V.

1 : Analog torque command by panel VR.
2 : Digital torque command (1~4 stage torque)(refer to Pn303,
Pn307~Pn309).
3 : Communication torque command address 612.

Speed limit
command source Setting Range 0~1

Pn301 Default Value 0

0 : Analog speed limit by Vref.

1 : Digital speed limit (Pn310 forward speed limit / Pn311 reverse
speed limit).

68
 Torque command 1 Setting Range 0~300%
Pn303 Default Value 100%

TCM2 TCM1 Torque command

OFF OFF Pn303
OFF ON Pn307
ON OFF Pn308
ON ON Pn309

Torque arrival
detect range Setting Range 0~100%
Pn304 Default Value 10%

When torque arrive torque command within Pn304 range, TARR

output low signal.

Analog torque
command reference Setting Range 0~300%
Pn305 Default Value 300%

At torque mode, set analog 10V corrosponding to torque command.

At position mode or speed mode, analog 10V corrosponding to torque
limit.
Example : Pn305=150%, means 10V correspond to 150% rated
torque.
Note : 0.1V corrosponding to 0% rated turque.

69
 Analog torque
command offset Setting Range -100~100mV
Pn306 Default Value 0mV

At torque mode, use this parameter to stop servomotor if torque com-

mand is zero, but servomotor speed is not zero. Adjust the torque com-
mand offset to opposite servomotor running direction to stop servomo-
tor.
Example : Set Pn306=-XXmV to stop servomotor, when command is
zero, but servomotor forward run slowly.

Torque command 2 Setting Range 0~300%

Pn307 Default Value 100%

Torque command 3 Setting Range 0~300%

Pn308 Default Value 100%

Torque command 4 Setting Range 0~300%

Pn309 Default Value 100%

Forward speed limit Setting Range 30~3000RPM

Pn310 Default Value 3000RPM

Servomotor forward run speed limit in torque mode.

70
 Reverse speed limit
Setting Range 30~3000RPM
Pn311 Default Value 3000RPM

Servomotor reverse run speed limit in torque mode.

Torque acceleration Setting Range 0~600

time
Default Value 2
Pn312 Unit A/10ms
Pn312=2, current increase 1A for each 20ms.

Torque deceleration Setting Range 0~600

time Default Value 2
Pn313 Unit A/10ms
Pn313=2, current decrease 1A for each 20ms.

Following position
deviation range Setting Range 1~4096pulse
Pn411 Default Value 2048pulse

Drive will alarm and shows ERR10, when position command and actual
position difference is larger than P411.

Position 1 rotation
number Setting Range -3000~+3000rev

Pn412 Default Value 0rev

71
 Position 1 pulse
number Setting Range -511~+511pulse
Pn413 Default Value 0pulse

Position pulse command 1 = 512 Í Pn412+Pn413.

AO is 128pulse/rev, but position pulse for 1rev is 512pulse.
Stage Acc./Dec. time SPEED Position command
1 Pn202 Pn203 Pn212 Pn412 Pn413
2 Pn202 Pn203 Pn213 Pn414 Pn415
3 Pn202 Pn203 Pn214 Pn416 Pn417
4 Pn202 Pn203 Pn215 Pn418 Pn419
5 Pn202 Pn203 Pn216 Pn420 Pn421
6 Pn202 Pn203 Pn217 Pn422 Pn423
7 Pn202 Pn203 Pn218 Pn424 Pn425
Pn444 HOME need "ON" refer to time chart
Homing Pn202 Pn203
Pn445 for position control

Homing is moving to reference original point, please refer to Pn439.

Position 2 rotation
number Setting Range -3000~+3000rev

Pn414 Default Value 0rev

Position 2 pulse
number Setting Range -511~+511pulse

Pn415 Default Value 0pulse

Position pulse command 2 = 512 Í Pn414+Pn415.

72
 Position 3 rotation
number Setting Range -3000~+3000rev

Pn416 Default Value 0rev

Position 3 pulse
number Setting Range -511~+511pulse
Pn417 Default Value 0pulse

Position pulse command 3 = 512 Í Pn416+Pn417.

