file-2496 (1)

SV660P Series Servo Drive
Function Guide
Data code 19011393 A03

Preface
Preface
Overview
The SV660P series high-performance AC servo drive covers a power range from 50 W to 7.5 kW. It
supports Modbus, CANopen and CANlink communication protocols and carries necessary
communication interfaces to work with the host controller for a networked operation of multiple servo
drives.
The SV660P series servo drive supports adaptive stiffness level setting, inertia auto-tuning, and
vibration suppression to simplify the operation process. It allows a quiet and stable operation together
with an MS1 series high-response servo motor with low or high inertia and a 23-bit single-turn/multi-
turn absolute encoder.
The SV660P series servo drive serves to achieve quick and accurate position control, speed control,
and torque control in automation equipment such as electronic manufacturing devices, manipulators,
packing devices, and machine tools.
This function guide presents product functions and parameters, including function overview, basic
servo drive functions, adjustment and parameter list.
More Documents
Name Data Code
SV660P series servo drive selection guide 19011390
SV660P series servo drive hardware guide 19011391
SV660P series servo drive commissioning guide 19011392
Revision History
Date of Revision Version Revision
August 2020 A00 First release
November 2020 A01 Minor corrections
●Updated the descriptions for parameters including H02-
06, H02-08, H03-65, H03-66, H05-16, H05-31, H05-41, H06-
January 2021
01, H07-17, H0A-26, H0C-02, and H0C-08.
A02
●Updated the descriptions for Er.136 and Er.210.
●Added Appendix: CANlink Enhanced Axis Control
Parameters.
● Updated descriptions for H05-16.
May 2021 A03
● Updated descriptions for Er.510.
Document Acquisition
This guide is not delivered along with the product. To download the PDF version, visit http://en.
inovance.cn/support/download.html.
‑1‑
Table of Contents
Table of Contents
Preface..................................................................................................... 1
Fundamental Safety Instructions..................................................................... 6
1 Function Overview ................................................................................ 12
2 Basic Functions of the Servo Drive............................................................. 14
2.1 Position Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14

2.1.1 Position Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.1.2 Position Reference Input Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.1.3 Reference Frequency Division/Multiplication Function (Electronic Gear Ratio) . . . . . . . . . . . . 34
2.1.4 Position Reference Filter Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
2.1.5 Position Deviation Clear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
2.1.6 Frequency-Division Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
2.1.7 Motion Control/Internal Command/Positioning Completed/Proximity Function. . . . . . . . . . . 45
2.1.8 Interrupt Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
2.1.9 Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
2.1.10 Block Diagram of Position Control Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
2.2 Speed Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .70

2.2.1 Speed Reference Input Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
2.2.2 Ramp Function Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
2.2.3 Zero Clamp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
2.2.4 Speed Reference Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
2.2.5 Speed-Related DO Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
2.2.6 Block Diagram of Speed Control Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
2.3 Torque Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .88

2.3.1 Torque Reference Input Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
2.3.2 Torque Reference Filter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
2.3.3 Torque Reference Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
2.3.4 Speed Limit in the Torque Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
2.3.5 Torque Reach Output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
2.3.6 Block Diagram of Torque Control Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
2.4 Compound Control Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
2.5 Absolute Encoder System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

2.5.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
2.5.2 Related Parameter Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
2.5.3 Precautions for Use of the Battery Box. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
2.6 Auxiliary Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
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Table of Contents
2.6.1 Software Position Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

2.6.2 Software Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
2.6.3 Motor Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
2.6.4 DI Filter Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
3 Adjustment ........................................................................................ 115
3.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
3.2 Inertia Auto-tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

3.2.1 Offline Inertia Auto-tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
3.2.2 Online Inertia Auto-tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
3.3 Instructions for ETune Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

3.3.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
3.3.2 Description of ETune Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
3.3.3 Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
3.3.4 Solutions to Common Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
3.4 Instructions for STune Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

3.4.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
3.4.2 Description of STune Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
3.4.3 Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
3.5 Manual Gain Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

3.5.1 Basic Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
3.5.2 Gain switchover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
3.5.3 Comparison of Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
3.5.4 Feedforward Gain. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
3.5.5 PDFF control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
3.5.6 Torque Disturbance Observer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
3.5.7 Speed Observer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
3.5.8 Model Tracking Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
3.5.9 Friction Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
3.6 Parameter Adjustment in Different Control Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

3.6.1 Parameter Adjustment in the Position Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
3.6.2 Parameter Adjustment in the Speed Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
3.6.3 Parameter Adjustment in the Torque Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
3.7 Vibration Suppression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

3.7.1 Mechanical Resonance Suppression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
3.7.2 Low-frequency Resonance Suppression at the Mechanical Load End . . . . . . . . . . . . . . . . . . . . . 161
3.8 Mechanical Characteristic Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163

3.8.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Table of Contents
3.8.2 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
4 Troubleshooting.................................................................................. 166
4.1 Troubleshooting During Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166

4.1.1 Position Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
4.1.2 Speed Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
4.1.3 Torque Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
4.2 Troubleshooting During Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173

4.2.1 Fault and Warning List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
4.2.2 Common Solutions to Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
4.2.3 Solutions to Common Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
4.2.4 Internal Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
5 Parameters ........................................................................................ 207
5.1 Group H00: Servo Motor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
5.2 Group H01: Servo Drive Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
5.3 Group H02: Basic Control Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
5.4 Group H03: Terminal Input Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
5.5 Group H04: Terminal Output Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
5.6 Group H05: Position Control Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
5.7 Group H06: Speed Control Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
5.8 Group H07: Torque Control Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
5.9 Group H08: Gain Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
5.10 Group H09: Auto-tuning Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
5.11 Group H0A Fault and Protection Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
5.12 Group H0B Monitoring Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
5.13 Group H0C: Communication Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
5.14 Group H0D: Auxiliary Function Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
5.15 Group H11: Multi-Position Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
5.16 Group H12 Multi-Speed Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
5.17 Group H17: VDI/VDO Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
5.18 Group H30: Servo Variables Read Through Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
5.19 Group H31: Servo Variables Set Through Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249
5.20 DI/DO Function Definitions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249
‑4‑
Table of Contents
Appendix: CANlink Enhanced Axis Control Parameters ....................................... 256

Fundamental Safety Instructions

Safety Precautions
1. This chapter presents essential safety instructions for a proper use of the equipment. Before
operating the equipment, read through the user guide and comprehend all the safety instructions.
Failure to comply with the safety instructions may result in death, severe personal injuries, or
equipment damage.
2. "CAUTION", "WARNING", and "DANGER" items in the user guide only indicate some of the
precautions that need to be followed; they just supplement the safety precautions.
3. Use this equipment according to the designated environment requirements. Damage caused by
improper use is not covered by warranty.
4. Inovance shall take no responsibility for any personal injuries or property damage caused by
improper use.
Safety Levels and Definitions
Indicates that failure to comply with the notice will result in death or severe personal
injuries.
Indicates that failure to comply with the notice may result in death or severe
personal injuries.
Indicates that failure to comply with the notice may result in minor or moderate
personal injuries or equipment damage.
General Safety Instructions
● Drawings in the user guide are sometimes shown without covers or protective guards. Remember
to install the covers or protective guards as specified first, and then perform operations in
accordance with the instructions.
● The drawings in the user guide are shown for illustration only and may be different from the
product you purchased.
Unpacking
●Do not install the equipment if you find damage, rust, or signs of use on the equipment or
accessories upon unpacking.
●Do not install the equipment if you find water seepage or missing or damaged components upon
unpacking.
●Do not install the equipment if you find the packing list does not conform to the equipment you
received.
●Check whether the packing is intact and whether there is damage, water seepage, dampness, and
deformation before unpacking.
●Unpack the package by following the unpacking sequence. Do not strike the package violently.
●Check whether there is damage, rust, or injuries on the surface of the equipment and equipment
accessories before unpacking.
●Check whether the package contents are consistent with the packing list before unpacking.
‑6‑
Storage and Transportation
●Large-scale or heavy equipment must be transported by qualified professionals using specialized

hoisting equipment. Failure to comply may result in personal injuries or equipment damage.
●Before hoisting the equipment, ensure the equipment components such as the front cover and
terminal blocks are secured firmly with screws. Loosely-connected components may fall off and
result in personal injuries or equipment damage.
●Never stand or stay below the equipment when the equipment is being hoisted by the hoisting
equipment.
●When hoisting the equipment with a steel rope, ensure the equipment is hoisted at a constant
speed without suffering from vibration or shock. Do not turn the equipment over or let the
equipment stay hanging in the air. Failure to comply may result in personal injuries or equipment
damage.
● Handle the equipment with care during transportation and mind your steps to prevent personal
injuries or equipment damage.
● When carrying the equipment with bare hands, hold the equipment casing firmly with care to
prevent parts from falling. Failure to comply may result in personal injuries.
● Store and transport the equipment based on the storage and transportation requirements. Failure
to comply will result in equipment damage.
● Avoid storing or transporting the equipment in environments with water splash, rain, direct
sunlight, strong electric field, strong magnetic field, and strong vibration.
● Avoid storing the equipment for more than three months. Long-term storage requires stricter
protection and necessary inspections.
● Pack the equipment strictly before transportation. Use a sealed box for long-distance
transportation.
● Never transport the equipment with other equipment or materials that may harm or have negative
impacts on this equipment.
Installation
● The equipment must be operated only by professionals with electrical knowledge.
‑7‑
● Read through the user guide and safety instructions before installation.
● Do not install this equipment in places with strong electric or magnetic fields.
● Before installation, check that the mechanical strength of the installation site can bear the weight of
the equipment. Failure to comply will result in mechanical hazards.
● Do not wear loose clothes or accessories during installation. Failure to comply may result in an
electric shock.
● When installing the equipment in a closed environment (such as a cabinet or casing), use a cooling
device (such as a fan or air conditioner) to cool the environment down to the required temperature.
Failure to comply may result in equipment over-temperature or a fire.
● Do not retrofit the equipment.
● Do not fiddle with the bolts used to fix equipment components or the bolts marked in red.
● When the equipment is installed in a cabinet or final assembly, a fireproof enclosure providing both
electrical and mechanical protections must be provided. The IP rating must meet IEC standards and
local laws and regulations.
● Before installing devices with strong electromagnetic interference, such as a transformer, install a
shielding device for the equipment to prevent malfunction.
● Install the equipment onto an incombustible object such as a metal. Keep the equipment away
from combustible objects. Failure to comply will result in a fire.
●Cover the top of the equipment with a piece of cloth or paper during installation. This is to prevent
unwanted objects such as metal chippings, oil, and water from falling into the equipment and
causing faults. After installation, remove the cloth or paper on the top of the equipment to prevent
over-temperature caused by poor ventilation due to blocked ventilation holes.
●Resonance may occur when the equipment operating at a constant speed executes variable speed
operations. In this case, install the vibration-proof rubber under the motor frame or use the vibration
suppression function to reduce resonance.
Wiring
●Equipment installation, wiring, maintenance, inspection, or parts replacement must be performed

only by professionals.
●Before wiring, cut off all the power supplies of the equipment, and wait for at least the time
designated on the equipment warning label before further operations because residual voltage still
exists after power-off. After waiting for the designated time, measure the DC voltage in the main
circuit to ensure the DC voltage is within the safe voltage range. Failure to comply will result in an
electric shock.
●Do not perform wiring, remove the equipment cover, or touch the circuit board with power ON.
Failure to comply will result in an electric shock.
●Check that the equipment is grounded properly. Failure to comply will result in an electric shock.
‑8‑
●Do not connect the input power supply to the output end of the equipment. Failure to comply will
result in equipment damage or even a fire.
●When connecting a drive to the motor, check that the phase sequences of the drive and motor
terminals are consistent to prevent reverse motor rotation.
●Cables used for wiring must meet cross sectional area and shielding requirements. The shield of the
cable must be reliably grounded at one end.
●Fix the terminal screws with the tightening torque specified in the user guide. Improper tightening
torque may overheat or damage the connecting part, resulting in a fire.
●After wiring is done, check that all cables are connected properly, with no screws, washers, or
exposed cables left inside the equipment. Failure to comply may result in an electric shock or
equipment damage.
●During wiring, follow the proper electrostatic discharge (ESD) procedure, and wear an antistatic
wrist strap. Failure to comply will damage the equipment or the internal circuits of the equipment.
●Use shielded twisted pairs for the control circuit. Connect the shield to the grounding terminal of
the equipment for grounding purpose. Failure to comply will result in equipment malfunction.
Power-on
●Before power-on, check that the equipment is installed properly with reliable wiring and the motor
can be restarted.
●Check that the power supply meets equipment requirements before power-on to prevent
equipment damage or a fire.
●After power-on, do not open the cabinet door or protective cover of the equipment, touch any
terminal, or disassemble any unit or component of the equipment. Failure to comply will result in an
electric shock.
●Perform a trial run after wiring and parameter setting to ensure the equipment operates safely.
Failure to comply may result in personal injuries or equipment damage.
●Before power-on, check that the rated voltage of the equipment is consistent with that of the power
supply. Failure to comply may result in a fire.
●Before power-on, check that no one is near the equipment, motor, or machine. Failure to comply
may result in death or personal injuries.
Operation
●The equipment must be operated only by professionals. Failure to comply will result in death or
personal injuries.
●Do not touch any connecting terminals or disassemble any unit or component of the equipment
during operation. Failure to comply will result in an electric shock.
●Do not touch the equipment casing, fan, or resistor with bare hands to feel the temperature. Failure
to comply may result in personal injuries.
●Prevent metal or other objects from falling into the equipment during operation. Failure to comply
may result in a fire or equipment damage.
‑9‑
Maintenance

●Do not maintain the equipment with power ON. Failure to comply will result in an electric shock.
●Before maintenance, cut off all the power supplies of the equipment and wait for at least the time
designated on the equipment warning label.
●In case of a permanent magnet motor, do not touch the motor terminals immediately after power-
off because the motor terminals will generate induced voltage during rotation even after the
equipment power supply is off. Failure to comply will result in an electric shock.
●Perform routine and periodic inspection and maintenance on the equipment according to
maintenance requirements and keep a maintenance record.
Repair

●Do not repair the equipment with power ON. Failure to comply will result in an electric shock.
●Before inspection and repair, cut off all the power supplies of the equipment and wait for at least
the time designated on the equipment warning label.
●When the fuse is blown or the circuit breaker or earth leakage current breaker (ELCB) trips, wait for
at least the time designated on the equipment warning label before power-on or further operations.
Failure to comply may result in death, personal injuries, or equipment damage.
●When the equipment is faulty or damaged, the troubleshooting and repair work must be performed
by professionals that follow the repair instructions, with repair records kept properly.
●Replace quick-wear parts of the equipment according to the replacement instructions.
●Do not use damaged equipment. Failure to comply may result in death, personal injuries, or severe
equipment damage.
●After the equipment is replaced, check the wiring and set parameters again.
Disposal
●Dispose of retired equipment in accordance with local regulations and standards. Failure to comply
may result in property damage, personal injuries, or even death.
●Recycle retired equipment by observing industry waste disposal standards to avoid environmental
pollution.
Safety Labels
For safe equipment operation and maintenance, comply with the safety labels on the equipment. Do
not damage or remove the safety labels. See the following table for descriptions of the safety labels.
‑10‑
Safety Label Description

●Read through the safety instructions before operating the equipment. Failure to
comply may result in death, personal injuries, or equipment damage.
●Do not touch the terminals or remove the cover with power ON or within 10 min
after power-off. Failure to comply will result in an electric shock.
‑11‑
Function Overview
1 Function Overview
The following table describes the servo drive functions. Detailed function descriptions are provided in
the corresponding chapters.
Name Function
Position control mode Operating in the position control mode
Speed control mode Operating in the speed control mode
Torque control mode Operating in the torque control mode
Position/Speed control switchover Switching between position control and speed control through external DI
mode signals
Speed/Torque control switchover Switching between speed control and torque control through external DI
mode signals
Torque/Position control switchover Switching between torque control and position control through external DI
mode signals
Torque/Speed/Position control Switching among torque control, speed control and position control
switchover mode through external DI signals
High-resolution encoder Featuring a resolution of 8388608 PPR
Analyzing the resonance frequency and characteristic of the mechanical
Mechanical characteristic analysis
system through a PC installed with Inovance software tool
Generating a group of gain values automatically to match present working
Gain auto-tuning
conditions through setting just one parameter
Switching to different gains upon stop or switching gains through external
Gain switchover
terminals during operation
Estimating the disturbance torque suffered by the system to make
Torque disturbance observer
compensation and reduce vibration
Setting filter characteristics automatically to suppress mechanical system
Resonance suppression
vibration after detecting the resonance point
Suppressing the mechanical resonance generated in case of excessively
Torque reference filter
high response speed
Decreasing or increasing the pulse input by 0.001 x encoder resolution to
Electronic gear ratio
4000 x encoder resolution
Position ramp Accelerating smoothly to respond to the position reference
Position first-order low-pass filter Enabling smooth acceleration and deceleration
Searching for the mechanical home automatically to locate the relative
Homing
position between the mechanical home and mechanical zero
Interrupt positioning Interrupting present position reference and executing the set displacement
Keeping the motor speed below a certain value in the speed mode to keep
Zero clamp
the position locked
Reference pulse selection Offering four types of pulse train
Intending to be used when the braking capacity of the built-in regenerative
External regenerative resistor
resistor is insufficient
Input signal selection Assigning functions such as S-ON to corresponding pins
Fault log Recording or clearing the latest ten faults/warnings
Status display Displaying servo drive status through the LED on the keypad
External I/O display Displaying ON/OFF status of external I/O signals
Outputting signals unrelated to the servo drive status forcibly, which can be
Forced output of output signals
used to check the wiring of the output signals
Trial run mode Making the servo motor run through the keypad without a start signal
‑12‑
Function Overview
Name Function
Inovance software tool Supporting parameter settings, trial run and status display through a PC
Warning code output Outputting a three-digit warning code upon a warning event
‑13‑
Basic Functions of the Servo Drive
2 Basic Functions of the Servo Drive
2.1 Position Control Mode
2.1.1 Position Control Mode
Definition of terms:
● Reference unit: Refers to the minimum identifiable value input from the host controller to the servo
drive.
● Encoder unit: Refers to the value of the input reference multiplied by the electronic gear ratio.
Figure 2-1 Position control diagram
Set H02-00 (Control mode selection) to 1 (Position control mode) through the keypad or Inovance
software tool to make the servo drive operate in the position control mode. Set the servo drive
parameters based on the mechanical structure and technical indicators.
The following describes the position control mode.
Figure 2-2 Signal exchange between the servo drive and the host controller
‑14‑
2.1.2 Position Reference Input Setting
The position reference input setting includes the position reference source, position reference
direction, and position reference inhibition.
Figure 2-3 Position reference input setting
Position reference source
In the position control mode, set the position reference source in H05-00 first.
Figure 2-4 Setting the position reference source
☆Related parameters
‑15‑
Setting
Para. No. Name Value Range Function Effective Time Default
Condition
Defines the position reference

0: Pulse reference
source. Pulse references are
Position reference 1: Step reference external position references. Step
H05–00 At stop At once 0
source references and multi-position
2: Multi-position
references are internal position
reference
references.
● Pulse reference (H05-00 = 0)

Perform the following operations to obtain the correct pulse reference format.
Figure 2-5 Flowchart for setting the pulse reference as the source
■ Pulse reference input terminals

The servo drive provides two groups of pulse input terminals.
‑16‑
The low-speed pulse input terminals (PULSE+, PULSE-, SIGN+, SIGN-) receive differential input
(maximum frequency up to 200 kpps) and open-collector input (maximum frequency up to 200
kpps).
The high-speed pulse input terminals (HPULSE+, HPULSE-, HSIGN+, HSIGN-) receive differential
input (maximum frequency up to 4 Mpps) only.
Setting
Para. No. Name Value Range Function Effective Time Default
Condition
Pulse reference 0: Low-speed terminals Defines the hardware

H05–01 input terminal input terminal of pulse At stop At once 0
1: High-speed terminals
selection references.
For details on the terminal circuit, see SV660P Series Servo Drive Hardware Guide.
Table 2–1 Specifications of pulse input
Pulse Type Maximum Input Frequency Voltage Forward Current
High-speed pulse Differential signal 4M 5V < 25 mA
Differential signal 200 k 5V < 15 mA

Low-speed pulse
Open collector signal 200 k 24 V < 15 mA
■ Pulse input pin filter
‑17‑
Set the pin filter time for input terminals of low-speed and high-seed pulses. This is to prevent
motor malfunction caused by interference signals.
Setting Effective
Para. No. Name Value Range Unit Function Default
Condition Time
Defines the filter time

Filter time constant of low- Next
H0A-24 0 to 255 25ns constant for low-speed At stop 30
speed pulse input pin power-on
pulses.