Position 4 rotation
number Setting Range -3000~+3000rev

Pn418 Default Value 0rev

Position 4 pulse
number Setting Range -511~+511pulse
Pn419 Default Value 0pulse

Position pulse command 4 = 512 Í Pn418+Pn419.

Position 5 rotation
number Setting Range -3000~+3000rev
Pn420 Default Value 0rev

73
 Position 5 pulse
number Setting Range -511~+511pulse
Pn421 Default Value 0pulse

Position pulse command 5 = 512 Í Pn420+Pn421.

Position 6 rotation
number Setting Range -3000~+3000rev

Pn422 Default Value 0rev

Position 6 pulse
number Setting Range -511~+511pulse

Pn423 Default Value 0pulse

Position pulse command 6 = 512 Í Pn422+Pn423.

Position 7 rotation
number Setting Range -3000~+3000rev
Pn424 Default Value 0rev

Position 7 pulse
number Setting Range -511~+511pulse
Pn425 Default Value 0pulse

Position pulse command 7 = 512 Í Pn424+Pn425.

74
Homing offset pulse
number Setting Range 0~9999pulse
Pn426 Default Value 512pulse

Servomotor reduces speed to stop and run opposite direction to set pulse
number when servomotor reachs the reference original point during
homing offset process. Adjust the setting number to reach the right origi-
nal position.

Position 1 stop time Setting Range 0~1200 0.1sec

Pn428 Default Value 0sec

Position 2 stop time Setting Range 0~1200 0.1sec

Pn429 Default Value 0sec

Position 3 stop time Setting Range 0~1200 0.1sec

Pn430 Default Value 0sec

Position 4 stop time Setting Range 0~1200 0.1sec

Pn431 Default Value 0sec

Position 5 stop time Setting Range 0~1200 0.1sec

Pn432 Default Value 0sec

75
 Position 6 stop time Setting Range 0~1200 0.1sec
Pn433 Default Value 0sec

Position 7 stop time Setting Range 0~1200 0.1sec

Pn434 Default Value 0sec

Position loop
proportional gain Setting Range 1~200rad/s
Pn436 Default Value 30rad/s

Set higher value to have fast response, it may cause vibration if the value
is too high.

Position loop feed

foward gain Setting Range 0~100%

Pn438 Default Value 20%

Set higher value to have fast response, it may cause vibration if the value
is too high.

Homing mode Setting Range 0~3

Pn439 Default Value 2

76
Make sure the homing direction, otherwise, it may cause the mechanical
accident.
0 : Pot being orignal point and servomotor forward run to serach this
original point.
1 : Not being orignal point and servomotor reverse run to search this
original point.
2 : ORGP being original point and servomotor forward run to search this
original point.
3 : ORGP being original point and servomotor reverse run to search this
original point.

High speed of
homing Setting Range 30~3000RPM
Pn444 Default Value 300RPM
Pn444 speed

Position

Pn445 speed

ORGP
Pot
Not
Low speed of
homing Setting Range 30~500RPM
Pn445 Default Value 60RPM

77
 AUTO RUN
operation mode Setting Range 0~1
Pn446 Default Value 0

0 : CTRG on trigger, run 7 stage.

1 : CTRG on trigger, run 1 stage, refer to time chart for position control.

D. Communication parameter

Communication
address setting Setting Range 1~255
Pn500 Default Value 1

Each drive must have unique identified address if they are controlled by
RS-485 communication. Each address cannot be duplicated.

Transmission speed Setting Range 0~3

Pn501 Default Value 3

Setting the transmission speed between computer and drive.

0 : 2400 bits/second.
1 : 4800 bits/second.
2 : 9600 bits/second.
3 : 19200 bits/second.