Filter time constant of high- Next
H0A-30 0 to 255 25ns constant for high-speed At stop 3
speed pulse input pin power-on
pulses.
If the filter time constant for pulse input pins is t F , the minimum width of input signals is t min ,
then the input signals before and after filtering are as follows. The filtered input signal will be
delayed for t F over the unfiltered one.
Figure 2-6 Example of filtered signal waveform
The pulse input pin filter time t F must meet the following requirement: t F ≤ (20% to 25%) t min
The following table lists the recommended filter time constant based on the maximum
frequency (or minimum pulse width) of input pulses.
Table 2–2 Recommended filter time constant
Maximum Frequency of Input

Pulse Input Terminal Para. No. Recommended Filter Time Constant (25 ns)
Pulses
Low-speed pulse input terminal H0A-24 < 167 k 30
Low-speed pulse input terminal H0A-24 167 k to 200 k 20
High-speed pulse input terminal H0A-30 200 k to 1 M 5
High-speed pulse input terminal H0A-30 >1M 3
For example, if the filter time constant is set to 30, the actual filter time is 30 x 25 = 750 ns.
■ Pulse reference form

The servo drive supports the following three types of pulse references:
— Direction + Pulse (positive or negative logic)

— Phase A + Phase B quadrature pulse, quadrupled frequency
— CW + CCW
‑18‑
Select a pulse reference form appropriate for the host controller or other pulse generators.
Para. No. Name Value Range Function Setting Condition Effective Time Default
0: Direction + Pulse, positive

logic
1: Direction + Pulse, negative

Pulse reference Defines the pulse
H05–15 logic At stop Next power-on 0
form reference form.
2: Phase A + Phase B quadrature
pulse, quadrupled frequency
3: CW + CCW
‑19‑
Table 2–3 Descriptions of the pulse form
H02-02
H05-15
Direction of Pulse Form Signal Diagram of Forward Pulses Diagram of Reverse Pulses
Reference Form
Rotation
Pulse + Direction PULSE

0
Positive Logic SIGN

1
Negative Logic SIGN
0
Phase A + Phase B Phase A leads phase B by 90°. Phase B leads phase A by 90°.
Quadrature pulse PULSE (phase A)

2
Quadrupled SIGN (phase B)
frequency
PULSE (CW)
3 CW+CCW
SIGN (CCW)

0
Positive Logic SIGN

1
Negative Logic SIGN
Phase A + Phase B Phase A leads phase B by 90°.

Phase B leads phase A by 90°.
Quadrature pulse PULSE (phase A)
2
1 Quadrupled SIGN (phase B)
frequency
PULSE (CW)
3 CW+CCW
SIGN (CCW)
The following table describes the maximum frequencies and minimum time widths of position
pulse references corresponding to different input terminals.
‑20‑
Table 2–4 Specifications of the pulse reference
Min. Time Width (unit: us)

Input Terminal Max. Frequency
t1 t2 t3 t4 t5 t6
High-speed pulse input terminal 4 Mpps 0.125 0.125 0.125 0.25 0.125 0.125
Differential
200 kpps 2.5 2.5 2.5 5 2.5 2.5
Low-speed pulse input
input terminal Open collector

200 kpps 2.5 2.5 2.5 5 2.5 2.5
input
The rise time and fall time of position pulse references must be lower than 0.1 us.
■ Pulse reference frequency

You can set the maximum position pulse frequency in H0A-09. If the actual input pulse frequency
is higher than H0A-09, Er.B01 (Pulse input error) will occur.
Para. No. Name Value Range Unit Function Setting Condition Effective Time Default
Defines the maximum

Maximum position
H0A-09 100 to 4000 kHz frequency of external At stop Next power-on 4000
pulse frequency
pulse references.
● Step reference as position reference source (H05-00 = 1)
When the S-ON (Servo ON) signal is active, the motor is in the locked state when the step reference is disabled or in
the rotational state when the step reference is enabled. After H05-05 (Step reference) is done executing, the motor
stays in the locked state when no step reference is triggered again.
The servo drive supports step operation, which means the servo drive operates at a fixed speed
until the set displacement is reached. The setting flowchart is shown below.
‑21‑
Figure 2-7 Flowchart for setting step reference
Figure 2-8 Motor operating curve (H05-00 = 1)
The hatched area in the preceding figure indicates the motor displacement: H05-05 x Electronic
gear ratio (encoder unit).
■ Relation between the motor speed and electronic gear ratio

When the step reference is used as the position reference source, the set motor speed will be
converted based on the following formula. The motor speed in this case cannot exceed 1500
RPM.
■ Motor displacement
When the step reference is used as the position reference source, the sum of position references
(reference unit) is set in H05-05. The sign of the setpoint of H05-05 determines whether the
motor speed is a positive or a negative value.
‑22‑
Defines the position reference sum

when H05-00 (Position reference
-9999 to source) is set to 1 (Step reference).

H05–05 Step reference Reference unit At stop At once 50
+9999 The sign of the setpoint determines
whether the motor speed is a positive
or a negative value.
■ Step reference enable

To use the step reference as the position reference source, assign FunIN.20 (PosStep, step
reference enable) to a certain DI of the servo drive, and set the active logic of this DI.
☆Related function No.
Function No. Name Function Name Description
S-ON:
Active: The position reference defined by H05-05 is input to the servo drive, driving the
FunIN.20 PosStep Step reference enable
motor to run.
Inactive: The motor stays locked.
FunIN.20 (Step reference enable) is edge-triggered. The motor is locked after the step reference
is done executing. When FunIN.20 is triggered again, the motor executes the step reference
defined by H05-05 again.
● Multi-position reference as position reference source (H05-00 = 2)

The servo drive supports multi-position operation, in which 16 displacement references can be
saved in the servo drive. The maximum operating speed and acceleration/deceleration time of each
displacement can be set separately. The waiting time and linkage mode among these 16
displacements can also be set as needed. The setting flowchart is shown below.
‑23‑
•
•
•
•
•
•
Figure 2-9 Flowchart for setting multi-position reference as the source
■ Setting the multi-position operation mode

0: Individual operation
1: Cyclic operation
Multi-position 2: DI-based operation Defines the linkage mode between

H11-00 At stop At once 1
operation mode displacements.
3: Sequential operation
5: Axis-controlled continuous
operation
Number of multi- Defines the total number of

H11-01 position 1 to 16 displacements in multi-position At stop At once 1
references operation.
Defines the start displacement no.

when multi-position operation
Start 0: Continue to execute the
recovers from a pause upon S-ON.
H11-02 displacement no. remaining positions At stop At once 1
Note:
after pause 1: Start from displacement 1
H11-02 is active only when H11-00
is not set to 2.
‑24‑
Defines the acceleration/

deceleration time and waiting
0: ms time unit.
H11-03 Waiting time unit At stop At once 0
1: s Note:
The waiting time is active only

when H11-00 is set 0 or 1.
Displacement 0: Relative position reference Defines the displacement

H11-04 During running At once 0
reference type 1: Absolute position reference reference type.
Defines the start displacement no.

after the first cycle of operation is
done in the sequential operation
Start mode (H11-00 = 3).
displacement no. Note:
H11-05 0 to 16 At stop At once 0
in sequential
● H11-05 = 0, or H11-05 ＞ H11-01:
operation
Cyclic operation does not apply.
● When H11-05 ＞ 1, the start
position No. is the setpoint of H11-
05.
(1) Individual operation (H11-00 = 0)
Table 2–5 Description of individual operation

Description Operating Curve
V 1max , V 2max : maximum operating speeds in

displacement 1 and displacement 2
S 1 , S 2 : displacement 1 and displacement 2

● The servo drive stops after an individual operation.
● The servo drive switches to the next displacement ● The positioning completed signal is active after
no. automatically. each displacement is reached.
● The time interval between displacements can be ●If the PosInsen signal is switched off during
set as needed. operation, the servo drive abandons the unexecuted
● The PoslnSen (multi-position reference enable) displacements and stops. The COIN (positioning
signal is level-triggered. completed) signal is activated after the servo drive
stops.
● Switch on the PosInsen signal again. The servo
drive operates as defined by H11-02.
● If the S-ON signal is switched off during operation,
the motor stops as defined by H02-05 (Stop mode at
S-ON OFF). The COIN (positioning completed) signal
is deactivated after the motor stops.
● When a certain displacement is in progress, the
logic change of the DI assigned with FunIN.27
(PosDirSel) does not affect the operating direction
in this displacement.
‑25‑
★Definitions of terms:
A complete operation cycle covers all the displacement references defined by H11-01.
(2) Cyclic operation (H11-00 = 1)
Table 2–6 Descriptions of cyclic operation

V 1max , V 2max : maximum operating speeds in

displacement 1 and displacement 2
● The servo drive starts from displacement 1 again
after each cycle of operation.
● The servo drive switches to the next displacement ● The positioning completed signal is active after
no. automatically. each displacement is reached.
●The time interval between displacements can be ● If PosInsen (multi-position reference enable) signal
set as needed. is switched off during operation, the servo drive
● The cyclic operation mode is kept when the abandons unexecuted displacements and stops.
FunIN.28 (Multi-position reference enable) is active. The COIN (positioning completed) signal is activated
● The PoslnSen (multi-position reference enable) after the servo drive stops.
signal is level-triggered. ● Switch on the PosInsen signal again. The servo
drive operates as defined by H11-02.
(3) DI-based operation (H11-00 = 2)
‑26‑
Table 2–7 Descriptions of DI-based operation

V xmax , V ymax : maximum operating speeds in

displacement x and displacement y
S x , S y : displacement x and displacement y
● The positioning completed signal is active after

each displacement is reached.
If the PosInsen (multi-position reference enable)
The next displacement No. can be set when the
●
●
signal switched off during operation, the servo drive

current displacement is in progress. The motor
continues to execute the unexecuted displacements
stops after current displacement reference is done
and outputs the COIN (positioning completed)
executing. After the PosInsen (multi-position
signal.
reference enable) signal is switched on again, the
The position No. must be switched in the following
displacement No. at this moment will be executed.
●
sequence:
The displacement No. is determined by the DI logic.
●
1. Wait until displacement x is done executing before
● The time interval between displacements is
switching the displacement no..
determined by the command delay of the host
controller. 2. When displacement x is in progress or done,
● The PosInsen (multi-position reference enable) switch off the PosInsen (multi-position reference
signal is edge-triggered.
enable) signal first, and then change the
displacement no. from x to y (if x = y, the servo
drive executes displacement x again).
3. After displacement x is done executing, switch on
the PosInsen (multi-position reference enable)
signal again to make the servo drive execute
displacement y.

In multi-position operation mode, assign four DIs with FunIN.6 to FunIN.9 respectively, and set
the active logic of these DIs.
‑27‑
Figure 2-10 Multi-position sequence diagram
Note
— [1] Area for switchover of displacement no.: Refers to the interval starting from the moment the last position
reference is done transmitting to the moment the next PosInsen (multi-position reference enable) is activated
again.
— [2] When a low-speed DI is used, an effective signal width of 3 ms must be kept.
— [3] The PosInSen signal is edge-triggered. The minimum signal widths required by the low-speed DI and high-
speed DI are 3 ms and 0.25 ms respectively.

Function
Name Function Name Function
No.
FunIN.6 CMD1 Multi-reference switchover 1 The displacement no. is a 4-bit binary value.
FunIN.7 CMD2 Multi-reference switchover 2 The relation between the displacement no. and
FunIN.8 CMD3 Multi-reference switchover 3 CMD1 to CMD4 is shown in “Table 2–8” on page
28.
The DI logic is level-triggered. The CMD value is
FunIN.9 CMD4 Multi-reference switchover 4
1 upon active level input or 0 upon inactive
level input.
Table 2–8 Relation between the displacement no. and CMD1 to CMD4
CMD4 CMD3 CMD2 CMD1 Displacement No.

0 0 0 0 1
0 0 0 1 2
…
1 1 1 1 16
‑28‑
Sequential operation (H11-00 = 3)
Table 2–9 Descriptions of sequential operation

V 1max , V 2max : maximum operating speeds in displacement

● The servo drive stops after one cycle of
1 and displacement 2
operation (H11-05 = 0 or H11-05 > H11-01).
●
● Cyclic operation is available, which starts ● The positioning completed signal is active after each
from the position No. defined by H11-05 displacement is reached.
(Start position No. of sequential operation) ● If the PosInsen (multi-position reference enable) signal is
after the first cycle of operation. switched off when the operation is in progress, the servo
● The servo drive switches to the next drive abandons the unexecuted position and stops. The
displacement no. automatically. positioning completed signal is activated after the servo
●There is no time interval between drive stops.
displacements. ●Switch on the PosInsen signal again. The servo drive
● The PoslnSen (multi-position reference operates as defined by H11-02.
enable) signal is level-triggered. ● If the S-ON signal is switched off during operation, the
motor stops as defined by H02-05 (Stop mode at S-ON OFF).
The COIN (positioning completed) signal is deactivated
after the motor stops.
● When a certain displacement is in progress, the logic
change of the DI assigned with FunIN.27 (PosDirSel) does
not affect the operating direction in this displacement.
Axis-controlled continuous operation (H11-00 = 5)
‑29‑
Table 2–10 Description of axis-controlled continuous operation

● Individual operation
● The PoslnSen (multi-position reference enable) signal is

triggered only once (FunIN.38/39 triggered later). The servo
drive stops after executing the distance defined by H11-12
(Displacement 1).
●Sequential operation
● The servo drives executes one

displacement only.
●The individual operation mode, sequential ● The PoslnSen (Multi-position reference enable) signal is
operation mode, and interrupted operation triggered only once. Write H11-12 again and activate
mode are included. FunIN.39 when the first H11-12 (Displacement 1) is still in
● The PoslnSen (multi-position reference progress. After receiving the new distance (or speed), which
enable) signal is level-triggered. is the second H11-12, the servo drive continues executing
the first H11-12 until the distance defined by the first H11-
12 is reached. Then it starts to execute the second H11-12
directly. The travel distance therefore is the sum of the first
H11-12 and the second H11-12. ●
● Interrupted operation
● The PoslnSen (Multi-position reference enable) signal is

triggered only once. Write H11-12 (such as 1000000) again
and activate FunIN.38 when the first H11-12 (such as
9000000) is still in progress. After receiving the new distance
(or speed), which is the second H11-12, the servo drive
stops executing the first H11-12 and turns to executing the
second H11-12.
‑30‑
Function No. Name Function Name Function

Active: Newly written command
Write interrupt-trigger activated immediately
FunIN.38 MultiBlockTrig
signal Inactive: Newly written command not
activated
Active: Newly written command
activated after current displacement is
Write non-interrupt-trigger
FunIN.39 MultiBlockWr done executing
signal
Inactive: Newly written command not
activated
Next command input Active: Next command input allowed

FunOUT.23 WrNextBlockEn
enable Inactive: Next command input inhibited
■ Setting multi-position operating curve

A total of 16 displacement references can be set during multi-position operation. The
displacement, maximum operating speed, acceleration/deceleration time, and waiting time
between displacements can be set separately. The following table takes displacement 1 as an
example.
Defines the position

-1073741824 to
H11-12 Displacement 1 Reference unit reference sum of During running At once 10000
+1073741824
displacement 1.
Defines the maximum

Maximum speed of
H11-14 1 to 6000 RPM operating speed of During running At once 200
displacement 1
displacement 1.
Defines the time for the

Acceleration/
motor to change from 0
H11-15 Deceleration time of 0 to 65535 ms (s) During running At once 10
RPM to 1000 RPM in the 1st
displacement 1
displacement.
Defines the waiting time

Waiting time after
H11-16 0 to 10000 ms (s) after displacement 1 is During running At once 10
displacement 1
done executing.
The actual operating curve of the motor based on preceding settings is shown in the following
figure.
Figure 2-11 Motor operating curve in displacement 1
Actual time (t) taken to accelerate to H11-14:
‑31‑
For parameter settings of other 15 displacements, see Chapter "Parameter List".
■ Setting multi-position reference enable mode

To use the multi-position reference as the position reference source, assign FunIN.28 (PosInSen,
multi-position reference enable) to a certain DI of the servo drive, and set the active logic of this
DI.
☆ Related function No.

Function
Name Function Name Function
No.
Active: The motor executes the multi-position reference.
Inactive: The motor stays locked.
Note:
Multi-position
FunIN.28 PosInSen
reference enable ●When H11-00 = 0, 1, 3, the logic of the DI assigned
with the PosInSen signal is level-triggered.
●When H11-00 = 2, the logic of the DI assigned with
the PosInSen signal is edge-triggered.
Position reference direction
A DI can be used to change the position reference direction, thus changing the motor direction of
rotation. Assign FunIN.27 (PosDirSel, position reference direction) to a DI of the servo drive, and set the
active logic of this DI.

Inactive: Actual position reference direction same as
the set direction
FunIN.27 PosDirSel Position reference direction
Active: Actual position reference direction opposite
to the set direction
The actual direction of rotation is related to the setting of H02-02 (Direction of rotation), the sign (+/-)
of the position reference value, and FunIN.27.
Table 2–11 Motor direction of rotation

Sign of the Position Actual Direction of
H02-02 FunIN.27
Reference Value Rotation
0 + Inactive CCW
0 + Active CW
0 - Inactive CW
0 - Active CCW
1 + Inactive CW
1 + Active CCW
1 - Inactive CCW
1 - Active CW
‑32‑
Position reference inhibition
FunIN.13 (Inhibit) and FunIN.37 (PulseInhibit) are used to inhibit position references and pulse
references.
● Position reference inhibit (FunIN.13)

The servo drive sets all the position references to 0, which means it does not respond to any
internal or external position references, and the motor is in the locked state in the position control
mode. In this case, the servo drive can switch to other control mode to continue operating.
When FunIN.13 is activated, the input position reference counter (H0B-13) continues counting the
position references in the position control mode, but the references counted in this case are not
responded to by the servo drive after FunIN.13 is deactivated.
To use FunIN.13 (Inhibit, position reference inhibit), assign FunIN.13 to a certain DI and set the
active logic of this DI. It is recommended to use the high-speed DI (DI8 or DI9).
Figure 2-12 Example of position reference inhibition waveform

Inactive: The servo drive responds to position references in the
Position position control mode.
FunIN.13 Inhibit
reference inhibit Active: The servo drive does not respond to any internal or
external position references in the position control modes.
● Pulse reference inhibit

The servo drive sets all the pulse references to 0, which means it does not respond to any pulse
references inputted from the pulse input terminal but it can respond to position references in other
forms in the position control mode. In this case, you can switch to other control modes.
When FunIN.37 is activated in the position control mode and no other forms of position references
are used, the input position reference counter (H0B-13) continues counting the pulse references
inputted from the pulse input terminal, but the pulse references counted in this case are not
responded to by the servo drive after FunIN.37 is deactivated.
If position references in other forms are used in the position control mode, the input position
reference counter (H0B-13) continues counting the these position references, and these references
will be executed.
‑33‑
To use FunIN.37 (PulseInhibit, pulse reference inhibit), assign FunIN.37 to a certain DI and set the
active logic of this DI. It is recommended to use the high-speed DI (DI8 or DI9).
Figure 2-13 Waveform example for pulse reference inhibit
Note
● [1] When using a low-speed DI, keep an interval of at least 3 ms from the moment the DI logic is deactivated to
the moment the internal position reference is inputted.
● When using a high-speed DI, keep an interval of at least 0.25 ms from the moment the DI signal is inputted to the
moment the response is generated.

When the position reference source is pulse reference (H05-00
= 0) in the position control mode:
Pulse reference
FunIN.37 PulseInhibit
inhibit Inactive: The servo drive responds to pulse references.
Active: The servo drive does not respond to pulse references.
2.1.3 Reference Frequency Division/Multiplication Function (Electronic Gear
Ratio)
● The electronic gear ratio must be within the following range:

≤ ≤
Otherwise, Er.B03 (Electronic gear ratio beyond the limit) will occur.
● In cases where an operation error occurs due to an improper electronic gear ratio, it is recommended to reset
the electronic gear ratio after the servo drive stops.
‑34‑
Definition of the electronic gear ratio
In the position control mode, the input position reference (reference unit) defines the load
displacement; the motor position reference (encoder unit) defines the motor displacement. The
electronic gear ratio is used to establish a proportional relation between the input position reference
and motor position reference.
The electronic gear ratio, which allows frequency division (electronic gear ratio < 1) or frequency
multiplication (electronic gear ratio > 1), can be used to set the actual displacement corresponding to
the input position reference per reference unit, or used to increase the position reference frequency
when the motor speed needed cannot be fulfilled due to limited pulse output frequency of the host
controller or limited parameter value range.
★Definitions of terms:
● Reference unit: Refers to the minimum identifiable value input from the host controller to the servo
drive.
● Encoder unit: Refers to the value of the input reference multiplied/divided by the electronic gear
ratio.
Procedure for setting the electronic gear ratio
The electronic gear ratio varies according to the mechanical structure. Set the electronic gear ratio
according to the following procedure.
‑35‑
Figure 2-14 Procedure for setting the electronic gear ratio
See the following figure for how to set parameters.
‑36‑
Figure 2-15 Procedure for setting the electronic gear ratio
Note
When the setpoint of H05-02 (Pulses per revolution) is not 0, the following formula applies:
. In this case, electronic gear ratios 1 and 2 are invalid.
Related parameters
● Setting the electronic gear ratio

Setting Effective
Para. No. Name Value Range Unit Function Default
Condition Time
Defines the number of
Pulses per Next
H05-02 0 to 1048576 PPR pulses required for one At once 0
revolution power-on
motor revolution.
Electronic
1 to Defines the numerator of During
H05-07 gear ratio 1 - At once 8388608
1073741824 electronic gear ratio 1. running
(numerator)
Electronic
gear ratio 1 1 to Defines the denominator During
H05-09 - At once 10000
(denomina- 1073741824 of electronic gear ratio 1. running
tor)
Electronic
1 to Defines the numerator of During
H05-11 gear ratio 2 - At once 8388608
1073741824 electronic gear ratio 2. running
(numerator)
Electronic
gear ratio 2 1 to Defines the denominator During
H05-13 - At once 10000
(denomina- 1073741824 of electronic gear ratio 2. running
tor)
● Switching the electronic gear ratio
‑37‑
The motor speed may fluctuate significantly if the electronic gear ratio changes sharply in real time or electronic
gear ratio 1 differs greatly from electronic gear ratio 2. In this case, set H05-04 (First-order low-pass filter time con-
stant) properly to allow smooth switchover of the position reference.
■ The electronic gear ratio can be switched when H05-02 (Pulses per revolution) is set to 0.
Determine whether to switch between electronic gear ratios 1 and 2 based on mechanical
conditions. Set the condition for switching the electronic gear ratio.
■ Only one electronic gear ratio is effective at any moment.
■ The effective time of real-time change in the electronic gear ratio is also restricted by the
switchover condition.
☆Related parameter
Setting
Effective
Para. No. Name Value Range Function Condi Default
Time
tion
0: Switching after the
Electronic gear position reference kept 0 Defines the condition for
H05-39 ratio switchover (H05-02 = 0) for 2.5 ms switching the electronic At stop At once 0
condition gear ratio.
1: Switching in real time
Assign FunIN.24 (GEAR-SEL, electronic gear ratio selection) to a certain DI and set the active logic of
this DI.

Function No. Name Function Function
Inactive: Using electronic gear ratio 1 in the
Electronic gear ratio position control mode
FunIN.24 GEAR_SEL
selection Active: Using electronic gear ratio 2 in the
position control mode
See the following table for the electronic gear ratio used by the servo drive.
Level of the DI Assigned with
H05-02 H05-39 Electronic Gear Ratio
FunIN.24
Inactive
0
Active
0
Inactive
1
Active
1 to 1048576 - -
The resolution of the serial encoder is 2n PPR, where "n" is the number of bits of the serial encoder.
For example, the resolution of 20-bit serial encoder is 220 PPR, which is 1048576 PPR.
● Calculating the electronic gear ratio

The following figure shows the relation among the position reference (reference unit), load
displacement, and electronic gear ratio.
‑38‑
Figure 2-16 Relation among the position reference (reference unit), load displacement, and elec-
tronic gear ratio
Take a ball screw in linear motion as an example, with P B (mm) as the screw lead, P G as the encoder
resolution, and R as the reduction ratio of the reducer.
Figure 2-17 Ball screw
■ When the load displacement per pulse ΔL (mm) is known:

L
The load shaft rotates pB circles and the motor shaft rotates circles when the
mechanical displacement is ΔL. Then the following formula applies:
Therefore, the electronic gear ratio is as follows.
■ When the load displacement L (mm) and position reference sum P (P) are known:
The load shaft rotates circles, and the motor shaft rotates circles when the
mechanical displacement is L. Then the following formula applies:
■ When the load moving speed VL (mm/s) and position reference frequency f (Hz) are known:
Load shaft speed: (r/s)
Motor speed: (r/s)
The relation among the position reference frequency, electronic gear ratio, and motor speed is
as follows:
‑39‑
● Example for setting the electronic gear ratio
Table 2–12 Example for setting electronic gear ratio

Step Name Mechanical Structure
Transmission With Ball Transmission With Belt
Rotating Load
Screw Pulley
Reduction ratio (R): 5/1 Reduction ratio (R): 10/
Diameter of belt 1
Mechanical Reduction ratio (R): 1/1
1 pulley: 0.2 m Load angle of rotation
parameters Screw lead: 0.01 m
(Circumference of belt per revolution of the
pulley): 0.628 m load shaft: 360°
2 Encoder resolution 20-bit = 1048576 PPR 20-bit = 1048576 PPR 20-bit = 1048576 PPR
Load displacement per
3 position reference 0.0001 m 0.000005 m 0.01°
(reference unit)
Position references per
4 revolution of the load
shaft (reference unit)
5 Calculation
H05-07 = 1048576 H05-07 = 5242880 H05-07 = 10485760

6 Setting
H05-09 = 100 H05-09 = 125600 H05-09 = 36000
2.1.4 Position Reference Filter Function
This function serves to filter the position references (encoder unit) multiplied or divided by the
electronic gear ratio, which includes first-order low-pass filter and moving average filter.
Use this function in the following cases:
● The acceleration/deceleration process is not performed on the position references sent from the
host controller.
● The pulse reference frequency is low.
● The electronic gear ratio is higher than 10.
‑40‑
Para. Setting
Name Value Range Unit Description Effective Time Default
No. Condition
Defines the time constant
First-order low-
of the first-order low-pass
H05-04 pass filter time 0–6553.5 ms At stop Immediately 0.0
filter used for position
constant
references (encoder unit).
Defines the time constant
Moving average
of the moving average filter
H05-06 filter time 0–128.0 ms At stop Immediately 0.0
used for position references
constant
(encoder unit).
This function does not affect the displacement value (position reference sum).
A large setpoint delays the responsiveness, so set a proper filter time constant based on actual
conditions.
Figure 2-18 First-order filter and moving average filter of rectangular position references
Figure 2-19 First-order filter and moving average filter of trapezoid position references
2.1.5 Position Deviation Clear
Position deviation = Position reference sum – Position feedback sum
This function serves to clear the position deviation when the condition defined by H05-16 (Clear action
selection) is met.
‑41‑
Setting
Effective
Para. No. Name Value Range Function Condi Default
Time
tion
0: Position deviation cleared
upon S-ON OFF or fault

upon S-ON OFF or stop at
Defines the
fault
condition for
H05-16 Clear action At stop At once 0
2: Position deviation cleared clearing the position
upon S-ON OFF or stop at deviation.
fault; position deviation
cleared upon CIrPosErr signal
inputted from DI when the
servo drive is in RUN state
When H05-16 is set to 2, assign FunIN.35 (ClrPosErr, clear position deviation) to a certain DI and set the
active logic of this DI.

Active: Position deviation cleared
FunIN.35 ClrPosErr Position deviation clear
Inactive: Position deviation not cleared
See the following table for the setting method.
Table 2–13 Position deviation clear

Setpoint Clear Conditions Clear Time
Clear the position deviation when the S-ON

H05-16 = 0
signal is switched off or when a fault occurs.
Clear the position deviation when the S-ON

H05-16 = 1 signal is switched off or when the servo
drive stops upon a fault event.
Clear the position deviation cleared when

the S-ON signal is switched off or when a (Rising edge-triggered)
H05-16 = 2 fault occurs. Clear the position deviation
when ClrPosErr signal is inputted through a
DI when the servo drive is in the RUN state.
(Falling edge-triggered)
‑42‑
2.1.6 Frequency-Division Output
It is recommended to use the active edge outputted by Z signal when a high precision frequency-division output of
Z signal is required.
● H05-41 = 0: Rising-edge triggered
● H05-41 = 1: Falling-edge triggered
In frequency-division output, the position reference pulses or the position pulses fed back by the
encoder is outputted in the form of phase A/phase B quadrature pulses.
Figure 2-20 Schematic diagram of frequency-division output
It is recommended to use pulse reference synchronous output (H05-38 = 1) during synchronous tracing
of multi-axis servo pulses. When the host controller is used for closed-loop feedback, it is
recommended to use encoder frequency-division output (H05-38 = 0).
The servo drive offers one group of frequency-division terminals, as described below:
● Phase A pulses: PAO+ and PAO-, differential output, maximum output pulse frequency: 2 Mpps
● Phase B pulses: PBO+ and PBO-, differential output, maximum output pulse frequency: 2 Mpps
● Phase Z pulses: PZO+ and PZO-, differential output, maximum output pulse frequency: 2 Mpps
● PZ-OUT, GND, and open-collector output, maximum output pulse frequency: 100 kpps
Set H05-38 (Pulse output source), H02-03 (Pulse output phase), H05-17 (Number of encoder frequency-
division pulses), and H05-41 (Z pulse output polarity) as needed when using frequency-division output.
When encoder feedback pulse is used as the pulse output source (H05-38 = 0), the number of output
pulses of phase A/B per motor revolution is determined by H05-17 (Number of encoder frequency-
division pulses) and H05-61 (Number of encoder frequency-division pulses (32-bit)). The pulse width (T)
‑43‑
of phase A/B is determined by the motor speed. Phase Z synchronizes with phase A with a width of T.
Phase Z outputs signal only once per motor revolution.
Table 2–14 Diagrams of encoder frequency-division output pulses (H05-38 = 0)

H02-03 H05-41
Pulse Output Diagram in Forward Pulse Output Diagram in Reverse
(Pulse output (Z pulse output
Run Run
phase) polarity)
Phase A leads phase B by 90°. Phase B leads phase A by 90°.

0
Phase A leads phase B by 90°. Phase B leads phase A by 90°.
Phase B leads phase A by 90°. Phase A leads phase B by 90°.

1
Phase B leads phase A by 90°. Phase A leads phase B by 90°.
Setting Effective
Para. No. Name Value Range Unit Description Default
Condition Time
0: Phase A leading
Defines the relation
Output pulse phase B Next
H02-03 - between phase A and At stop 0
phase 1: Phase A lagging power-on
phase B.
behind phase B
pulses outputted by PAO
Number of or PBO (before frequency
encoder quadrupled) per motor
Next
H05-17 frequency- 35–32767 PPR revolution when the At stop 2500
power-on
division setpoint of H05-61
pulses (Encoder frequency-
division pulses (32-bit)) is
lower than 35.
‑44‑
Setting Effective
Condition Time
0: Encoder
frequency-division
output
1: Pulse reference
Servo pulse synchronous Defines the servo pulse Next
H05-38 - At stop 0
output source output output source. power-on
2: Frequency-
division or
synchronous
output inhibited
0: Negative
(Z pulse being low

Z pulse level) Defines the output level
Next
H05-41 output - when the phase Z pulse is At stop 1
1: Positive power-on
polarity active.
(Z pulse being
high level)
Number of pulses outputted by PAO
encoder or PBO (before frequency
Next
H05-61 frequency- 0 to 262143 PPR quadrupled) per motor At stop 0
power-on
division revolution when the
pulses (32-bit) setpoint of H05-61 is
higher than or equal to 35.
2.1.7 Motion Control/Internal Command/Positioning Completed/Proximity
Function
● "Motion control completed" refers to the completion of command transmission and positioning in
the position control mode. The servo drive therefore outputs an McOK (motion control completed)
signal, and the host controller, upon receiving the signal, acknowledges the motion control is done.
● "Internal command completed" refers to the completion of command transmission, upon which
the internal multi-position reference is zero. The servo drive therefore outputs a CmdOk (internal
command completed) signal, and the host controller, upon receiving the signal, acknowledges the
internal command transmission is done.
● "Positioning completed" refers to the completion of the positioning process in the position control
mode, which requires the position deviation to meet the condition defined by H05-20. The servo
drive therefore outputs a COIN (positioning completed) signal, and the host controller, upon
receiving the signal, acknowledges the positioning is done.
The schematic diagram is shown below.
‑45‑
Figure 2-21 Description of positioning completed/proximity
‑46‑
Figure 2-22 Signals related to position deviation
You can set the unit for positioning completed, proximity, and excessive position deviation in H0A-17.
When position deviation meets the condition defined by H05-20, the servo drive outputs a NEAR
(proximity) signal to prepare the host controller for positioning completion.
Before applying the positioning completed/proximity function, set H05-20, H05-21, H05-22, H05-59,
and H05-60 first. The schematic diagram for the window time (H05-59) and hold time (H05-60) of COIN
(positioning completed) signal is as follows.
‑47‑
Figure 2-23 Schematic diagram for the window time (H05-59) and hold time (H05-60) of positioning
completion
When the COIN (positioning completed) signal has a hold time of 0, it remains active until the next
position reference is received.
Setting Effective
Condition Time
Unit selection:
Position
H0A-17 0–1 - 0: Encoder unit At stop Immediately 0
setting unit
1: Reference unit
0: Absolute value of
position deviation lower
than H05-21
position deviation lower
than H05-21 and filtered
Defines the
Condition for position reference being 0
condition for
COIN 2: Absolute value of outputting the During
H05-20 (positioning position deviation lower - Immediately 0
COIN (positioning running
completed) than H05-21 and position completed)
signal output reference being 0
signal.
position deviation kept
lower than H05-21 within
the time defined by H05-
60 and unfiltered position
reference being 0
‑48‑
Setting Effective
Condition Time
Defines the
threshold of
position deviation
Threshold of Encoder/
absolute value During
H05-21 positioning 1–65535 Reference Immediately 5872
when the COIN running
completed unit
(positioning
completed) signal
is active.
Defines the
threshold of
Encoder/ position deviation
Threshold of During
H05-22 1–65535 Reference absolute value Immediately 65535
proximity running
unit when the NEAR
(proximity) signal
is active.
Defines the filter
time of the COIN
Window time
(positioning
of COIN
completed) During
H05-59 (positioning 0-30000 ms Immediately 0
signal. After running
completed)
filtering, an active
signal
level will be
output.
Hold time of Defines the hold
COIN time of an active
During
H05-60 (positioning 0-30000 ms COIN (positioning Immediately 0
running
completed) completed)
signal signal.
● Set H05-22 to a value higher than the setpoint of H05-21.

● H05-21 only reflects the threshold of position deviation absolute value for positioning completion. It is not
related to the positioning accuracy.
● A large speed feedforward gain (H08-19) or a low-speed operation reduces the position deviation absolute value.
In this case, the COIN (positioning completed) signal may keep active if H05-21 is set to a large value. To improve
the positioning accuracy, decrease the setpoint of H05-21.
● If H05-21 is set to a small value and the position deviation is also small, you can change the condition for
outputting the COIN (positioning completed) signal in H05-20.
● An inactive S-ON signal deactivates the COIN (positioning completed) signal and NEAR (proximity) signal output.
To use the motion control/internal command/positioning completed/proximity function, assign

FunOUT.24 (McOk, motion control completed), FunOUT.22 (CmdOk, internal command completed),
FunOUT.5 (COIN, positioning completed), and FunOUT.6 (NEAR, proximity) to four DOs respectively,
and set the active logic of these DOs.
‑49‑
Function No. Name Function Description

Active: The position deviation absolute value meets the threshold
Positioning defined by H05-21 in the position control mode, indicating the
FunOUT.5 COIN positioning is done.
completed
Inactive: The servo drive is in the process of positioning.
Active: The position deviation absolute value meets the threshold
defined by H05-22, indicating the positioning is nearly done.
FunOUT.6 NEAR Proximity
Inactive: The servo drive is in the process of proximity in the
position control mode.
Active: The transmission of the multi-position reference or
interrupt positioning reference is done in the position control
Internal command mode.
FunOUT.22 CmdOk
completed Inactive: The transmission of the multi-position reference or
interrupt positioning reference is in progress in the position
control mode.
Active: The transmission of the multi-position reference or
interrupt positioning reference and the positioning process are
Motion control done in the position control mode
FunOUT.24 McOk
completed Inactive: The transmission of the multi-position reference or
interrupt positioning reference or positioning is in progress in the
position control mode.
2.1.8 Interrupt Positioning
The interrupt positioning signal cannot be triggered during homing.
Description
In the position control mode, if interrupt positioning is triggered when the S-ON signal is active, the
servo drive aborts current operation and turns to executing the preset position reference, which is to
say, after interrupt positioning is triggered, the motor executes the position reference triggered by
interrupt positioning, with motor direction unchanged.
When interrupt positioning is in progress, the servo drive does not respond to any other internal/
external position references (including another interrupt positioning command). In this case, the input
position reference counter (H0B-13) counts the interrupt positioning reference only. After interrupt
positioning is done, the servo drive may or may not respond to other position references depending on
the setpoint of H05-29 (Interrupt positioning cancel signal). The position references received during
interrupt positioning will be abandoned.
After interrupt positioning is done, the servo drive outputs the interrupt positioning completed
(FunOUT.15: XintCoin) signal and positioning completed (FunOUT.5: COIN) signal, while the host
controller, upon receiving XintCoin signal, acknowledges interrupt positioning is done. The XintCoin
signal output is not related to the S-ON signal or the logic of DI9.
Interrupt positioning is effective only when the following conditions are met:
‑50‑
● The motor speed is higher than or equal to 10 RPM before interrupt positioning is triggered, or the
setpoints of H05-26 (Constant operating speed in interrupt positioning) and H05-24 (Displacement
of interrupt positioning) are not 0.
● The DI assigned with FunIN.33 (Interrupt positioning inhibited) is not used or the logic of this DI is
inactive.
Note
The moving average filter is inactive when interrupt positioning is in progress.
Figure 2-24 Flowchart of interrupt positioning signal
Setting parameters
‑51‑
Setting
Para. No. Name Value Range Unit Function Effective Time Default
Condition
Interrupt
0: Disable Used to enable/disable interrupt
H05-23 positioning - At stop Next power-on 0
1: Enabled positioning.
selection
Displacement of
Reference Defines the displacement of
H05-24 interrupt 0 to 1073741824 During running At once 10000
unit interrupt positioning.
positioning
Defines the maximum motor speed

Constant operating
in interrupt positioning, which is
H05-26 speed in interrupt 0 to 6000 RPM During running At once 200
unrelated to the electronic gear
positioning
ratio.
Acceleration/
Deceleration time Defines the time for the motor to
H05-27 0 to 1000 ms During running At once 10
of interrupt accelerate from 0 RPM to 1000 RPM.
positioning
Defines the condition for

responding to other position
Interrupt references after interrupt
positioning cancel 0: Disable positioning is done. When H05-29 is
H05-29 - During running At once 1
signal set to 1, interrupt positioning must
1: Enable
Enable be canceled by a DI assigned with
FunIN.29 (Interrupt positioning
cancel).
☆Related Function No.
Active: The interrupt positioning state is unlocked, which means the servo
drive can respond to other position references.
FunIN.29 XintFree Interrupt positioning cancel
Inactive: The interrupt positioning state is locked, which means the servo
drive cannot respond to other position references.
Active: Interrupt positioning inhibited