Communicator
protocol Setting Range 0~7
Pn502 Default Value 4

78
A. Date format
0 : 8,N,1 RTU (1 start bit+8 data bits+1 stop bit)
8,N,1 RTU (10-bit)(character frame in hexadecimal)
Start Stop
0 1 2 3 4 5 6 7
bit bit

1 : 8,N,2 RTU (1 start bit+8 data bits+2 stop bit)

8,N,2 RTU (11-bit)(character frame in hexadecimal)
Start Stop Stop
0 1 2 3 4 5 6 7
bit bit bit

2 : 8,E,1 RTU (1 start bit+8data bits+1 Even bit+1 stop bit)

8,E,1 RTU (11-bit)(character frame in hexadecimal)
Start Even Stop
0 1 2 3 4 5 6 7
bit Parity bit

3 : 8,O,1 RTU (1 start bit+8data bits+1 Odd bit+1 stop bit)

8,O,1 RTU (11-bit)(character frame in hexadecimal)

Start Odd Stop

0 1 2 3 4 5 6 7
bit Parity bit

4 : 8,N,1 ASCII (1 start bit+8data bits+1 stop bit)

8,N,1 ASCII (10-bit)(character frame in hexadecimal)

Start Stop
0 1 2 3 4 5 6 7
bit bit

5 : 8,N,2 ASCII (1 start bit+8data bits+2 stop bit)

8,N,2 ASCII (11-bit)(character frame in hexadecimal)
Start Stop Stop
0 1 2 3 4 5 6 7
bit bit bit

79
 6 : 8,E,1 ASCII (1 start bit+8data bits+1 Even bit+1 stop bit)
8,E,1 ASCII (11-bit)(character frame in hexadecimal)
Start Even Stop
0 1 2 3 4 5 6 7
bit Parity bit

7 : 8,O,1 ASCII (1 start bit+8data bits+1 Odd bit+1 stop bit)

8,O,1 ASCII (11-bit)(character frame in hexadecimal)
Start Odd Stop
0 1 2 3 4 5 6 7
bit Parity bit

B. Communication protocol
Data contents are in hexadecimal with postive and negative format.
1. RTU
Start A silent interval of more than 10ms
Address 8-bit address
Function 8-bit command
Data (n-1)
Contents of data :
...
n*8-bit data, n≦16
Data 0
CRC CHK Low Check sum (CRCL)
CRC CHK High Check sum (CRCH)
End A silent interval of more than 10ms

80
 2. ASCII
STX Start character=' : ' (3AH)
Address Hi Communication address :
Address Lo 8-bit address consists of 2 ASCII codes.

Function Hi Function code :

Function Lo 8-bit command consists of 2 ASCII codes.

Data (n-1)
Contents of data :
... n*8-bit data consist of 2n ASCII codes.
n≦16
Data 0
LRC CHK High LRC check sum :
LRC CHK Low 8-bit check sum consists of 2 ASCII codes.

END Hi End characters :

END Hi=CR(0DH)
END Lo END Lo=LF(0AH)

CRC(Cyclical Redundancy Check) is calculated by the following steps:

Step 1. Load a 16-bit register (called CRC register) with FFFFH.
Step 2. Exclusive OR the first 8-bit byte of the command message with the
low order byte of the 16-bit CRC register, putting the result in the
CRC register.
Step 3. Shift the CRC registers one bit to the right with MSB zero filling.
Extract and examine the LSB.
Step 4. If the LSB of CRC register is 0, repeat step 3, else Exclusive OR
the CRC register with the polynomial value A001H.
Step 5. Repeat step 3 and 4 until eight shifts have been performed. When
this is done, a complete 8-bit byte will have been processed.
Step 6. Repeat steps 2 to 5 for the next 8-bit byte of the command message
. Continue doing this until all bytes have been processed.
The final contents of the CRC register are the CRC value.

81
LRC (Longitudinal Redundancy Check) is calculated by summing up,
module 256, the values of the bytes from Address to last data character
then calculating the hexadecimal representation of the 2’s-complement
negation of the sum.
For example, address 01H, function code 03H, parameter Pn006(D3=00H,
D4=06H), read 1 data (D5=00H, 06=01H) :
01+03+00+06+00+01=B
the 2’s-complement negation of B is F5
LRC HI = “F”(46H), LRC LO = “5”(35H)

C. ASCII code description

Value 0 1 2 3 4 5 6 7
ASCII code 30H 31H 32H 33H 34H 35H 36H 37H
Value 8 9 A B C D E F
ASCII code 38H 39H 41H 42H 43H 44H 45H 46H

D. Function code
1. 03H : Read drive’s setting
2. 06H : Write parameter setting into drive.

E. Communication error respond

Once communication error happened, drive will respond “Function code
and 80H” and communication error code to master system.
Communication error code definition
Error code Description
01H Function code error, only 03/06 available
02H Illegal data address (data address is not available)
03H Illegal data value (data value is outside limit value)
04H Illegal command, drive can't do this command
05H Check sum error