FunIN.33 XintInHibit Interrupt positioning inhibit
Inactive: Interrupt positioning permitted
Active: Interrupt positioning completed during position control

FunOUT.15 XintCoin Interrupt positioning completed
Inactive: Interrupt positioning not completed during position control
During interrupt positioning, DI9 is used to trigger interrupt positioning only, which means no other functions can
be assigned to DI9 through H03-18 (DI9 function selection) and no other DIs can trigger interrupt positioning. The
logic of DI9 (H03-19) is edge-triggered.
‑52‑
Table 2–15 Active logic of DI9 during interrupt positioning
H03-19 Active Logic of DI9 Waveform
0 Active low
1 Active high
The constant operating speed for interrupt positioning is shown in the following figure.
Figure 2-25 Motor operating curve during interrupt positioning
Table 2–16 Motor speed during interrupt positioning
Motor Speed before Triggering Constant Operating Speed in

H05-26 Interrupt Positioning
Interrupt Positioning Interrupt Positioning
< 10 Active -
0 Motor Speed before Triggering

≥ 10 Active
Interrupt Positioning
1 to 6000 - Active H05-26
2.1.9 Homing
● The homing trigger signal is disabled when interrupt positioning or multi-position reference is in progress.
● Ensure H11-00 is not set to 5 when using local homing function. When H11-00 is set to 5 (Axis-controlled
continuous operation), the local homing function will be disabled.
Description of the homing function
● Home (or mechanical home): Indicates the position of the home switch or motor Z signal
depending on the setting of H05-31 (Homing mode).
● Zero position (or target point): Indicates the sum of the home plus the offset (defined by H05-36).
When H05-36 (Home offset) is set to 0, zero position shares the same position with the home.
‑53‑
In the position control mode, when homing is triggered after the S-ON signal is activated, the motor
starts searching for the zero point.
When homing is in progress, the servo drive does not respond to other position references (including
another homing trigger signal) until homing is done.
The homing function comes in two modes: homing mode and electrical homing mode.
● Homing: The servo drive, upon receiving the homing trigger signal, locates the relative position of
the motor shaft and the mechanical home based on the pre-set mechanical home and starts
searching for the home first. Then the servo drive executes the offset based on the home, after
which it reaches the zero point. The homing mode usually applies in initial search of the zero point.
● Electrical homing: After determining the absolute zero position through homing, the servo drive
takes current position as the start position to execute a relative displacement.
After the homing function (both homing and electrical homing) is done executing, the motor position
absolute value (H0B-07) is consistent with the home offset (H05-36).
After homing is done, the servo drive outputs the homing completed signal (FunOUT.16: HomeAttain)
or electrical homing completed signal (FunOUT.17: ElecHomeAttain). The host controller, upon
receiving the signal, acknowledges the homing is done. HomeAttain and ElecHomeAttain signals are
independent of the control mode or the operating state of the servo drive.
Table 2–17 Comparison between homing and electrical homing

Homing
Homing Direction,
Mode trigger mode Trigger Signal Total Motor Displacement
Deceleration Point, Home
(H05-30)
0 - - -
1 HomingStart signal Determined by the home
Determined by H05-31
3 S-ON coordinate and offset
Homing (Homing mode)
4 S-ON displacement.
6 - - -
8 - - -
2 The homing direction is HomingStart signal
consistent with the motor
Electrical displacement sign (+/-), (H05-36 – H0B-07) x
homing 5 needless of the S-ON Electronic gear ratio
deceleration point or
home signal.
Note
The moving average filter and the low-pass filter are inactive during homing.
‑54‑
Homing
● Set mechanical limit switches before enabling homing. For homing upon hit-and-stop, set the offset to a value
within the travel range to prevent the machine from collision due to high-speed operation during homing.
● When the motor hits the limit switch during homing, the servo drive reports Er.950 (Forward overtravel) or Er.952
(Reverse overtravel), and the motor, if H05-40 is set to 0 or 1, stops based on the stop mode defined by H02-07.
See the following examples for the homing mode:
● H05-31 = 0: Forward homing, home switch as the deceleration point and the home
● H05-31 = 2: Forward homing, motor Z signal as the deceleration point and the home
● H05-31 = 4: Forward homing, home switch as the deceleration point and motor Z signal as the
home
● H05-31 = 6: Forward homing, positive limit switch as the deceleration point and the home
● H05-31 = 8: Forward homing, positive limit switch as the deceleration point and motor Z signal as
the home
● H05-31 = 10: Forward homing, mechanical limit as the deceleration point and the home (H05-31 =
10)
● H05-31 = 12: Forward homing, mechanical limit as the deceleration point and motor Z signal as the
home (H05-31 = 12)
The other homing modes are the same as above, except the initial homing mode, which is contrary to
the above.
● H05-31 = 0: Forward homing, home switch as the deceleration point and the home
■ The home switch (deceleration point) signal is inactive (0: inactive, 1: active) when the motor
starts running. The positive limit switch is not triggered during the whole process.
The motor starts searching for the deceleration point signal in the forward direction at the speed
defined by H05-32. After reaching the rising edge of the deceleration point signal, it decelerates
as defined by H05-34 to the setpoint of "-(H05-33)". After that, it starts searching for the falling
edge of the deceleration point signal in the reverse direction at the speed defined by "-(H05-33)"
After reaching this falling edge, it changes to search for the rising edge of the home signal at the
same speed but in the opposite direction. Finally it stops immediately after reaching the rising
edge of the home signal during forward acceleration or forward operation at a constant speed.
Figure 2-26 Motor operating curve and speeds in Mode 0
‑55‑
■ The home switch (deceleration point) signal is active when the motor starts running, and the
positive limit switch is not triggered during the whole process.
The motor starts searching for the falling edge of the deceleration point in the reverse direction
at the speed defined by "-(H05-33)". After reaching this falling edge, it changes to operate in the
forward direction and search for the rising edge of the home signal at the same speed. Finally, it
stops immediately after reaching the rising edge of the home signal during forward acceleration
or forward operation at a constant speed.
■ The home switch (deceleration point) signal is inactive when the motor starts running, and the
positive limit switch is triggered.
The motor starts searching for the deceleration point signal in the forward direction at the speed
defined by H05-32. After reaching the positive limit switch, it changes to execute reverse homing
(H05-40 = 2 or 3) or stops and waits for another homing trigger signal (H05-40 = 0 or 1). After
receiving the signal, it starts searching for the falling edge of the deceleration point signal in the
reverse direction at the speed defined by "-H05-32". After reaching this falling edge, it
decelerates as defined by H05-34 and changes to search for the rising edge of the home signal in
the forward direction as defined by H05-33. Finally, it stops immediately after reaching the rising
edge of the home signal during forward acceleration or forward operation at a constant speed.
● Mode 2: Forward homing, motor Z signal as the deceleration point and the home (H05-31 = 2)
‑56‑
Note: In Mode 2 and Mode 3 where the motor Z signal acts as the home and deceleration point, the actual stop posi-
tion of the motor may not be on the rising edge that on the same side of motor Z signal. A deviation of ± 1 pulse (in
encoder unit) may be present in the stop position.
■ The motor Z signal is inactive (0: inactive, 1: active) when the motor starts running, and the
The motor starts searching for the Z signal in the forward direction at the speed defined by H05-
32. After reaching the rising edge of the Z signal, the motor decelerates as defined by H05-34 and
changes to run in the reverse direction. Then it accelerates to the speed defined by "-(H05-33)"
and stops immediately after reaching the rising edge of the Z signal on the other side during
reverse acceleration or reverse operation at a constant speed.
■ The motor Z signal is active when the motor starts running, and the positive limit switch is not
triggered during the whole process.
The motor starts searching for the falling edge of the Z signal in the forward direction at the
speed defined by H05-33. After reaching this falling edge, it changes to search for the rising edge
of the Z signal in the reverse direction at the speed defined by "-(H05-33)". Finally, it stops
immediately after reaching the rising edge of the Z signal during reverse acceleration or reverse
operation at a constant speed.
‑57‑
■ The motor Z signal is inactive when the motor starts running, and the positive limit switch is
triggered.
The motor starts searching for the Z signal in the forward direction at the speed defined by H05-
32. After hitting the positive limit switch, the motor changes to execute reverse homing (H05-40
= 2 or 3) or stops and waits for another homing trigger signal (H05-40 = 0 or 1). After receiving the
signal, it starts searching for the Z signal in the reverse direction at the speed defined by "-(H05-
32)" until reaching the rising edge of the Z signal, where it decelerates as defined by H05-34 and
changes to search for the rising edge of the Z signal on the other side at the speed defined by
H05-33 in the forward direction. Finally, it stops immediately after reaching the rising edge of the
Z signal on the other side during forward acceleration or forward operation at a constant speed.
● Mode 4: Forward homing, home switch as the deceleration point and motor Z signal as the home
(H05-31 = 4)
■ The home switch signal is inactive (0: inactive, 1: active) when the motor starts running and the
The motor starts searching for the home switch signal in the forward direction at the speed
defined by H05-32. After reaching the rising edge of the home switch signal, it decelerates as
defined by H05-34 and changes to search for the falling edge of the home switch signal at the
speed defined by "-(H05-33)". After reaching this falling edge, it decelerates and changes to
search for the rising edge of the home switch signal in the forward direction at the speed defined
by "H05-33". After reaching this rising edge, it continues running and stops after reaching the
first Z signal.
■ The home switch signal is active when the motor starts running and the positive limit switch is
not triggered during the whole process.
‑58‑
The motor starts searching for the falling edge of the home switch signal in the reverse direction
at the speed defined by "-(H05-33)". After reaching this falling edge, it decelerates and changes
to search for the rising edge of the home switch signal in the forward direction at the speed
defined by "H05-33". After reaching this rising edge, it continues running and stops after
reaching the rising edge of the first Z signal.
■ The home switch signal is inactive when the motor starts running and the positive limit switch is
triggered.
The motor starts searching for the home switch in the forward direction at the speed defined by
H05-32. After hitting the positive limit switch, the motor executes reverse homing (H05-40 = 2 or
3) as defined by H05-40 or stops and waits for another homing trigger signal (H05-40 = 0 or 1).
After receiving this signal, it starts searching for the deceleration point in the reverse direction at
the speed defined by "-(H05-32)" until reaching the falling edge of the home switch signal, where
it decelerates as defined by H05-34 and changes to search for the rising edge of the home switch
signal in the forward direction at the speed defined by H05-33. After reaching this rising edge, it
continues running and stops after reaching the first Z signal.
● Mode 6: Forward homing, positive limit switch as the deceleration point and the home (H05-31 = 6)
■ The positive limit switch signal is inactive (0: inactive, 1: active) when the motor starts running.
The motor starts searching for the positive limit switch in the forward direction at the speed
defined by H05-32. After reaching the rising edge of the positive limit switch signal, it decelerates
as defined by H05-34 and changes to search for the falling edge of the positive limit switch signal
‑59‑
in the reverse direction at the speed defined by "-(H05-33)". After reaching this falling edge, it
decelerates and changes to search for the rising edge of the positive limit switch signal in the
forward direction at the speed defined by H05-33. Finally, it stops after reaching the rising edge
of the positive limit switch signal during forward acceleration or forward operation at a constant
speed.
■ The positive limit switch signal is active when the motor starts running.
The motor starts searching for the falling edge of the positive limit switch signal in the reverse
direction at the speed defined by "-(H05-33)". After reaching this falling edge, it decelerates and
changes to search for the rising edge of the positive limit switch signal in the forward direction
at the speed defined by H05-33. Finally, it stops immediately after reaching the rising edge of the
positive limit switch signal during forward acceleration or forward operation at a constant
speed.
● Mode 8: Forward homing, positive limit switch as the deceleration point and motor Z signal as the
home (H05-31 = 8)
■ The positive limit switch signal is inactive (0: inactive, 1: active) when the motor starts running.
The motor starts searching for the positive limit switch in the forward direction at the speed
defined by H05-32. After reaching the rising edge of the positive limit switch signal, it decelerates
as defined by H05-34 and changes to search for the falling edge of the positive limit switch signal
in the reverse direction at the speed defined by "-(H05-33)". After reaching this falling edge, the
motor continues running and stops after reaching the first Z signal.
‑60‑
■ The positive limit switch signal is active when the motor starts running.
The motor starts searching for the falling edge of the positive limit switch signal in the reverse
direction at the speed defined by "-(H05-33)". After reaching this falling edge, it continues
running. After reaching the rising edge of the first Z signal, it stops.
● Mode 10: Forward homing, forward mechanical limit as the deceleration point and the home (H05-
31 = 10)
The motor starts running in the forward direction at the speed defined by H05-33. After hitting the
mechanical limit, if the torque keeps reaching the upper limit (H05-58) and the speed keeps lower
than H05-56 for a period of time, it indicates the mechanical limit is reached. In this case, the motor
stops immediately.
‑61‑
● Mode 12: Forward homing, forward mechanical limit as the deceleration point and motor Z signal
as the home (H05-31 = 12)
The motor starts running in the forward direction at the speed defined by H05-33. After hitting the
mechanical limit, if the torque keeps reaching the upper limit (H05-58) and the speed keeps lower
than H05-56 for a period of time, it indicates the mechanical limit is reached. In this case, the motor
changes to run in the reverse direction at the speed defined by H05-33 and stops after reaching the
rising edge of the first Z signal.
Figure 2-40 Motor running curve and speeds in Mode 12
Electrical homing: starting electrical homing (H05-30 = 5)
The mechanical zero position is known after homing is done. In this case, you can make the motor
move from current absolute position (H0B-07) to the designated position (H05-36) by setting H05-36
(Mechanical home offset).
In the electrical homing mode, the motor runs at the speed defined by H05-32 in the direction
determined by the sign (+/-) of the total displacement value. The total displacement is determined by
the difference between H05-36 and H0B-07. The motor stops immediately after the displacement
reference is done executing.
Figure 2-41 Motor operating curve and speeds in electrical homing
Mechanical home and mechanical zero
The following table describes the difference between mechanical home and mechanical zero in cases
where H05-30 (Homing selection) is set to 0 (Disabled).
‑62‑
Table 2–18 Description of mechanical home and mechanical zero

Mechanical Zero Different From Mechanical Home Mechanical Zero Same As Mechanical Home
If home offset is present (H05-36 ≠ 0) and the If home offset is present (H05-36 ≠ 0) and the
mechanical home differs from the mechanical zero mechanical zero is the same as the mechanical home
(H05-40 = 0 or 2), the motor stops immediately after (H05-40 = 1 or 3), the motor continues running after
reaching the rising edge of the home signal during reaching the rising edge of the home switch signal
acceleration or constant-speed operation in the during forward acceleration or forward operation at a
forward direction. After stop, the motor position constant speed until the motor position absolute value
absolute value (H0B-07) is changed to the value of H05- (H0B-07) reaches the value of H05-36 (Mechanical home
36 (Mechanical home offset) forcibly. offset).
Parameter Settings
● Setting the homing mode

‑63‑
Para. Setting Effective

Name Value Range Description Default
No. Condition Time
0: Disabled
1: Homing enabled by the

HomingStart signal input from DI
2: Electrical homing enabled by the Defines the

HomingStart signal input from DI homing mode
Homing 3: Homing enabled immediately upon and the source During
H05-30 Immediately 0
selection power-on for triggering running
the homing
4: Homing performed immediately signal.
5: Electrical homing started
6: Current position as the home
8: DI-triggered point as the home
‑64‑

No. Condition Time
0: Forward, home switch as
deceleration point and home
1: Reverse, home switch as

2: Forward, motor Z signal as

3: Reverse, motor Z signal as


deceleration point and Z signal as
home

home
6: Forward, positive limit switch as

7: Reverse, negative limit switch as

8: Forward, positive limit switch as

Defines the
direction,
home
Homing deceleration During
H05-31 Immediately 0
mode 9: Reverse, negative limit switch as point, and the running
deceleration point and Z signal as home during
home homing.
10: Forward, mechanical limit as
11: Reverse, mechanical limit as


home

home
14: Forward single-turn homing

(electrical homing mode, H05-69
needs to be used)
15: Reverse single-turn homing

needs to be used)
16: Nearby single-turn homing

needs to be used)
‑65‑

No. Condition Time
0: H05-36 as the coordinate after
homing, reverse homing applied after
homing triggered again upon
Defines the
overtravel
mechanical
1: H05-36 as the relative offset after
home offset
Home offset homing, reverse homing applied after during homing,
and action homing triggered again upon extra travel
H05-40 At stop Immediately 0
upon overtravel distance after
overtravel 2: H05-36 as the coordinate after homing, and
homing, reverse homing applied the action
automatically upon overtravel upon
overtravel.
3: H05-36 as the relative offset after
homing, reverse homing applied
automatically upon overtravel
Defines the
0: Disabled auxiliary
1: Single-turn homing enabled homing
functions. To
Auxiliary 2: Current position as the single-turn
use these Next power-
H05-69 homing home (position of the Z signal) At stop 0
functions, on
function 3: A new searching for Z signal install an
(homing) started Inovance 23-bit
4: Single-turn home offset cleared absolute
encoder.
● Setting the homing curve

The final positioning may be unstable if the home signal is activated without sufficient deceleration
after the deceleration point signal is activated. Therefore, take the displacement required by
deceleration into account when setting the input positions of the deceleration point and home
signal. The acceleration/deceleration time during homing (H05-34) also needs to be taken into
account as it affects the positioning stability.
Setting
Para. No. Name Value Range Unit Description Effective Time Default
Condition
Defines the speed in high-
speed searching for the
Speed in high-
deceleration point during
speed
homing. During
H05-32 searching for 0 to 3000 RPM Immediately 100
During electrical homing, running
the home
switch signal the motor always runs at
the speed defined by H05-
32.
Defines the speed in low-
Speed in low-
speed searching for the
speed
home during homing. The During
H05-33 searching for 0 to 1000 RPM Immediately 10
setpoint must be low running
the home
enough to prevent
switch signal
mechanical shock at stop.
‑66‑
Setting
Condition
Defines the time needed
Acceleration/
for the motor to change
Deceleration During
H05-34 0 to 1000 ms from 0 RPM to 1000 RPM Immediately 1000
time during running
at a constant speed
homing
during homing.
Defines the time taken by
homing. Once the time
Homing time During
H05-35 0 to 65535 ms limit is exceeded, Er.601 Immediately 10000
limit running
(Homing timeout) will
occur.
-1073741824 Defines the absolute
Refer-
Mechanical to value of the motor During
H05-36 ence Immediately 0
home offset +107374182- position (H0B-07) after running
unit
4 homing.

Active: Current position as the home
Set the logic of the DI assigned with FunIN.31 to

FunIN.31 HomeSwitch Home switch "active high" or "active low" based on the output
of the host controller. See the following table for
details.
Active: Homing enabled (The HomingStart signal
FunIN.32 HomingStart Homing function cannot be triggered repeatedly during homing.)
Inactive: Homing disabled

DI-triggered position as
FunIN.41 HomingRecord The edge-triggered position is taken as the home.
the home
Active: Homing completed in the position control
FunOut.16 HomeAttain Homing completed mode
Inactive: Homing not completed

Active: Electrical homing completed in the
Electrical homing position control mode
FunOut.17 ElecHomeAttain
completed
Inactive: Electrical homing not completed
DI Terminal Logic Set by HomeSwitch Actual Active Level

0 (Low level) Low level
1 (High level) High level
3 (Rising edge) High level
4 (Falling edge) Low level
5 (Edge-triggered) Low level
Operation sequence
● H05-30 (Homing selection) = 1 or 2
‑67‑
Figure 2-42 Example of timing diagram
■ Switch on the S-ON signal first and then the HomingStart signal.
■ During homing, the S-ON signal remains active and the change of the HomingStart signal is
shielded.
■ During homing, the servo motor stops if the S-ON signal is switched off. To enable homing again,
switch on the S-ON signal first and then the HomingStart signal.
■ If Er.601 (Homing timeout) occurs, the servo motor stops, but the S-ON signal remains active. In
this case, trigger the HomingStart signal again to reset Er.601, and execute homing again.
■ The homing operation can be triggered repeatedly.
● H05-30 = 3
■ The homing operation is executed only when the S-ON signal is switched on for the first time
after power-on.
■ The motor stops when Er.601 (Homing timeout) occurs. To reset Er.601, deactivate the S-ON
signal.
■ The homing operation can only be triggered again at next power-on.
● H05-30 (Homing selection) = 4 or 5
■ The homing operation is executed immediately after the S-ON signal is activated upon power-
on.
■ If the S-ON signal is switched off during homing, the motor stops immediately. To trigger
homing again, switch on the S-ON signal again.
■ When Er.601 (Homing timeout) occurs, H05-30 is set to 0 and the motor stops. To reset Er.601,
deactivate the S-ON signal. To perform homing again, reset H05-30. After homing is done, H05-
30 is set to 0.
● H05-30 = 6
■ To take the current position as the home and implement the home offset (H05-40 = 0 or 2, H05-
36 ≠ 0), set H05-36 and H05-40 first, and then set H05-30 to 6. Failing to do so will cause H0B-07
to keep the previous value of H05-36 rather than the one set currently.
‑68‑
■ After homing is done, H05-30 is set to 0. To perform homing again, write H05-36 again and set
H05-30 to 6.
● H05-30 = 8
■ To take the DI-triggered position as the home, assign FunIN.41 to a DI first and set the current
position as the home.
■ To implement home offset (H05-40 = 0 or 2, H05-36 ≠ 0), set H05-36 and H05-40 first, and then
set H05-30 to 6. Failing to do so will cause H0B-07 to keep the previous value of H05-36 rather
than the one set currently.
2.1.10 Block Diagram of Position Control Parameters
Figure 2-43 Block diagram of position control parameters
‑69‑
2.2 Speed Control Mode
Figure 2-44 Speed control mode
Set H02.00 to 0 through Inovance software tool or the keypad, which enables the servo drive to
operate in the speed control mode. Set servo drive parameters based on the mechanical structure and
technical indicators. The following describes parameter settings in the speed control mode.
Figure 2-45 Signal exchange between the servo drive and host controller
2.2.1 Speed Reference Input Setting
Speed reference source
The following five speed reference sources are available in the speed control mode, which can be set in
H06-02.
‑70‑
Figure 2-46 Speed reference source
Setting
Condition
0: Source of main speed
reference A
1: Source of auxiliary
Speed speed reference B Defines the
H06-02 reference - speed reference At stop Immediately 0
2: A+B
source source.
3: Switched between A
and B
4: Communication
● Source of main speed reference A

The main speed reference A is an internal speed reference that can be set through digital setting.
Figure 2-47 Source of main speed reference A
‑71‑
Setting
Condition
Source of main Defines the source of
0: Digital setting
H06-00 speed reference - main speed At stop Immediately 0
(H06-03)
A reference A.
Digital setting: The setpoint of H06-03 (Speed reference set through keypad) is used as the speed
reference value.
Setting
Condition
Defines the value of
Speed reference
the internal speed During
H06-03 set through -6000 to +6000 RPM Immediately 200
reference, which is running
keypad
accurate to 1 RPM.
● Source of auxiliary speed reference B

The auxiliary speed reference B is an internal speed reference that can be set through digital setting
or multi-speed references.
Figure 2-48 Source of auxiliary speed reference B
Setting
Condition
Source of 0: Digital setting
(H06-03) Defines the source
auxiliary
H06-01 - of auxiliary speed At stop Immediately 5
speed 5: Multi-speed reference B.
reference B reference
The digital setting mode is the same as H06-00. The following describes multi-speed references.
The servo drive supports multi-speed operation, in which 16 speed references can be saved in the
servo drive. The maximum operating speed, operating time and acceleration/deceleration time
(four groups) can be set separately for each speed reference. Four groups of acceleration/
deceleration times are available. The setting flowchart is shown below.
‑72‑
•
•
•
Figure 2-49 Flowchart for setting multi-speed reference
1. Setting the multi-speed operation mode
Setting
Condition
0: Individual
operation
(number of speeds
defined by H12-01)
Multi-speed Defines the multi-
H12-00 operation 1: Cyclic operation - speed operation At stop Immediately 1
mode (number of speeds mode.
defined by H12-01)
2: DI-based
operation
Number of Defines the
speed number of speed
H12-01 references in 1 to 16 - references during At stop Immediately 1
multi-speed multi-speed
operation operation.
Defines the
operating time
Operating time 0: Sec unit of speed During
H12-02 - Immediately 1
unit 1: Min references during running
multi-speed
operation.
You can assign FunIN.5 (DIR-SEL) to an external DI to select the reference direction in multi-
speed operation.
‑73‑

Inactive: Default reference
Reference direction in multi- direction
FunIN.5 DIR-SEL
speed operation Active: Opposite to the
reference direction
The following describes different multi-speed operation modes when H12-01 is set to 2.
■ Individual operation (H12-00 = 0)

Set H12-00 to 0 to select the individual operation mode.
Set H12-01 and H12-02 as needed. Then set the reference value, operating time, and
acceleration/deceleration time of each speed. The servo drive executes speed references in a
sequence from speed 1 to the speed N (last speed). After all the speed references are
executed, the servo drive stops.
Table 2–19 Description of individual operation

● V 1max , V 2max : reference speeds of speed 1 and speed

2
t 1 : actual acceleration/deceleration time of speed 1
●
t 3 , t 5 : acceleration/deceleration time of speed 2

●
●The servo drive operates for one
Operating time = Time taken in switching from the
●
cycle only.
last speed no. to this speed no. + Duration of
●The servo drive switches to the next
constant-speed operation in this speed no. For
displacement no. automatically.
example, the operating time of speed 1 is the sum of t
1 and t 2 ; the operating time of speed 2 is the sum of t 3
and t 4 .
Do not set the operating time of a certain speed to 0.
●
Otherwise, the servo drive skips this speed no. and

switches to the next speed no. directly.
The speed reach signal is activated when the motor
●
speed feedback reaches the maximum operating

speed set for this speed no..
If the S-ON signal is switched off during operation,
●
the motor stops in the mode defined by H02-05 (Stop

mode at S-ON OFF).
Definition of terms:
A complete operation cycle covers all the speed references defined by H12-01.
■ Cyclic operation (H12-00 = 1)

Select the cyclic operation mode by setting H12-00 to 1.
‑74‑
Set H12-01 and H12-02 as needed. Then set the reference value, operating time and
acceleration/deceleration time for each speed no.. The servo drive executes speed references
in a sequence from speed 1 to speed N (last speed). After all the speeds are executed, the
servo drive jumps to speed 1 and repeats the preceding process.
Table 2–20 Descriptions of cyclic operation

V 1max , V 2max : maximum operating speeds of speed 1

●
and speed 2
●The servo drive starts from speed 1 Operating time = Time taken in switching from the
●
again after each cycle of operation. last speed no. to this speed no. + Duration of
●The servo drive switches to the next constant-speed operation in this speed no. For
displacement no. automatically. example, the operating time of speed 1 is the sum of t
●The cyclic operation state remains 1 and t 2 ; the operating time of speed 2 is the sum of t 3
active if the S-ON signal is active. and t 4 .
Do not set the operating time of a certain speed to 0.
●
Otherwise, the servo drive skips this speed no. and

switches to the next speed no. directly.
The speed reach signal is activated when the motor
●

If the S-ON signal is switched off during operation,
●

mode at S-ON OFF).
■ DI-based operation (H12-00 = 2)

Set H12-00 to 2 to select DI-based operation.
Set H12-01 and H12-02 as needed. Then set the reference value, operating time and
acceleration/deceleration time for each speed no.. The servo drive executes the speed
references according to ON/OFF combination of the external DIs (CMDx).
‑75‑
Table 2–21 Descriptions of DI-based operation

● This mode remains active if the S-

ON signal is active.
● The speed no. is determined by the
DI logic. ●x, y: speed no. The relation between the speed no.
● The time interval between multi- and the DI logic is described below.
speed references is determined by ●The operating time is independent of the parameter
the command delay of the host setpoint. If the speed no. changes during operation,
controller. the servo drive switches to the new speed no.
● Multi-speed references are edge- immediately.
triggered. ●The speed reach signal is activated when the motor
●If the S-ON signal is switched off during operation,
mode at S-ON OFF).
When H11-00 is set to 2, assign FunIN.6 (CMD1), FunIN.7 (CMD2), FunIN.8 (CMD3), and FunIN9
(CMD4) to four DIs, and set the active logic of these DIs. You can also assign FunIN.5 (DIR-SEL)
to a DI to switch the speed reference direction.

Defines the speed reference
direction in the DI-based multi-
speed operation mode.
DI-based multi-speed operation
FunIN.5 DIR-SEL
direction Inactive: Reference direction
Active: Opposite to the reference

direction
FunIN.6 CMD1 Multi-reference switchover 1 The speed no. is a 4-bit binary
FunIN.7 CMD2 Multi-reference switchover 2 value. The relation between the
FunIN.8 CMD3 Multi-reference switchover 3 speed no. and CMD1 to CMD4 is
shown in “Table 2–22” on page 76.
The CMD value is 1 when the level

FunIN.9 CMD4 Multi-reference switchover 4
input from DI is active or is 0 when
the level input from DI is inactive.
Table 2–22 Relation between the speed no. and CMD1 to CMD4
CMD4 CMD3 CMD2 CMD1 Speed No.

0 0 0 0 1
0 0 0 1 2
…
1 1 1 1 16
‑76‑
Figure 2-50 Example of multi-speed operation curve
2. Setting the multi-speed operating curve
The following takes speed 1 as an example.
Setting Effective
Condition Time
Acceleration
H12-03 0 to 65535 ms Defines the 1st group At stop Immediately 10
time 1
of acceleration/
Deceleration
H12-04 0 to 65535 ms deceleration time. At stop Immediately 10
time 1
Acceleration
H12-09 0 to 65535 ms Defines the 4th group At stop Immediately 150
time 4
of acceleration/
Deceleration
H12-10 0 to 65535 ms deceleration time. At stop Immediately 150
time 4
Speed of Defines the speed of
H12-20 -6000 to +6000 RPM At stop Immediately 0
speed 1 speed 1.
‑77‑
Setting Effective
Condition Time
Operating
Defines the operating
H12-21 time of speed 0 to 6553.5 s (min) At stop Immediately 5
time of speed 1.
1
0: Zero
acceleration/
deceleration
time
1: Acceleration/
Deceleration
time 1 Defines the
Acceleration/
Deceleration 2: Acceleration/ acceleration/
H12-22 - At stop Immediately 0
time of speed Deceleration deceleration time of
1 time 2 speed 1
3: Acceleration/
Deceleration
time 3
4: Acceleration/
Deceleration
time 4
For speed references in the multi-speed operation mode, besides the reference value and
operating time, four groups of acceleration/deceleration time options are also available. The
default value of H12-22 is 0.
The following describes the actual acceleration/deceleration time and the operating time
when H12-00 (Multi-speed operation mode) is set to 1 (Individual operation).
Figure 2-51 Example of multi-speed operation curve
As shown in the preceding figure, the speed reference is V 1 and the actual acceleration time t 1
is as follows.
The actual deceleration time t 2 is as follows.
Operating time = Time taken in switching from the last speed no. to this speed no. + Duration
of constant-speed operation in this speed no. (as shown by t 3 in the preceding figure)
● Switchover between A and B
‑78‑
When setting H06-02 (Speed reference source) to 3 (Switched between A and B), you need to assign
FunIN.4 (CMD-SEL) to the corresponding DI. The input signal of this DI determines which source (A
or B) is active.

Main reference (A)/Auxiliary Inactive: Current reference being A

FunIN.4 CMD-SEL
reference (B) switchover Active: Current reference being B
● Communication
When H06-02 (Speed reference source) is set to 4 (Communication), the speed reference is the
setpoint of H31-09. Parameter H31-09, which is not displayed on the keypad, can be set through
communication only.
Setting
Condition
Speed Used to set the speed
reference set reference value through
-6000.000 to During
H31-09 through RPM communication. Immediately -
+6000.000 running
communica- The setpoint is accurate
tion to 0.001 RPM.
Speed reference direction
Assign FunIN.26 to a DI so that you can switch the speed reference direction directly through the DI.
The input signal of this DI determines the speed reference direction.

Inactive: Forward
FunIN.26 SPDDirSel Speed reference direction
Active: Reverse
of the speed reference value, and the logic of FunIN.26.
Table 2–23 Actual direction of rotation in the speed control mode

H02-02 Sign of the Speed FunIN.26 Actual Direction of
Reference Value Rotation
0 + Inactive CCW
0 + Active CW
0 - Inactive CW
0 - Active CCW
1 + Inactive CW
1 + Active CCW
1 - Inactive CCW
1 - Active CW
‑79‑
2.2.2 Ramp Function Setting
The ramp function is used to smooth the acceleration rate of speed references through acceleration/
deceleration time setting.
In the speed control mode, a high acceleration rate easily leads to motor jerk or intense vibration. In
this case, increasing the acceleration/deceleration time smoothens the motor speed change,
preventing mechanical damage caused by jerk or vibration.
● When the speed reference is defined by the keypad or the jog speed, you can set the acceleration time and
deceleration time in H06-05 and H06-06.
● When the speed reference is defined by multi-speed references, you can set the acceleration/deceleration time
in parameter group H12. For details, see Chapter "Parameter List".
Figure 2-52 Definition of the ramp function
● H06-05: Defines the time taken in accelerating from 0 RPM to 1000 RPM.
● H06-06: Defines the time taken in decelerating from 1000 RPM to 0 RPM.
The formulas for calculating the actual acceleration time and deceleration time are as follows:
Value Setting
Para. No. Name Unit Description Effective Time Default
Range Condition
Acceleration ramp
Defines the acceleration/ During
H06-05 time constant of 0–65535 ms Immediately 0
deceleration time of speed running
speed reference
references (excluding
Deceleration ramp
multi-speed references) in During
H06-06 time constant of 0–65535 ms
the speed control mode.
Immediately -
running
speed reference
‑80‑
2.2.3 Zero Clamp
● Zero clamp is used in systems where position loop is unavailable in the speed control mode.
● If the motor oscillates in the zero clamp state, adjust the position loop gain.
Zero clamp refers to the zero position lock state that applies when the speed reference amplitude, in
cases where the ZCLAMP (FunIN.12) signal is active, is less than or equal to H06-15 in the speed control
mode. In this case, an internal position loop is built in the servo drive, which deactivates the speed
references.
The motor is locked to the zero clamp position with a deviation of ± 1 pulse, unaffected by external
force.
When the speed reference amplitude exceeds the setpoint of H06-15 (Speed threshold for zero clamp),
the motor exits from the zero clamp state and continues running according to the input speed
reference. Zero clamp is deactivated when the ZCLAMP (FunIN.12) signal is inactive.
Figure 2-53 Wiring and waveform of zero clamp
Value Setting
Range Condition
Defines the speed
Zero clamp speed During
H06-15 0–6000 RPM threshold for zero Immediately 10
threshold running
clamp.

Inactive: Zero clamp disabled
FunIN.12 ZCLAMP Zero clamp
Active: Zero clamp enabled
‑81‑
2.2.4 Speed Reference Limit
When the actual speed of the motor exceeds H0A-08 (Overspeed threshold), Er.500 (Motor overspeed) occurs. For
details of H0A-08, see Chapter "List of Parameters". The speed reference limit must be lower than H0A-08.
The speed references in the speed control mode is limited by the following factors:
● H06-07 (Maximum speed limit): Defines the speed reference limit in both directions. The limit value
applies when speed references exceed it.
● H06-08 (Forward speed limit): Defines the speed limit in the forward direction. The limit value
applies when forward speed references exceed it.
● H06-09 (Reverse speed limit): Defines the speed limit in the reverse direction.The limit value applies
when reverse speed references exceed it.
● Maximum motor speed (default limit): Depends on the motor model.
Figure 2-54 Example of speed reference limit
The actual motor speed limit is within the following range:
● |Amplitude of forward speed reference| ≤ min {maximum motor speed, H06-07, H06-08}
● |Amplitude of reverse speed reference| ≤ min {maximum motor speed, H06-07, H06-09}
Para. Setting
No. Condition
Defines the
Maximum speed During
H06-07 0 to 6000 RPM maximum speed Immediately 6000
limit running
limit.
Defines the speed
Forward speed During
H06-08 0 to 6000 RPM limit in the forward Immediately 6000
limit running
direction.
Defines the speed
Reverse speed During
H06-09 0 to 6000 RPM limit in the reverse Immediately 6000
limit running
direction.
‑82‑
2.2.5 Speed-Related DO Functions
By comparing filtered speed feedback with different thresholds, DO signals can be output for use by
the host controller. The filter time constant is set in H0A-27 (Speed DO filter time constant).
TGON signal output
Only when the absolute value of filtered motor speed reaches H06-16 (Motor speed threshold) will the
servo drive output the TGON (FunOUT.2: motor rotation) signal to acknowledge the rotation state.
Acknowledgment of the TGON signal is not affected by the operating state or the control mode of the
servo drive.
Figure 2-55 TGON signal waveform
Note
In the preceding figure, "ON" indicates the TGON (motor rotation) signal is active. "OFF" indicates the TGON (motor
rotation) signal is inactive.
Setting
Condition
Defines the speed
Threshold of threshold at which the During
H06-16 0–1000 RPM Immediately 20
TGON signal TGON (motor rotation) running
signal is active.
To use the TGON signal, assign FunOUT.2 (TGON, motor rotation) to a DO and set the active logic of
this DO.

Inactive: Absolute value of filtered motor speed less
than H06-16
FunOUT.2 TGon Motor rotation
Active: Absolute value of filtered motor speed
reaching H06-16
‑83‑
V-Cmp signal output
In the speed control mode, the servo drive outputs the speed matching (FunOUT.4: V-Cmp) signal only
when the difference between the filtered motor speed and speed reference is within the threshold
defined by H06-17. If the difference exceeds H06-17, the T-Cmp signal is inactive.
If the servo drive is neither in the operation state nor the speed control mode, the V-Cmp signal is
inactive.
Figure 2-56 V-Cmp signal waveform
Note
In the preceding figure, "ON" indicates the V-Cmp signal is active. "OFF" indicates the V-Cmp signal is inactive.
Setting
Condition
Defines the threshold at
Threshold of V- which the V-Cmp (speed During
H06-17 0–100 RPM Immediately 10
Cmp signal matching) signal is running
active.
To use the V-Cmp signal, assign FunOUT.4 (V-Cmp, speed matching) to a certain DO and set the active
logic of this DO.

Inactive: The absolute value of the difference
between filtered motor speed and speed
reference exceeds the threshold defined by
H06-17.
FunOUT.4 V-CMP Speed matching
Active: The absolute value of the difference
between filtered motor speed and speed
reference is within the threshold defined by
H06-17.
‑84‑
V-Arr signal output
The servo drive outputs the V-Arr (FunOUT.19: speed reach) signal only when the filtered motor speed
exceeds the threshold defined by H06-18.
Acknowledgment of the V-Arr signal is not affected by the operation state or control mode of the servo
drive.
Figure 2-57 V-Arr signal waveform
Note
In the preceding figure, "ON" indicates the V-Arr (speed reached) signal is active. "OFF" indicates the V-Arr (speed
reached) signal is inactive.
Setting
Condition
Defines the threshold at
Threshold of V-Arr During
H06-18 10–6000 RPM which the V-Arr (speed Immediately 1000
signal running
reach) signal is active.
To use the V-Arr signal, assign FunOUT.19 (V-Arr, speed reach) to a DO and set the active logic of this
DO.