82
Once communication error happend, drive respond as follow.
1. RTU
D1 D2 D3 D4 D5
Address Function code & 80H Error code CRCL CRCH

2. ASCII
Start code 3A
30
Address (01)
31
38
Function code & 80H (86)
36
30
Error code (02)
32
37
LRC (77)
37
End code H 0D
End code L 0A

E. Communication write address

Password Setting Range 0000~ FFFF

Pn600 Default Value 0000

Parameters are unlock, after input password. Content needs to input

password again after repower ON.

83
 Reset to default Setting Range 0~1
Pn601 Default Value 0

0 : No function.
1 : Reset to default.

Clear error records Setting Range 0~1

Pn602 Default Value 0

After trouble shoot, do Pn602=1 to clear all alarm records.

Operation
command Setting Range 0~3

Pn609 Default Value 0

0 : Stop.
1: FWD.
2: REV.
3: No function.

Error reset Setting Range 0~1

Pn610 Default Value 0

0 : No reset.
1: Reset.

84
 Drive speed
command Setting Range 0~3000RPM
Pn611 Default Value 0RPM

0~3000RPM (Hexadecimal 0~0BB8).

Driver torque
command Setting Range 0~300%
Pn612 Default Value 0%

0~300% (Hexadecimal 0~012C).

F. Communication read address

Servomotor speed
UNIT RPM
Pn700

This value is worked with Pn008.

Drive speed
command
UNIT RPM
Pn701

Servomotor torque
UNIT 0.01A
Pn702

Percentage of rate torque.

85
 Drive torque
command
UNIT 0.01A
Pn703

Percentage of rate torque.

Stage of multi-stages

Pn704

Stage of SPD1~SPD3, or TCM1~TCM2.

DI input status

Pn705

DI0~DI4 “ON”, show 1.

Example : DI2 “ON” and DI4 “ON”, binary number 10100.

DO output status

Pn706

DO0~DO1 output “Low”, show 1.

Example : DO0 output “Low”, binary number 01.

86
 Error display

Pn707

1 : ERR01 : EEPROM error.

2 : ERR02 : ADC fail.
3 : ERR03 : Over voltage.
4 : ERR04 : Low voltage.
5 : ERR05 : Over current.
6 : ERR06 : Over load.
7 : ERR07 : Over target speed 25%.
8 : ERR08 : Encoder error.
9 : ERR09 : Drive over heat.
10 : ERR10 : Excessive following position deviation.
11 : ERR11 : Pot or Not action, for possition mode only. There is no
error 11 in speed and torque mode, but servomotor stop
also.
Note : The error codes recoding description as Un007~Un011.
The last 1 error
record

Pn708

The last 2 error

record

Pn709

The last 3 error

record

Pn710

87
The last 4 error
record

Pn711

Software version

Pn712

Servomotor
position
UNIT pulse
Pn713

Servomotor
position
UNIT rev
Pn714

Drive position
command
UNIT pulse
Pn715

Drive position
command
UNIT rev
Pn716

88
 Following position
deviation
Pn717

Operation status

Pn718

Pn713~Pn718 : See function description Un013~Un018.

Machine code

Pn719

89
8. Repairing and Maintenance

1. Turn off the power before inspection and maintenance, wait for power li-
ght off for 5 minutes to start operate.
2. Only the qualified professional engineers can do repairing and maintenan-
ce work.
3. Take off the watches, rings or any other metal accessories before reparing
and maintenance, and use insulating measure tools.
4. Please make a static electricity protection to prevent damage the driver i-
nner precision parts.
5. Do NOT use water, solvent or volatilizable liquor to clean driver.
Please use dry clothes to clean stain or use compressed air to clean dirt.
6. Please contact agent or ADLEEPOWER® when you cannot obviate
problems.
7. Recommand checking list for maintenance.
a. Ambient condition around the drive. Checking the ambient temperature,
vibration, humity and any oil, gas, dust or water drops.
b. Check if there is any missing or loose screw.
c. Check if the magnetic contactor relay work correctly.
d. Check cooling system if there is any obstruction in the heat sink, air
intake or air outlet. And check the fan is running properly.