Inactive: The absolute value of filtered motor
speed feedback exceeds the threshold defined by
H06-18.
FunOUT.19 V-Arr Speed reach
Active: The absolute value of filtered motor speed
feedback is within the threshold defined by H06-
18.
‑85‑
V-Zero signal output
The servo drive outputs the V-Zero (FunOUT.3: zero speed) signal only when the absolute value of
actual motor speed is lower than the threshold defined by H06-19.
Acknowledgment of the V-Zero signal is not affected by the operation state or the control mode of the
servo drive.
Interferences in the speed feedback can be filtered by the speed feedback DO filter. You can set the
corresponding filter time constant in H0A-27.
Figure 2-58 V-Zero signal waveform
Note
In the preceding figure, "ON" indicates the V-Zero signal is active. "OFF" indicates the V-Zero signal is inactive.
Setting
Condition
Defines the threshold
Threshold of zero
at which the V-Zero During
H06-19 speed output 1–6000 RPM Immediately 10
(zero speed) signal is running
signal
active.
To use the V-Zero signal, assign FunOUT.3 (V-Zero, zero speed) to a DO and set the active logic of this
DO.

Inactive: The difference between the motor speed
feedback and the reference value exceeds the
threshold defined by H06-19.
FunOUT.3 V-Zero Zero speed
Active: The difference between the motor speed
feedback and the reference value does not exceed the
‑86‑
2.2.6 Block Diagram of Speed Control Parameters
Figure 2-59 Block diagram of speed control parameters
‑87‑
2.3 Torque Control Mode
Figure 2-60 Block diagram of torque control mode
Set H02-00 (Control mode selection) to 2 (Torque control mode) through the keypad or the software
tool to make the servo drive operate in the torque control mode. Set the servo drive parameters based
on the mechanical structure and technical indicators. The following describes basic parameter settings
in the torque control mode.
Figure 2-61 Signal exchange between the servo drive and the host controller
2.3.1 Torque Reference Input Setting
Torque reference sources
Five torque reference sources are available in the torque control mode, which can be set in H07-02.
‑88‑
Figure 2-62 Torque reference sources
Para. Setting
No. Condition
0: Source of main torque
reference A
1: Source of auxiliary
Torque torque reference B
Defines the torque
H07-02 reference - At stop Immediately 0
2: A+B reference source.
source
3: Switched between A
and B
4: Communication
● Source of main torque reference A

The main speed reference A is an internal speed reference that can be set through digital setting.
Figure 2-63 Source of main torque reference A
Setting
Condition
Source of main Defines the source of
0: Digital setting
H07-00 torque - main torque At stop Immediately 0
(H07-03)
reference A reference A.
Digital setting
‑89‑
The torque reference is set in H07-03, which defines the percentage of the reference torque to the
rated torque of the motor.
Setting Effective
Condition Time
Torque Defines the internal
-400.0 to During
H07-03 reference set % torque reference value, Immediately 0
+400.0 running
through keypad which is accurate to 0.1%.
● Source of auxiliary torque reference B

The source of auxiliary torque reference B is set in the same way as the main torque reference A. For
descriptions of related parameters, see group H07 in Chapter "Parameter List".
● Switchover between A and B

When setting H07-02 (Torque reference source selection) to 3 (Switched between A and B), you
need to assign FunIN.4 (CMD-SEL) to a DI and the input signal of this DI determines which source (A
or B) is active.

OFF: Current reference being A
FunIN.4 CMD-SEL Reference switchover
ON: Current reference being B
● Communication
When H07-02 (Torque reference source) is set to 4 (Communication), the torque reference is the
setpoint of H31-11. Parameter H31-11, which is not displayed on the keypad, can be set through
communication only.
Setting
Condition
Defines the torque
Torque
reference value set
reference set -100.000 to During
H31-11 % through communication, Immediately -
through +100.000 running
which is accurate to
communication
0.001%.
Torque reference direction
To switch the torque reference direction through a DI, assign FunIN.25 (TorDirSel, torque reference
direction) to a DI. The input signal of this DI determines the torque reference direction.

Inactive: Actual direction same as the
Torque reference reference direction
FunIN.25 ToqDirSel
direction Active: Actual direction opposite to the
reference direction
of the torque reference value, and the logic of FunIN.25.
‑90‑
Table 2–24 Actual direction of rotation in the torque control mode

Sign (+/-) of Torque
H02-02 Logic of FunIN.25 Actual Direction of Rotation
Reference Value
0 + Inactive CCW
0 + Active CW
0 - Inactive CW
0 - Active CCW
1 + Inactive CW
1 + Active CCW
1 - Inactive CCW
1 - Active CW
2.3.2 Torque Reference Filter
If the filter time constant is set to an excessively high value, the responsiveness will be degraded, so pay attention
to the responsiveness when setting the filter time constant.
The servo drive smoothens torque references and reduces vibration through the low-pass filter in all
the control modes.
The servo drive offers two low-pass filters for torque references, in which the low-pass filter 1 is used
by default.
The servo drive switches to low-pass filter 2 when gain switchover is enabled (H08-08 = 1) and the
condition defined by H08-09 (H08-09 ≠ 0) is met.
Setting
Condition
Defines the low-pass
Torque reference
filter time constant for During
H07-05 filter time 0–30.00 ms Immediately 0.79
the 1st group of torque running
constant
references.
Defines the low-pass
2nd torque
filter time constant for During
H07-06 reference filter 0–30.00 ms Immediately 0.79
the 2nd group of torque running
time constant
references.
Figure 2-64 First-order filtering of rectangular torque references
‑91‑
Figure 2-65 First-order filtering of trapezoid torque references
2.3.3 Torque Reference Limit
Torque reference limit is needed and active in all the control modes.
The torque reference limit is used to protect the servo drive and the motor.
Figure 2-66 Torque reference and torque limit
If the absolute value of the torque reference input from the host controller or output from the speed
regulator exceeds the absolute value of the torque reference limit, the torque reference limit applies. If
the contrary happens, the torque reference input from the host controller or output from the speed
regulator applies.
Only one torque reference limit is active at any moment. The positive/negative torque limit cannot
exceed the maximum torque and ±300.0% rated torque of the servo drive and motor.
‑92‑
Figure 2-67 Example of torque limit
Setting the torque limit source
You can set the torque limit source in H07-07.
The torque limit applies when the torque reference exceeds the torque limit. Set the torque limit based
on the operating requirements of the load. An excessively low limit may weaken the acceleration/
deceleration capacity of the motor, causing the actual motor speed to fall below the demand value
during operation at a constant torque.
Setting
Condition
0: Positive/Negative
Torque limit internal torque limit Defines the torque
H07-07 - At stop Immediately 0
source 1: Positive/Negative limit source.
external torque limit
Figure 2-68 Torque limit source
‑93‑
The following figures show examples in which absolute values of torque references input from the host
controller exceed the absolute value of torque limit in the torque control mode.
● H07-07 = 0 (Positive/Negative internal torque limit)

The torque reference limit is determined only by H07-09 (Positive internal torque limit) and H07-10
(Negative internal torque limit).
Figure 2-69 Torque limit curve (H07-07 = 0)
● H07-07 = 1 (Positive/Negative external torque limit)

The torque reference limit is determined by the logic of the external DI signal. The positive torque
limit is selected between H07-09 (Positive internal torque limit) and H07-11 (Positive external
torque limit). The negative torque limit is selected between H07-10 (Negative internal torque limit)
and H07-12 (Negative external torque limit).
Figure 2-70 Torque limit source (H07-07 = 1)
‑94‑
Table 2–25 Descriptions of H07-07 = 1

P-CL
DI Status
OFF ON
OFF
N-CL
ON
Assign FunIN.16 (P-CL: Positive external torque limit) and FunIN.17 (N-CL: Negative external torque
limit) to two DIs and set the active logic of these two DIs.

The torque limit source is switched based on H07-07
(Torque limit source).
Positive external H07-07 = 1:
FunIN.16 P-CL
torque limit
Active: Positive external torque limit activated
Inactive: Positive internal torque limit activated

The torque limit source is switched based on H07-07
(Torque limit source).
Negative external H07-07 = 1:
FunIN.17 N-CL
torque limit
Active: Negative external torque limit activated
Inactive: Negative internal torque limit activated
Value Setting Effective
Para. No. Name Unit Description Default
Range Condition Time
Positive internal Defines the positive/ During
H07-09 0 to 400.0 % Immediately 300
torque limit negative internal torque running
limit (the value 100%
Negative internal During
H07-10 0 to 400.0 % corresponds to the rated Immediately 300
torque limit running
torque).
Positive external Defines the positive/ During
H07-11 0 to 400.0 % Immediately 300
torque limit negative external torque running
limit (the value 100%
Negative external During
H07-12 0 to 400.0 % corresponds to the rated Immediately 300
torque limit running
torque).
‑95‑
Setting torque limit DO signal
The servo drive outputs C-LT (FunOUT.7: torque limit) signal to the host controller when the torque
reference reaches the limit value. To use the C-LT signal, assign FunOUT.7 to a DO and set the active
logic of this DO.

Active: The torque reference reaches the limit
value and the limit value applies.
FunOUT.7 C-LT Torque limit signal
Inactive: The torque reference does not reach
the limit value.
2.3.4 Speed Limit in the Torque Control Mode
In the torque control mode, the motor accelerates continuously if the torque reference is higher than
the load torque on the machine side, which may cause overspeed and damage the machine. A speed
limit therefore must be set to protect the machine.
Figure 2-71 Speed limit in the torque control mode
Setting the speed limit source
You can set the speed limit source in the torque control mode through H07-17. The set speed limit
applies when the motor speed exceeds the limit. Set the speed limit based on the operating
requirements of the load.
Setting Effective
Condition Time
0: Internal speed limit
Defines the speed
Speed limit 1: Reserved limit source in the During
H07-17 - Immediately 0
source torque control running
2: H07-19 or H07-20 as
defined by DI mode.
‑96‑
Figure 2-72 Speed limit source
● H07-17 = 0 (Internal speed limit)

The speed limit in different directions of rotation is determined only by H07-19 (Positive speed
limit) and H07-20 (Negative speed limit)
Figure 2-73 Speed limit curve (H07-17 = 0)
● H07-17 = 2 (H07-19 or H07-20 as defined by DI)

H07-19 or H07-20 is used as the speed limit based on the logic of the DI signal.
Before setting H07-17 to 2, assign FunIN.36 (V-LmtSel: internal speed limit source) to a DI first, and
set the active logic of this DI.

Internal speed limit Inactive: H07-19 as internal speed limit

FunIN.36 V_LmtSel
source Active: H07-20 as internal speed limit
‑97‑
Table 2–26 Descriptions of speed limit

V_LmtSel
ON OFF

Para. No. Name Unit Description Default
Positive speed limit/ Defines the positive speed
During
H07-19 Speed limit 1 in 0–6000 RPM limit/speed limit 1 in the Immediately 3000
running
torque control torque control mode.
Negative speed Defines the negative speed
During
H07-20 limit/Speed limit 2 in 0–6000 RPM limit/speed limit 2 in the Immediately 3000
running
torque control torque control mode.
Setting speed limit DO signal
In the torque control mode, the servo drive outputs V-LT (FunOUT.8: speed limited) signal to the host
controller when the motor speed absolute value keeps exceeding the speed limit for the time defined
by H07-40.
Acknowledgment of the V-LT signal is executed only during operation in the torque control mode.
To use the V-LT signal, assign FunOUT.8 to a DO and set the active logic of this DO.
‑98‑
Figure 2-74 Example of speed limit DO waveform

Inactive: Motor speed not reaching the speed limit
FunOUT.8 V-LT Speed limited Active: Motor speed reaching the speed limit and
speed loop built based on this limit
2.3.5 Torque Reach Output
The servo drive outputs TorReach (FunOUT.18: torque reach) signal to the host controller when the
actual torque reference reaches the torque reference threshold. This signal is used to check whether
the actual torque reference reaches the set range.
Figure 2-75 Example of torque reach output waveform
● Actual torque reference (viewed in H0B-02): A

● Reference value for torque reach (H07-21): B
● Threshold of valid torque reach (H07-22): C
‑99‑
● Threshold of invalid torque reach (H07-23): D
C and D are the offset based on B.
Therefore, the TorReach signal is active only when |A| ≥ B + C and inactive only when |A| < B + D.
Figure 2-76 Active TorReach signal
Value Setting
Range Condition
Defines the reference value for
Reference value During
H07-21 0–300.0 % torque reach (the value 100% Immediately 0
for torque reach running
corresponds to the rated torque).
Defines the offset threshold for
Threshold of
valid torque reach (the value During
H07-22 valid torque 0–300.0 % Immediately 20.0
100% corresponds to the rated running
reach
torque).
Defines the offset threshold for
Threshold of
invalid torque reach (the value During
H07-23 invalid torque 0–300.0 % Immediately 10.0
100% corresponds to the rated running
reach
torque).
To use the TorReach signal, assign FunOUT.18 (ToqReach, torque reach) to a DO of the servo drive and
set the active logic of this DO.

Valid: Torque reference absolute value reaching the
setpoint
FunOUT.18 ToqReach Torque reach
Invalid: Torque reference absolute value lower than the
setpoint
‑100‑
2.3.6 Block Diagram of Torque Control Parameters
Figure 2-77 Block diagram of torque control parameters
2.4 Compound Control Mode
In the compound control mode, the control mode can be switched when the S-ON signal is active and
the servo drive is in the "run" state. The following four compound control modes are available:
● Torque control mode ↔ Speed control mode

● Speed control mode ↔ Position control mode
● Torque control mode ↔ Position control mode
● Speed control mode ↔ Position control mode ↔ Torque control mode
‑101‑
You can enable the compound control mode by setting H02-00 through the keypad or the software
tool.
Para. Setting
Name Value Range Description Effective Time Default
No. Condition
0: Speed control mode
1: Position control mode
2: Torque control mode

↔ Speed control mode
Defines the control
Control mode
H02-00 4: Speed control mode ↔ mode of the servo At stop Immediately 1
selection
Position control mode drive.
↔ Position control mode

↔ Speed control mode ↔
Position control mode
Set the parameters for different control modes based on the mechanical structure and technical
indicators. For details, see descriptions of H02-00 in Chapter "Parameter List".
Before setting H02-00 to 3, 4, or 5, assign FunIN.10 (M1_SEL, mode selection 1) to a DI first and set the
active logic of this DI. Before setting H02-00 to 6, assign FunIN.10 and FunIN.11 (M2_SEL, mode
selection 2) to two DIs first and set the active logic of these two DIs.

Defines the present control mode during
compound control when the servo drive is in the
FunIN.10 M1_SEL Mode switchover 1
"run" state, as shown in “Table 2–27” on page
102.
Defines the present control mode during
compound control when the servo drive is in the
FunIN.11 M2_SEL Mode switchover 2
"run" state, as shown in “Table 2–28” on page
103.
Table 2–27 Servo drive control mode

Logic of the DI Assigned with M1_
H02-00 Control Mode
SEL
Inactive Torque control mode
3
Active Speed control mode
Inactive Speed control mode
4
Active Position control mode
Inactive Torque control mode
5
Active Position control mode
‑102‑
Table 2–28 Servo drive control mode

Logic of the DI Assigned Logic of the DI Assigned
H02-00 Control Mode
with M2_SEL with M1_SEL
- Active Position control mode
6 Active Inactive Speed control mode
Inactive Inactive Torque control mode
2.5 Absolute Encoder System
2.5.1 Overview
The absolute encoder, which features a single-turn resolution of 8388608 (223), is used to detect the
motor position within one turn and count the number of motor revolutions, with 16-bit multi-turn data
recorded. The absolute encoder can be used to build an absolute system that works in the absolute
position linear mode or absolute position rotation mode, both of which can be applied in the position
control, speed control, and torque control modes. In the absolute system, the absolute encoder is
powered up by a battery to back up the data upon power-off. These data are used by the servo drive
for calculating the mechanical absolute position upon power-on, removing the need for a homing
operation.
To match the absolute encoder with the SV660P series servo drive, set H00-00 (Motor code) to 14101
(Inovance 23-bit absolute encoder). Then set H02-01 (Absolute system selection) based on actual
applications. Er.731 (Encoder battery failure) will occur at initial operation of the battery. Set H0D-20
(Absolute encoder reset function) to 1 to reset Er.731 before performing the homing operation.
Note
When you change the value of H02-02 (Direction of rotation) or H0D-20 (Absolute encoder reset selection), the abso-
lute position recorded by the encoder changes abruptly, causing the absolute position reference of the machine to
change. In this case, a homing operation is needed. After homing is done, the deviation between the mechanical ab-
solute position and that recorded in the encoder is calculated automatically and saved in the EEPROM of the servo
drive.
2.5.2 Related Parameter Settings
Absolute encoder system settings
Set H00-00 (Motor code) to 14101 (Motor with 23-bit absolute encoder). Then set H02-01 to select the
absolute position mode.
‑103‑
Setting Effective
Para. No. Name Value Range Description Default
Condition Time
14000: Inovance motor
with 20-bit incremental Defines the type of the
encoder motor used. Select
Next
H00-00 Motor code Inovance motor At stop 14101
14101: Inovance motor power-on
equipped with a 23-
with 23-bit absolute
bit absolute encoder.
encoder
14100: Multi-turn absolute
Absolute encoder Defines the absolute Next
H00-08 At stop 0
encoder type Others: Single-turn encoder type. power-on
absolute encoder
0: Incremental position
mode
Absolute system 1: Absolute position linear Defines the absolute Next

H02-01 At stop 0
selection mode position mode. power-on
2: Absolute position
rotation mode
Note
In the absolute position mode, the system detects the motor code automatically to check whether the motor used
is equipped with an absolute encoder. If not, Er.122 (Product mismatch in the absolute position mode) will occur.
Absolute position linear mode

Para. No. Name Description Default
Displays present absolute
Absolute position position (in reference unit)
H0B-07 - At display - 0
counter of the motor in the position
mode.
Mechanical absolute Displays the position of the
position (low 32 bits) load converted to the
motor end in the absolute
Mechanical absolute position linear mode or
position (high 32 bits) absolute position rotation
mode.
Absolute position fed
H0B-77 back by the absolute - At display - 0
encoder (low 32 bits) Displays the absolute
position fed back by the
absolute encoder.
encoder (high 32 bits)
The absolute position rotation mode applies when the load travel range is fixed and the encoder multi-
turn data does not overflow, such as the ball screw transmission mechanism shown below.
‑104‑
Figure 2-78 Ball screw transmission mechanism
In the formula P M = P E - P O :
P M : mechanical absolute position (H0B-58 and H0B-60)
P E [range: -238 to (238-1)]: absolute position fed back by the encoder
P O : position offset in the absolute position linear mode (H05-46 and H05-48)
If the electronic gear ratio is B/A, then the following formula applies: H0B-07 (Absolute position
counter) = P M /(B/A) H0B-07 indicates present mechanical absolute position (in reference unit).
Position offset in the absolute position linear mode (H05-46 and H05-48) is 0 by default. After homing is
done, the servo drive calculates the difference between the mechanical absolute position and that fed
back by the encoder, assigns the difference to H05-46 and H05-48 and saves the difference to EEPROM.
The encoder multi-turn data range in the absolute position linear mode is -32768 to +32767. If the
number of forward revolutions exceeds 32767 or the number of reverse revolutions is lower than
-32768, Er.735 (Encoder multi-turn count overflow) occurs. You can hide Er.735 by setting H0A-36
(Encoder multi-turn overflow fault) to 1 (Hide).
Absolute position rotation mode