90
9. TROUBLESHOOTING
Drive output alarm signal and make servomotor stop when protect func-
tion active. Please turn power “OFF” when alarm occur. Please make
sure cause of alarm being corrective before reset alarm, then repower
“ON”. Please repower “ON” after power “OFF” more than 5 minutes.

Display Cause of fault

Suggested remedy
symbol message contents
ERR01 EEPROM error Return to factory.
ERR02 ADC failure Return to factory.
Increase deceleration time
ERR03 Over voltage Decrease regeneration resistor restance.
Check input voltage if it is higher than specification.
Check input voltage if it is lower than specification.
ERR04 Low voltage
Make sure power relay work normally.
Check U.V.W. short clcuit or not.
Check U.V.W. screw tightly, there may be one phase
ERR05 Over current
loose.
U.V.W. wrong wiring.
Continue phase current over 120% rated current.
ERR06 Over load If over load occur, than decrease loading or upgrade drive
and servomotor.

ERR07 Over target speed 25%.

Over speed
Check loading if it is aviolent change.

91
Display Cause of fault
Suggested remedy
symbol message contents
Please check encoder wiring. (loose or short ciruit or mis-
ERR08 Encoder error
connection).
Check phase current over rated current or not.
ERR09 Drive over heat Check vantilation of drive.
Check wiring correct or not.
Decrease operation speed and increase deceleration time, if
load is too heavy.
Excessive following Increase value of Pn436 and Pn438.
ERR10 position deviation
range Increase value of Pn411.
Upgrade drive capacity or upgrade both drive and servomotor
capacity.

Check Pot and Not is active or not.

ERR11 Drive inhibit
Check Pot and Not sensor is normal or not.
Commanication Check host and drive parameter setting (address, baud
fail rate, format).
Check wiring S+ shall connect S+, S- shall connect S-.

92
10. Motor T-N curve

MH2-120L MH2-180L
T(N.m) T(N.m)
1.74 2.58

Limited duty region Limited duty region

0.58 0.86
Continue duty region Continue duty region
rpm rpm
0 2000 0 2000

MH2-250L MH2-370L
T(N.m)
T(N.m)
3.6
5.31

Limited duty region Limited duty region

1.2 1.77

Continue duty region Continue duty region

rpm rpm
0 2000 0 2000

93
MH2-120M MH2-180M
T(N.m) T(N.m)

1.16 1.74

Limited duty region Limited duty region

0.39 0.58

Continue duty region Continue duty region

rpm rpm
0 3000 0 3000

MH2-250M MH2-370M

T(N.m) T(N.m)

2.4 3.53

Limited duty region Limited duty region

0.8 1.18

Continue duty region Continue duty region

rpm rpm
0 3000 0 3000

94
MB2-120L MB2-200L

Starting Torque Starting Torque

1.43 2.4

Torque [N.m]
Limited Duty Region
Torque [N.m]

Limited Duty Region Rated Torque Rated Torque

0.68 1.15
0.57 0.96

Continuous Duty Region Continuous Duty Region

0 1000 2000 0 1000 2000

Speed [r/min] Speed [r/min]

MB2-400L

Starting Torque

4.78

Limited Duty Region

Torque [N.m]

Rated Torque
2.29
1.91

Continuous Duty Region

0 1000 2000
Speed [r/min]

95
MB2-120M MB2-200M

Starting Torque Starting Torque

0.95 1.6

Torque [N.m]
Limited Duty Region
Torque [N.m]

Limited Duty Region Rated Torque Rated Torque

0.45 0.77
0.38 0.64

Continuous Duty Region Continuous Duty Region

0 1500 3000 0 1500 3000

Speed [r/min] Speed [r/min]

MB2-400M

Starting Torque

3.18
Torque [N.m]

Limited Duty Region Rated Torque

1.52
1.27

Continuous Duty Region

0 1500 3000
Speed [r/min]

96
11. APPLICATION EXAMPLES
EXAMPLE 01 : Speed mode
(1) Permit forward and reverse run.
Control command by panel FWD or REV/Stop key.
Speed command by digital command setting 1st speed 1500RPM,
2nd speed 3000RPM, 3rd speed 500RPM.
Digital torque limit 100%.