Para. Setting
No. Condition
Absolute position Defines the mechanical
rotation mode transmission gear ratio
H05-50 1–65535 1 At stop Immediately 65535
Mechanical gear ratio between the load and the
(numerator) motor in the absolute
Mechanical gear ratio position rotation mode.
(denominator) in The gear ratio is active
H05-51 1–65535 1 only when H05-52 and At stop Immediately 1
absolute position
rotation mode H05-54 are set to 0.
Pulses per load

revolution in absolute
0 to Encoder
H05-52 position rotation At stop Immediately 0
4294967295 unit
mode (low 32 bits in Defines the pulses at the
encoder unit) motor end per load
Pulses per load revolution in the absolute
revolution in absolute position rotation mode.
0 to Encoder
H05-54 position rotation At stop Immediately 0
4294967295 unit
mode (high 32 bits in
encoder unit)
‑105‑
Para. Setting
No. Condition
Mechanical absolute Encoder Displays the position of
position (low 32 bits) unit the load converted to the
motor end in the
Mechanical absolute Encoder absolute position linear
position (high 32 bits) unit mode or absolute
position rotation mode.
Encoder
unit Displays the absolute
encoder (low 32 bits)
position fed back by the
Encoder absolute encoder.
unit
encoder (high 32 bits)
Single-turn position of Defines the motor
Encoder
H0B-81 the rotating load (low - position converted from At display - 0
unit
32 bits) the rotating load single-
turn position to the
Single-turn position of
Encoder motor end in the
H0B-83 the rotating load (high - At display - 0
unit absolute position
32 bits)
rotation mode.
Defines single-turn
Single-turn position of Refer- position of the rotating
the rotating load ence unit load in the absolute
position rotation mode.
This mode applies when the load travel range is unlimited and the number of revolutions in one
direction is lower than 32767. The rotating load is shown below.
Figure 2-79 Rotating load
The servo drive calculates the upper limit of the mechanical absolute position based on H05-52 and
H05-54 first. If H05-52 and H05-54 are 0, the servo drive turns to H05-50 and H05-51. When the encoder
resolution (R E ) is 223, and the encoder pulses per load revolution is represented by R M , the following
formula applies: H05-52 or H05-54 ≠ 0: R M = H05-54 x 232 + H05-52 H05-52 and H05-54 = 0: R M = R E
If the electronic gear ratio is B/A, then the following formula applies: H0B-07 (Absolute position
counter) = R M /(B/A) H0B-07 indicates present mechanical absolute position in reference unit.
‑106‑
The following figure shows the relation between single-turn position of the rotating load and position
of the rotary indexing table.
Figure 2-80 Relation between single-turn position of the rotating load and the position of the rotary in-
dexing table
The following figure shows the relation between the position fed back by the encoder and the single-
turn position of the rotating load.
Figure 2-81 Relation between the position fed back by the encoder and single-turn position of the rotat-
ing load
The multi-turn data range is unlimited in the absolute position rotation mode, so you can hide Er.735
(Encoder multi-turn count overflow).
Encoder feedback data
The encoder feedback data is divided into the number of revolutions and the single-turn position. For
the incremental position mode, the number of revolutions is not recorded.
‑107‑
Value Setting
Range Condition
Number of
Displays the number of
revolutions fed
H0B-70 - r revolutions fed back by At display - 0
back by the
the absolute encoder.
absolute encoder
Single-turn Displays the single-turn
position fed back Encoder absolute position fed
by the absolute unit back by the absolute
encoder encoder.
Encoder multi-turn overflow fault
In the absolute position linear mode, you can hide the encoder multi-turn overflow fault by setting
H0A-36.
Setting
Condition
In the absolute position
linear mode, you can hide
Encoder multi-turn 0: Not hide
H0A-36 - the encoder multi-turn At stop Immediately 0
overflow fault 1: Hide overflow fault by setting
H0A-36.
Absolute encoder reset
You can reset the encoder fault or reset the multi-turn data fed back by the encoder by setting H0D-20.
Setting
Condition
0: No operation
1: Reset encoder You can reset the encoder

Absolute
fault fault or reset the multi-
H0D-20 encoder reset - At stop Immediately 0
turn data fed back by the
selection 2: Reset encoder
encoder by setting H0D-20.
fault and multi-
turn data
Note
The absolute position recorded by the encoder changes abruptly after multi-turn data reset. In this case, a homing
operation is needed.
2.5.3 Precautions for Use of the Battery Box
Er.731 (Encoder battery failure) will occur at initial operation of the battery. Set H0D-20 (Absolute
encoder reset selection) to 1 to reset Er.731 before further operations.
When the battery voltage detected is lower than 3.0 V, Er.730 (Encoder battery warning) occurs. In this
case, replace the battery according to the following steps.
1. Step 1: Power on the servo drive and make it stay in the non-operating state.
2. Step 2: Replace the battery.
‑108‑
3. Step 3: If no other warning occurs after Er.730 is cleared, the servo drive is ready to run.
● If you replace the battery after powering off the servo drive, Er.731 (Encoder battery failure) will occur at next
power-on, leading to an abrupt change in the multi-turn data. In this case, set H0D-20 to 1 to reset the encoder
fault. Then perform the homing operation again.
● Ensure the maximum motor speed does not exceed 6000 RPM upon power-down of the servo drive. This is to
enable the encoder to record the position accurately.
● Keep the battery in environments within the required ambient temperature range and ensure the battery is in
reliable contact and carries sufficient power capacity. Otherwise, encoder data loss may occur.
2.6 Auxiliary Functions
The servo drive offers the following auxiliary functions to ensure a proper operation of the servo
system.
2.6.1 Software Position Limit
Hardware position limit is implemented by inputting external sensor signals to CN1 of the servo drive.
Figure 2-82 Installation of limit switches
Software position limit is implemented through a comparison between the internal position feedback
and the set limit. If the set limit is exceeded, the servo drive reports a warning and stops immediately.
Software position limit is available in both the absolute position mode and incremental position mode.
Before enabling software position limit in the incremental position mode, set H0A-40 (Software
position limit) to 2 (Enabled after homing) first, and then perform homing operation upon power-on.
Table 2–29 Comparison between the hardware position limit and software position limit
Hardware position limit Software position limit
Restricted to linear motion and single- Applicable to both the linear motion and
1 1
turn rotational motion. rotational motion.
Removes the need for hardware wiring,
Requires an external mechanical limit
2 2 preventing malfunction due to poor cable
switch.
contact.
3 Suffered from the risk of mechanical slip.
Prevents malfunction caused by mechanical
Unable to sense or detect overtravel 3
4 slip through internal position comparison.
after power-off.
‑109‑
Table 2–30 Related parameters of software position limit

Name Value Range Unit Description Default
No. Condition Time
0: Disabled
1: Enabled Defines whether or

Software immediately upon how to enable the
H0A-40 1 At stop Immediately 0
position limit power-on software position
2: Enabled after limit.
homing
Defines the
Maximum
maximum absolute
value of -2147483648 to Reference
H0A-41 position limit in At stop Immediately 2147483647
absolute +2147483647 unit
software position
position limit
limit.
Defines the
Minimum
minimum absolute
value of -2147483648 to Reference
H0A-43 position limit in At stop Immediately -2147483648
absolute +2147483647 unit
software position
position limit
limit.
● When H0A-40 is set to 0, software position limit is disabled.

● When H0A-40 is set to 1, software position limit is enabled immediately upon power-on. When the
value of the absolute position counter (H0B-07) is higher than the value of H0A-41, Er.950 (Forward
overtravel warning) occurs and the servo drive stops.
When the value of the absolute position counter (H0B-07) is lower than the value of H0A-43, Er.952
(Reverse overtravel warning) occurs and the servo drive stops.
● If H0A-40 is set to 2, software position limit is enabled after homing upon power-on. When the value
of the absolute position counter (H0B-07) is higher than the value of H0A-41 after homing, Er.950
(Forward overtravel warning) occurs and the servo drive stops. When the value of the absolute
position counter (H0B-07) is lower than the value of H0A-43 after homing, Er.952 (Reverse overtravel
warning) occurs and the servo drive stops.
2.6.2 Software Reset
When a No. 1 non-resettable fault does not occur and a restart is not allowed on site, you can use the
software reset function to restart a non-operating servo drive.
Parameter Setting Effective
No. Condition Time
After the software reset function is
0: No enabled, the servo drive executes
Software Immediate-
H0D-00 operation program reset (similar to that upon At stop 0
reset ly
1: Enable power-on) automatically, without
the need for power-off.
‑110‑
2.6.3 Motor Protection
Motor overload protection
The motor, after being energized, generates heat continuously due to thermal effect of the current. The
heat is then dissipated to the surrounding. When the heat generated exceeds the heat dissipated, the
motor temperature may rise to a point that could damage the motor. To prevent such risks, the servo
drive offers the motor overload protection function to prevent the motor from being damaged due to
over-temperature.
The SV660P series servo drive offers motor overload and over-temperature protection functions that
compliant with NEC and CEC requirements.
You can adjust the time for reporting Er.620 (Motor overload fault) by setting the motor overload
protection gain (H0A-04). Use the default value of H0A-04 in general conditions, however, when one of
the following condition occurs, adjust H0A-04 based on the actual heating condition.
● The motor works in environments with high temperature.

● The motor works in a cyclic motion featuring a short cycle and frequent acceleration/deceleration.
You can also disable motor overload detection (H0A-26 = 1) when you are sure that the motor will not
be damaged due to over-temperature.
Take caution when disabling motor stall over-temperature protection as such operation may damage the motor.
Setting
Condition
Motor Defines the motor
overload overload duration before
H0A-04 50–300 % At stop Immediately 100
protection Er.620 (Motor overload
gain fault) is reported.
0: Enable
1: Disable Defines whether to hide

Motor
2: No meaning the motor overload fault
H0A-26 overload - At stop Immediately 3
(Er.620) and warning
detection 3: Enable a new
(Er.909).
motor overload
detection
Motor stall over-temperature protection
A stalled motor is overheated significantly as the motor speed is nearly 0 RPM under a high current, so
a stalled motor can operate within an allowable period of time only, exceeding of which will lead to
over-temperature and damage the motor. To prevent such risks, the servo drive offers motor over-
temperature protection to prevent a stalled motor from being damaged due to over-temperature.
‑111‑
You can set the time for reporting Er.630 (Motor stall over-temperature fault) by setting the time
threshold for motor over-temperature protection (H0A-32). The motor over-temperature protection
function is enabled by default (H0A-33 = 1).
Take caution when disabling motor stall over-temperature protection as such operation may damage the motor.
Use a dedicated motor for the SV660P series servo drive. Failure to comply will result in the risk of short circuit due
to insulation deterioration.
Setting
Condition
Defines the motor stall
Time window
over-temperature
of motor stall
duration before Er.630 During
H0A-32 over- 10 to 65535 ms Immediately 200
(Motor stall over- running
temperature
temperature fault) is
protection
reported.
Motor stall
Defines whether to hide
over- 0: Disable During
H0A-33 - Er.630 (Motor stall over- Immediately 1
temperature 1: Enable running
temperature fault).
detection
Motor overspeed protection
An excessively high speed may damage the motor or the machine. The SV660P series servo drive
therefore offers the motor overspeed protection function to provide thermal protection for the motor.
● The servo drive also offers motor runaway protection to prevent motor stall caused by loss of control.
● In applications where the motor drives a vertical axis or is driven by the load, set H0A-12 to 0 to disable the
runaway fault detection. Use this function with caution.
‑112‑
Setting
Condition
Defines the motor speed
Overspeed threshold at which the During
H0A-08 0 to 10000 RPM Immediately 0
threshold overspeed fault (Er.500) running
is reported.
Defines whether to
Runaway 0: Disable During
H0A-12 - enable runway Immediately 1
protection 1: Enable running
protection.
Besides runaway protection, the servo drive allows you to set the speed limit in the speed control and
torque control modes to protect the motor and the machine.
2.6.4 DI Filter Time
The servo drive provides seven DIs, in which DI1 to DI5 are normal low-speed DIs, and DI8 and DI9 are
high-speed DIs.
The following table describes the logic of low-speed DIs.
Table 2–31 Logic of low-speed DIs

Logic Upon Active DI
Setpoint Remarks
Function
0 Low level
1 High level
The following table describes the logic of high-speed DIs.
Table 2–32 Logic of high-speed DIs

Logic Upon Active DI
Setpoint Remarks
Function
0 Low level
1 High level
S-ON signal filter setting
To use the servo drive, you need to assign FunIN.1 (S-ON, servo ON) to a DI or VDI.
‑113‑
Check whether interference exists in the S-ON signal when FunIN.1 is assigned to a DI. If yes, set H02-18
to filter the signal. Note that the effective time width of the S-ON signal must be larger than the sum of
the setpoint of H02-18 plus 3 ms. Otherwise, the S-ON signal is inactive.
High-speed DI filter setting
The servo drive offers two high-speed DIs with an input signal frequency up to 4 kHz. You can set H0A-
19 and H0A-20 to filter the signal interference.
Value Setting
Range Condition
S-ON filter time Defines the filter time
H02-18 0–64 ms At stop Immediately 0
constant constant of the S-ON signal.
DI8 filter time Defines the filter time
H0A-19 0–255 25 ns At stop Next power-on 80
constant constant of DI8.
DI9 filter time Defines the filter time
H0A-20 0–255 25 ns At stop Next power-on 80
constant constant of DI9.
‑114‑
Adjustment
3 Adjustment
3.1 Overview
The servo drive must drive the motor as quick and accurate as possible to follow the commands sent
from the host controller or internal setting, which requires a proper setting of gain values.
Figure 3-1 Example of gain setting
Position loop gain: 40.0 Hz Position loop gain: 200.0 Hz Position loop gain: 200.0 Hz
Speed loop gain: 200.0 Hz Speed loop gain: 25.0 Hz Speed loop gain: 25.0 Hz
Speed loop integral time constant: Speed loop integral time constant: Speed loop integral time constant:
100.00 ms 50.00 ms 50.00 ms
Speed feedforward gain: 0 Speed feedforward gain: 0 Speed feedforward gain: 50.0%
Load inertia ratio: 30 Load inertia ratio: 30 Load inertia ratio: 30
The gain is defined by a combination of multiple parameters that affect each other, including the
position loop gain, speed loop gain, filter and load moment of inertia ratio. Take the relation of these
parameters into consideration to keep a balanced setting.
Note
Before gain tuning, perform a trial run through jogging to ensure the motor operates properly.
The following figure shows the general flowchart for gain tuning.
‑115‑
Adjustment
Figure 3-2 Flowchart of gain tuning
Table 3–1 Description of gain tuning

Step Description Reference
“3.2.1 Offline
The servo drive calculates the load
Inertia Auto-
Offline inertia ratio automatically through
tuning” on page
inertia auto-tuning.
Inertia auto- 118
1
tuning The host controller sends a command to “3.2.2 Online
make the motor rotate, and the servo Inertia Auto-
Online
drive calculates the load inertia ratio in tuning” on page
real time. 121
Chapter
"Instructions for
The servo drive generates a group of
ETune Operation"
2 Gain auto-tuning gain values on the premise that the
and Chapter
inertia ratio is set correctly.
"Instructions for
STune Operations"
‑116‑
Adjustment
Step Description Reference

If the auto-tuned gain values cannot
“3.5.1 Basic
deliver desired performance, fine-tune
Basic gain values Parameters” on
gain values manually to improve the
page 132
performance.
“3.5.3
Filters the position, speed, and torque Comparison of
Reference filter
references. Filters” on page
141
Manual gain “3.5.4
3
tuning Feedforward gain Improves the follow-up behavior. Feedforward
Gain” on page 141
Pseudo Adjusts the speed loop control mode to “3.5.5 PDFF
differential improve the anti-interference capability control” on page
regulator in the low-frequency band. 143
“3.5.6 Torque
Torque
Improves the resistance against torque Disturbance
disturbance
disturbance. Observer” on page
observer
144
“3.7.1 Mechanical
Mechanical Suppresses mechanical resonance Resonance
resonance through the notch. Suppression” on
page 155
Vibration “3.7.2 Low-

4 frequency
suppression
Suppresses low-frequency resonance Resonance
Low-frequency
through the low-frequency resonance Suppression at
resonance
suppression filter. the Mechanical
Load End” on
page 161
3.2 Inertia Auto-tuning
The load inertia ratio (H08-15) is calculated using the following formula:
The load inertia ratio is a critical parameter of the servo system. A correct load inertia ratio facilitates
commissioning.
You can set the load inertia ratio manually or obtain the inertia ratio through inertia auto-tuning.
The following two inertia auto-tuning modes are available:
● Offline inertia auto-tuning

To enable offline inertia auto-tuning, use H0D-02 (Offline inertia auto-tuning) and make the motor
rotate and execute inertia auto-tuning through the keypad. Offline inertia auto-tuning does not
involve the host controller.
● Online Inertia Auto-tuning

To enable online inertia auto-tuning, send a command to the host controller, and the motor
executes inertia auto-tuning as commanded.
‑117‑
Adjustment
Note
● The following conditions must be fulfilled for an accurate calculation of the load inertia ratio during inertia auto-
tuning:
● The actual maximum speed of the motor is higher than 150 RPM.
● The actual acceleration rate during acceleration/deceleration is higher than 3000 RPM/s.
● The load torque is stable.
● The actual inertia ratio does not exceed 120.
● If the actual load inertia ratio is large but the gain is low, the motor may not be able to achieve the maximum
speed and acceleration requirements as motor actions are slowed down. In this case, increase the speed loop
gain (H08-00) and perform inertia auto-tuning again.
● If vibration occurs during auto-tuning, stop inertia auto-tuning immediately and decrease the gain.
● Inertia auto-tuning may also fail in case of a large backlash of the transmission mechanism.
3.2.1 Offline Inertia Auto-tuning
The following two offline inertia auto-tuning methods are available: Method 1: H09-05 = 0 or 1: The
setpoint of H08-15 is taken as the initial inertia ratio for inertia auto-tuning. Method 2: H09-05 = 2 or 3:
No initial inertia ratio is required for inertia auto-tuning.
Method 1
Set H09-05 (Offline inertia auto-tuning mode) to 0 or 1 , switch to "H0D-02" in the parameter display
mode, and press the SET key to enable offline inertia auto-tuning.
Setting During Related

Name Offline inertia auto-tuning -
Condition running Mode
H0D-02
Effective Immediate-
Value Range - Unit - Default -
Time ly
Used to select offline inertia auto-tuning. In the parameter display mode, switch to H0D-02 and press the SET key
to enable offline inertia auto-tuning.
Check the following before performing offline inertia auto-tuning:
● The travel distance of the motor meets the following requirements:
■ A travel distance of more than one revolutions in the forward/reverse direction is available
between the mechanical limit switches.
Limit switches are installed to the machine. A travel distance as described above is reserved to
prevent overtravel during inertia auto-tuning.
■ The revolutions defined by H09-09 (Motor revolutions per inertia auto-tuning) is fulfilled.
View H09-06 (Maximum speed of inertia auto-tuning), H09-07 (Time constant of accelerating to
the max. speed during inertia auto-tuning), and H09-09 (Motor revolutions per inertia auto-
tuning) to check whether the travel distance at the stop position is larger than the setpoint of
H09-09. If not, decrease the setpoint of H09-06 or H09-07 until the requirement is met.
● Estimate the value of H08-15 (Load moment of inertia ratio).

If the default value (1.00) of H08-15 is used but the actual inertia ratio is higher than 30.00, the
motor may run slowly, resulting in auto-tuning failure. In this case, take the following two
measures:
‑118‑
Adjustment
■ Set H08-15 to a large value first.