Parameter setting
Pn003=0 (speed mode)
Pn004=0 (panel control)
Pn010=0 (FWD) (SPD2) (SPD1)
Pn011=1 (REV) DI4 DI3 COM
Pn012=2 (ARST)
Pn013=7 (SPD1)
Pn014=8 (SPD2)
Pn200=2 (digital speed command)
Pn212=1500 (1st speed)
Pn213=3000 (2nd speed)
Pn214=500 (3rd speed)
Pn223=0 (torque limit)
Pn224=100% (forward torque limit)
Pn225=100% (reverse torque limit)

Operation :
Press panel or key, motor start to run, speed select by
SPD1 and SPD2. Case of SPD1 and SPD2 list at below.
DI3(SPD1) DI4(SPD2)
OFF OFF 1st speed
ON OFF 2nd speed
OFF ON 3rd speed

97
(2) Permit forward and reverse run.
Control command by terminal.
Speed command by digital command setting.
Digital torque limit 100%.

Parameter setting
Pn003=0 (speed mode)
Pn004=1 (terminal control)
Pn010=1 (REV)
Pn011=0 (FWD) (FWD) (SPD2) (SPD1) (REV)

Pn012=2 (ARST) DI1 DI4 DI3 DI0 COM

Pn013=7 (SPD1)
Pn014=8 (SPD2)
Pn200=2 (digital speed command)
Pn212=1500 (1st speed)
Pn213=3000 (2nd speed)
Pn214=500 (3rd speed)
Pn223=0 (torque limit)
Pn224=100% (forward torque limit)
Pn225=100% (reverse torque limit)

Operation :
DI1 (FWD) terminal “ON”, enter FWD status, speed command select
by SPD1 and SPD2. DI1 “OFF”, to stop the servomotor, case of
SPD1 and SPD2 list as below.
DI3(SPD1) DI4(SPD2)
OFF OFF 1st speed
ON OFF 2nd speed
OFF ON 3rd speed

98
EXAMPLE 02 : Torque mode
(1) Control command by terminal.
Speed limit by analog terminal Vref.
Torque command by digital (1st torque 100% and 2nd torque 80%
rated current).

Parameter setting
Pn003=1 (torque mode)
Pn004=1 (terminal control) Vref ACOM DI3 DI1 DI0 COM
Pn010=1 (REV)
Pn011=0 (FWD)
0~10V
Pn013=10 (TCM1)
Pn300=2 (digital torque command)
Pn301=0 (Analog speed limited by Vref)
Pn303=100%
Pn307=80%

Operation :
DI0 (FWD) “ON”, servomotor will operate at Pn303 setting torque
command. Turn “ON” DI3(TCM1) terminal to select 2nd torque
command. If speed over Vref setting, drive will decrease torque in
order to speed at run limit.
DI5(TCM1)
OFF 1st torque
ON 2nd torque

99
(2) Control command by panel.
Speed limit by digital setting 1500RPM.
Torque command by digital command (1st torque 100% and 2nd
torque 80%).

Parameter setting
Pn003=1 (torque mode)
Pn004=0 (panel control)
Pn013=10 (TCM1)
Pn300=2 (digital torque command)
Pn301=1 (digital speed limit )
Pn303=100%
Pn307=80%
Pn310=1500 (forward speed limit)
Pn311=1500 (reverse speed limit)

Operation :
Press panel or key, servomotor start to run. Press STOP key
to stop motor. Drive will decrease torque in order to run at speed
limit, if speed over Pn310 and Pn311 setting.
DI5(TCM1)
OFF 1st torque
ON 2nd torque

100
EXAMPLE 03 : Position control and homing
(1) Object moving distance 1cm by 1 servomotor turn, speed : 1000RPM.
(1) 1st position forward run 50.5cm.
(2) 2nd position reverse run 40cm.
(3) 3rd position forward run 40cm.
(4) 4th position reverse run 30cm.
(5) 5th position forward run 30cm.
(6) 6th position reverse run 20cm.
(7) 7th position forward run 20cm.
(8) Homing offset.
Parameter setting
Stage POS1 POS2 POS3 Acc./Dec. time SPEED POSITION

1 OFF OFF OFF Pn202 Pn203 1st speed Pn212 Pn412 Pn413

2 ON OFF OFF Pn202 Pn203 2nd speed Pn213 Pn414 Pn415

3 OFF ON OFF Pn202 Pn203 3th speed Pn214 Pn416 Pn417

4 ON ON OFF Pn202 Pn203 4th speed Pn215 Pn418 Pn419

5 OFF OFF ON Pn202 Pn203 5th speed Pn216 Pn420 Pn421

6 ON OFF ON Pn202 Pn203 6th speed Pn217 Pn422 Pn423

7 OFF ON ON Pn202 Pn203 7th speed Pn218 Pn424 Pn425

Homing Pn444
ON ON ON Pn202 Pn203
offset Pn445

Pn003=2 (position mode)

Pn004=1 (terminal control) ARST HOME ORGP CTRG REV
DI4 DI3 DI2 DI1 DI0 COM
Pn010=1 (REV)
Pn011=13 (set DI1 as CTRG)
Pn012=14 (set DI2 as ORGP)
Pn013=12 (set DI3 as HOME)
Pn014=2 (set DI4 as ARST)
Pn412=50; Pn413=256; Pn414=-40; Pn416=40
Pn418=-30; Pn420=30; Pn422=-20; Pn424=20
Pn212~Pn218=1000

Operation refer to position time chart of control

101
EXAMPLE 04 : JOG mode
Pn003=0 (speed mode)
Cn003=1 press or key to enter JOG status, speed command
set by panel VR.
case1. Press key, then press key for reverse run, key
for forward run.
case2. Press key, then press key for forward run, key
for reverse run.

EXAMPLE 05 : Speed control of master-slave drive system

No. A B C
Max. speed 3000 2000 1000
Pn003=0 Pn003=0 Pn003=0
Pn004=1 Pn004=1 Pn004=1
Parameter Pn200=0 Pn200=0 Pn200=0
setting Pn202=30.0 Pn202=60.0 Pn202=90.0
Pn203=30.0 Pn203=60.0 Pn203=90.0
Pn226=3000 Pn226=2000 Pn226=1000

A B C

10V Vref ACOM 10V Vref ACOM 10V Vref ACOM

102
EXAMPLE 06 : Using PNP transistor to control forward and reverse run
Permit forward and reverse run
Control command by panel.
Speed limit by digital command, 1st speed 1500RPM, 2nd speed
3000RPM, 3rd speed 500RPM.

Parameter setting
Pn003=0 (FWD) (SPD2) (SPD1) (REV)

Pn004=0 DI1 DI4 DI3 DI0 COM

Pn013=7 (SPD1)
Pn014=8 (SPD2)
CONTROL
Pn200=2
Pn212=1500 COM
Pn213=3000 (24V common)
Pn214=500
Pn223=0
Pn224=100% +24V
Pn225=100%
Note : S1 shall set at source position.

Operation :
Press panel or key to run, press STOP key to stop. Case of
SPD1 and SPD2 list to below.
DI3(SPD1) DI4(SPD2)
OFF OFF 1st speed
ON OFF 2nd speed
OFF ON 3rd speed

103
12. APPENDIX
A. Optional braking resistor
150

130 390 10
140 395

545
20.5

Part no : E-MSAA-008000
Specification : 60 Ω 80W
Remove build-in dynamic brake resistor.
Connect a larger capacity resistor, the value should be greater than the
table below:
Unit : Ohm

Model No 120 180 250 370

MH2 60 60 60 60

Model No 120 200 400

MB2 60 60 60

104
MEMO
 INSTRUCTION MANUAL
PART NO : E-PHAA-EMHA02
Model : D310 series
APR. 2017 2 st edition

ADLEEPOWER
R
SERVICE OFFICE

Taiwan Wu Han (China)

Tel No : 886-4-25622651 Tel No : 86-27-88872826
Fax No : 886-4-25628289 Fax No : 86-27-88603986
E-mail : [email protected]
URL : http://www.adlee.com

Guang Dong (China) WUXI (China)

Tel No : 86-757-26656498 Tel No : 86-51-088602669
Fax No : 86-757-26658515