It is recommended to set H08-15 to a large value first, such as 5.00. Then increase the value
gradually until the value displayed on the keypad changes with it.
■ Increase the stiffness level (H09-01) properly so that the actual motor speed can reach H09-06
(Maximum speed of inertia auto-tuning).
The following figure shows the general flowchart for offline inertia auto-tuning.
Figure 3-3 Offline inertia auto-tuning flowchart
Offline inertia auto-tuning is divided into two modes: positive/negative triangle wave mode and jog
mode. The command forms for these two modes are different, as shown below.
‑119‑
Adjustment
Table 3–2 Descriptions of offline inertia auto-tuning modes

Positive and Negative Triangular Wave Mode
Item Jog Mode (H09-05 = 1)
(H09-05 = 0)
Trapezoidal wave
Symmetric triangular wave
Command form
Maximum speed H09-06 H09-06

Acceleration/
Deceleration H09-07 H09-07
time
UP key held down: The motor rotates
UP key pressed: The motor rotates forwardly.
forwardly and then reversely.
DOWN key pressed: The motor rotates
DOWN key held down: The motor rotates
Keys reversely.
reversely and then forwardly.
UP/DOWN key released: The motor stops at
UP/DOWN key released: The motor stops at
zero speed, keeping position lock state.
zero speed, keeping position lock state.
Time interval H09-08 Time interval between two key operations

Motor
≤ H09-09 Controlled manually
revolutions
Applicable Occasions where the motor travel distance is Occasions where the motor travel distance is
occasion short long and manual control is allowed
Method 2
Set H9-05 to 2 or 3 and perform inertia auto-tuning based on the same flowchart for Method 1. To
make the motor stop at zero speed, release the UP/DOWN key. Pressing the UP/DOWN key again starts
a new inertia auto-tuning. The initial direction of operation is determined by the UP/DOWN key. For
applications allowing operations in one direction only, set H09-05 to 3.
‑120‑
Adjustment
Setting
Condition
0: Positive/
Negative
triangular wave
mode
Offline inertia Defines the offline
H09-05 auto-tuning 1: Jog mode - inertia auto-tuning At stop Immediately 0
mode 2: Dual-direction mode.
auto-tuning mode
3: Single-direction
auto-tuning mode
Maximum Defines the maximum
H09-06 speed of inertia 100–1000 RPM speed for offline inertia At stop Immediately 500
auto-tuning auto-tuning.
Defines the time needed
for the motor to
Time constant accelerate from 0 RPM
for accelerating to the setpoint of H09-
to the max. 06 in Method 1.
H09-07 20–800 ms At stop Immediately 125
speed during Defines the time needed
inertia auto- for the motor to
tuning accelerate from 0 RPM
to 1000 RPM in Method
2.
Waiting time
Defines the time interval
after an
between two
H09-08 individual 50–10000 ms At stop Immediately 800
consecutive speed
inertia auto-
references.
tuning
Defines the revolutions
required by offline
Number of inertia auto-tuning in
motor the positive/negative
H09-09 revolutions per 15–10000 0.01 r triangle wave mode in - - 100
inertia auto- Method 1.
tuning Defines the maximum
number of revolutions
in Method 2.
3.2.2 Online Inertia Auto-tuning
The servo drive supports online inertia auto-tuning. The following figure shows the general flowchart
for online inertia auto-tuning.
‑121‑
Adjustment
Figure 3-4 Online inertia auto-tuning flowchart
Note
H09-03 defines the real-time updating speed of the load moment of inertia ratio (H08-15).
● H09-03 = 1: suitable for applications where the actual inertia ratio rarely changes, such as machine tools and
wood carving machines
● H09-03 = 2: suitable for applications where the actual inertia ratio changes slowly
● H09-03 = 3: suitable for applications where the actual inertia ratio changes rapidly, such as material handling
manipulators.
Name Value Range Unit Description Default
No. Condition Time
0: Disabled
1: Enabled, staying
Online inertia unchanged Defines the online
During
H09-03 auto-tuning - inertia auto-tuning Immediately 0
2: Enabled, changing slowly running
mode mode.
3: Enabled, changing
quickly
‑122‑
Adjustment
3.3 Instructions for ETune Operation
3.3.1 Overview
ETune is a wizard-type function designed to guide users to perform auto-tuning by setting the motion
profile and the desired response level. After the motion profile and the response level are set, the servo
drive will perform the auto-tuning to obtain the optimal gain parameters. The auto-tuned parameters
can be saved and exported as a recipe for use in other devices of the same model.
The ETune function applies to applications with slight load inertia changes.
3.3.2 Description of ETune Operation
Operation flowchart
Figure 3-5 Operation flowchart
‑123‑
Adjustment
Description of the flowchart
1. Click Tuning in the software tool, and select ETUNE.
2. Select any of the following three operation modes based on the operating direction allowed by the
machine.
● In the Reciprocating po... mode, the motor keeps reciprocating within the positive and negative
position limits.
● In the One-way forward mode, the motor takes the difference between the positive and negative
position limits as the maximum distance per action and keeps running in the forward direction.
● In the One-way reversal mode, the motor operates in the same way as that in the one-way
forward mode, but in the opposite direction.
3. Enter the positive and negative position limits appropriate for the motor. The difference between
the positive and negative position limits defines the position reference pulses for the motor, which is
also the value before multiplication/division by the electronic gear ratio.
You can set the position and negative position limits by the following two methods:
● Method 1: Click Enable ON in JOG, and click the left arrow to make the motor move to the
positive limit. Next, click Set to the posi.... Follow the same procedure for setting the negative
position limit, and click Enable OFF (the Enable ON button changes to Enable OFF after a click).
● Method 2: Enter the positive and negative limits directly.
Note
The difference between positive and negative position limits must be larger than 1/8 of one revolution. The larger
the limit value, the better the adaptability of auto-tuned parameters, but the longer time will ETune operation take.
‑124‑
Adjustment
4. Click Next to switch to the mode parameter setting interface. The adjustment mode is divided into
positioning mode and track mode.
Inertia auto-tuning is optional. If you choose not to perform inertia auto-tuning, set a correct inertia
ratio first (the value of the inertia ratio can be modified directly). You can adjust the stiffness level
and position filter time constant based on the responsiveness needed and the position reference
noise generated during operation. Then set the motion profile and the maximum speed,
acceleration/deceleration time and time interval for auto-tuning.
5. Click the Start button to start auto-tuning.
● If you choose to perform inertia auto-tuning, the servo drive starts inertia auto-tuning based on
the set motion profile first. After inertia auto-tuning is done, the servo drive starts gain tuning
automatically.
● If you choose not to perform inertia auto-tuning on the Start Page, the servo drive starts gain
tuning directly after start-up.
‑125‑
Adjustment
6. During gain tuning, if you modify the Response fine-tuning coefficient and click the Update
button, gain tuning will be continued based on the fine-tuning coefficient required. After gain tuning
is done, you can click the DONE button to save the parameters to EEPROM and export parameters as
a recipe file.
‑126‑
Adjustment
3.3.3 Precautions
● Before gain auto-tuning, set an electronic gear ratio that fits the actual application.
● You can adjust the maximum speed and acceleration/deceleration time of the motion profile based
on actual conditions. The acceleration/deceleration time can be increased properly because
positioning will be quickened after auto-tuning.
● If the acceleration/deceleration time is too short, overload may occur. In this case, increase the
acceleration/deceleration time properly.
● For vertical axes, take anti-drop measures beforehand and set the stop mode upon fault to "Stop at
zero speed".
● For the lead screw transmission, shorten the travel distance if the tuning duration is too long.
‑127‑
Adjustment
3.3.4 Solutions to Common Faults

Fault Symptom Cause Solution
1. Vibration cannot be 1. Enable vibration suppression manually to dampen
suppressed. vibration.
2. Check whether the positioning threshold is too low.
2. Excessive overshoot occurs
Increase the acceleration/deceleration time and
during positioning.
reduce the response level.
ER661: Gain values too
3. Modify the electronic gear ratio to improve the
low
3. The command suffers from command resolution, or increase the command filter
noise. time constant in the "Parameter configuration"
interface.
4. Check whether the current of the machine
4. The current fluctuates.
fluctuates periodically.
1. Vibration cannot be 1. Enable vibration suppression manually to dampen
suppressed. vibration. Then perform ETune again.
2. Increase the maximum operating speed, reduce the
2. The auto-tuned values
acceleration/deceleration time. In case of a lead
fluctuate dramatically.
screw, shorten its travel distance.
ER600: Inertia auto-
tuning failure 3. Mechanical couplings of the
load are loose or the mechanism 3. Rectify the mechanical faults.
is eccentric.
4. Interruption occurs due to a
fault that occurs during auto- 4. Clear the fault and perform ETune again.
tuning.
3.4 Instructions for STune Operation
3.4.1 Overview
STune performs gain auto-tuning based on the set stiffness level to fulfill the requirement for rapidity
and stability. The STune function applies to applications with slight load inertia changes.
A correct inertia ratio must be obtained before gain auto-tuning.
‑128‑
Adjustment
3.4.2 Description of STune Operation
Operation flowchart
Figure 3-6 Operation flowchart
Description of the flowchart
You can set the gain auto-tuning mode through the keypad or the software tool.
1. Select the gain auto-tuning mode.
● In modes 0, 1 and 2 shown in the following table, you need to set the inertia ratio before stiffness
adjustment. If the inertia is unknown, adjust the inertia manually. If the machine vibrates,
decrease the stiffness level before adjusting the inertia manually.
● In modes 3, 4, and 6 shown in the following table, you can adjust the gain through the wizard-
type interface directly, without the need for setting an inertia ratio.
‑129‑
Adjustment
Mode Name Description

0 Inactive The gains need to be set manually.
The gains are set automatically based on the set stiffness
1 Standard mode
level.
2 Positioning mode level. This mode is applicable to occasions requiring quick
positioning.
Interpolation mode + Inertia level. In this mode, the inertia is auto-tuned and vibration is
3
auto-tuning suppressed automatically. This mode is applicable to multi-
axis interpolation.
Normal mode + Inertia auto-
4 level. The inertia is auto-tuned and vibration is suppressed
tuning
automatically.
Quick positioning mode + level. The inertia is auto-tuned and vibration is suppressed
6
Inertia auto-tuning automatically. This mode is applicable to occasions requiring
quick positioning.
2. Adjust the stiffness level gradually during load operation. The present level will be written to the
servo drive automatically. Keep monitoring the waveforms during operation after increasing the
stiffness level (up by one level at a time) until the desired performance is achieved.
‑130‑
Adjustment
3.4.3 Precautions
The value range of H09-01 (Stiffness level) is 0 to 41. The level 0 indicates the weakest stiffness and
lowest gain and level 41 indicates the strongest stiffness and highest gain.
The following table lists the stiffness levels for different load types.
Table 3–3 Recommended stiffness levels (for reference only)
Recommended Stiffness Level Type of Load Mechanism
Level 4 to level 8 Large-scale machineries
Level 8 to level 15 Applications with low stiffness such as conveyor belts

Applications with high stiffness such as ball screws and direct-connected
Level 15 to level 20
devices
The following five gain auto-tuning modes are available.
● If H09-00 (Gain auto-tuning mode) is set to 3, 4, or 6, the servo drive starts vibration suppression and inertia
auto-tuning within 5 min after power-on. Then the servo drive exits from inertia auto-tuning automatically.
● Do not set H09-00 to 3, 4, or 6 in applications with slow acceleration/deceleration, large vibration, and unstable
mechanical couplings.
● Standard mode (H09-00 = 1)

The 1st group of gain parameters (H08-00 to H08-02, H07-05) are updated and saved automatically
according to the stiffness level defined by H09-01.
Table 3–4 Parameters updated automatically in the standard mode

Para. No. Name
H08-00 Speed loop gain
H08-01 Speed loop integral time constant
H08-02 Position loop gain
H07-05 Torque reference filter time constant
● Positioning mode (H09-00 = 2)

On the basis of “Table 3–4” on page 131, the 2nd group of gain parameters (H08-03 to H08-05, H07-
06) are also updated and saved automatically according to the stiffness level defined by H09-01.
The position loop gain in the 2nd group of gain parameters has a higher stiffness level than that in
the 1st group.
Table 3–5 Parameters updated automatically in the positioning mode
Para. No. Name Description

H08-03 2nd speed loop gain -
If H08-04 is fixed to 512.00 ms, the 2nd speed
loop integral is inactive and only
H08-04 2nd speed loop integral time constant
proportional control is used in the speed
loop.
H08-05 2nd position loop gain -
H07-06 2nd torque reference filter time constant -
‑131‑
Adjustment
Values of parameters related to speed feedforward are fixed.
Table 3–6 Parameters with fixed values in the positioning mode

Para. No. Name Value
H08-19 Speed feedforward gain 30.0%
Speed feedforward filter time
H08-18 0.50 ms
constant
Values of parameters related to gain switchover are fixed.
Gain switchover is activated automatically in the positioning mode.
Para. No. Name Value Description

Switchover between the 1st group of gain parameters
(H08-00 to H08-02, H07-05) and 2nd group of gain
H08-08 2nd gain set mode 1 parameters (H08-03 to H08-05, H07-06) is active in the
positioning mode.
In other modes, the original settings are used.

The condition for switching the gain set is defined by
Gain switchover the setpoint 10 of H08-09 in the positioning mode.
H08-09 10
condition
The gain switchover delay is 5.0 ms in the positioning
Gain switchover mode.
H08-10 5.0 ms
delay
Gain switchover The gain switchover level is 50 in the positioning mode.

H08-11 50
level In other modes, the original settings are used.
The dead time of gain switchover is 30 in the
Gain switchover positioning mode.
H08-12 30
dead time
In the gain auto-tuning mode, parameters updated along with H09-01 and those with fixed setpoints cannot be
modified. To modify these parameters, set H09-00 (Gain auto-tuning mode) to 0 (Invalid) first.
3.5 Manual Gain Tuning
3.5.1 Basic Parameters
When gain auto-tuning cannot deliver desired performance, fine-tune the gains manually to optimize
the performance.
The servo system consists of three control loops, the position loop, speed loop, and current loop from
external to internal. The basic control diagram is shown in the following figure.
‑132‑
Adjustment
Figure 3-7 Basic control diagram
Note
The responsiveness of the inner loop must be higher than that of the outer loop. Otherwise, the system may become
unstable.
The current loop gain is set with the highest level of responsiveness by default, avoiding the need for
adjustment. It is only needed to adjust the position loop gain, speed loop gain and other auxiliary
gains. For gain tuning in the position control mode, the position loop gain must be increased together
with the speed loop gain, and the responsiveness of the former must be lower than the latter.
The following table describes how to adjust the basic gain parameters.
‑133‑
Adjustment
Table 3–7 Adjustment of gain parameters

Step Para. No. Name Description
Function: Determines the maximum frequency of a variable speed reference
that can be followed by the speed loop.
When H08-15 (Load moment of inertia) is set correctly, the maximum

frequency that can be followed by the speed loop is the setpoint of H08-00.
1 H08-00 Speed loop gain

Adjustment method:
● Increasing the setpoint without incurring extra noise or vibration shortens

the positioning time, stabilizes the speed, and improves the follow-up
behavior.
● If noise occurs, decrease the setpoint.
●If mechanical vibration occurs, activate mechanical resonance
suppression. For details, see “ Vibration Suppression” on page 154.
Function:
Used to eliminate the speed loop deviation.
Adjustment method:
Set H08-01 according to the following formula: 500 ≤ H08-00 x H08-01 ≤

1000
Speed loop integral
2 H08-01 For example, if H08-00 is set to 40.0 Hz, the setpoint of H08-01 must meet
time constant
the following requirement:
12.50 ms ≤ H08-01 ≤ 25.00 ms
Decreasing the setpoint strengthens the integral effect and shortens the
positioning time, but an excessively low setpoint may easily lead to
mechanical vibration.
An excessively high setpoint prevents the speed loop deviation from being
cleared to zero.
When H08-01 is set to 512.00 ms, the integral is invalid.
‑134‑
Adjustment
Step Para. No. Name Description

Function:
Determines the maximum frequency of a variable position reference that

can be followed by the position loop.
Maximum following frequency of position loop = H08-02
Adjustment method:
To ensure system stability, the maximum following frequency of the speed

loop must be 3 to 5 times higher than that of the position loop. Therefore,
3 H08-02 Position loop gain
the following formula applies.
For example, when H08-00 is set to 40.0 Hz, H08-02 must meet the following
requirement:
50.2 Hz ≤ H08-02 ≤ 83.7 Hz
Adjust the setpoint based on the positioning time. Increasing the setpoint
shortens the positioning time and improves the disturbance resistance
capacity of the motor at a standstill.
An excessively high setpoint may easily lead to system instability and

oscillation.
Function:
Used to eliminate the high-frequency noise and suppress mechanical

resonance.
Adjustment method:
Ensure the cutoff frequency of the torque reference low-pass filter is 4 times
higher than the maximum following frequency of the speed loop. Therefore,
the following formula applies.
Torque reference
4 H07-05
filter time constant
For example, when H08-00 is set to 40.0 Hz, the setpoint of H07-05 must be
less than or equal to 1.00 ms.
If increasing the setpoint of H08-00 incurs vibration, adjust the setpoint of

H07-05 to suppress vibration. For details, see section “ Vibration
Suppression” on page 154.
An excessively high setpoint weakens the responsiveness of the current
loop.
To suppress vibration upon stop, increase the setpoint of H08-00 and

decrease the setpoint of H07-05.
If strong vibration occurs upon stop, decrease the setpoint of H07-05.
‑135‑
Adjustment
Value Setting
Range Condition
Defines the
During
H08-00 Speed loop gain 0.1–2000.0 Hz proportional gain of Immediately 40.0
running
the speed loop.
Speed loop Defines the integral
0.15– During
H08-01 integral time ms time constant of the Immediately 19.89
512.00 running
constant speed loop.
Defines the
During
H08-02 Position loop gain 0.0–2000.0 Hz proportional gain of Immediately 64.0
running
the position loop.
Torque reference Defines the filter time
During
H07-05 filter time 0.00–30.00 ms constant of the torque Immediately 0.79
running
constant reference.
3.5.2 Gain switchover
Gain switchover, which is active in the position/speed control mode only, can be triggered by the
internal servo status or an external DI signal for following purposes:
● Suppressing vibration by switching to a lower gain when the motor is at a standstill (S-ON)
● Shortening the positioning time by switching to a higher gain when the motor is at a standstill
● Improving the command-following performance by switching to a higher gain during motor
operation
● Adapting to different load devices by switching to different gains through external DI signals
H08-08 = 0
When H08-08 is set to 0, the 1st gain set (H08-00 to H08-02, H07-05) is used, but you can switch
between proportional control and proportional integral control through FunIN.3 (GAIN_SEL, gain
switchover) for the speed loop.
Figure 3-8 Gain switchover flowchart (H08-08 = 0)
‑136‑
Adjustment
H08-08 = 1
You can switch between the 1st gain set (H08-00 to H08-02, H07-05) and 2nd gain set (H08-03 to H08-
05, H07-06) based on the condition defined by H08-09 (Gain switchover condition).
Figure 3-9 Gain switchover flowchart (H08-08 = 1)
Diagrams and parameters related to 11 gain switchover conditions are shown in the following table.
The following table describes the diagrams and related parameters of different conditions.
Table 3–8 Descriptions of gain switchover conditions

Gain Switchover Condition Related Parameters
Switchover Dead Time of
Delay Time
H08-09 Condition Diagram Level Switchover
(H08-10)
(H08-11) (H08-12)
Fixed to the 1st gain
0 - Invalid Invalid Invalid
set
Switched by
1 - Invalid Invalid Invalid
external DI
‑137‑
Adjustment

Delay Time
(H08-10)
(H08-11) (H08-12)
2 Torque reference Valid Valid (%) Valid (%)
3 Speed reference Valid Valid Valid
Speed reference Valid Valid

4 Valid
change rate (10 RPM/s) (10 RPM/s)
High-speed/Low-
Valid Valid
5 speed threshold of Invalid
(RPM) (RPM)
speed reference
Valid Valid
6 Position deviation Valid
(encoder unit) (encoder unit)
7 Position reference Valid Invalid Invalid
Positioning
8 Valid Invalid Invalid
completed
‑138‑
Adjustment

Delay Time
(H08-10)
(H08-11) (H08-12)
Valid Valid
9 Actual speed Valid
(RPM) (RPM)
Position reference + Valid Valid

10 See the following note for details. Valid
Actual speed (RPM) (RPM)
H08-10 (Gain switchover delay) is valid only during switching from the 2nd gain set to the 1st gain set.
Note
‑139‑
Adjustment
Setting Effective
Condition Time
0: Fixed to the 1st gain set,
P/PI switched through
Defines the mode
2nd gain set external DI During
H08-08 - of the 2nd gain Immediately 1
mode 1: Gains switched based running
set.
on the condition defined
by H08-09
0: Fixed to the 1st gain set
1: Switched through
external DI
2: Torque reference too

large
3: Speed reference too

large
4: Speed reference change

rate too large
Gain Defines the gain
5: High-speed/Low-speed During
H08-09 switchover - switchover Immediately 0
threshold of speed running
condition condition.
reference
6: Position deviation too

large
7: Position reference
available
8: Positioning completed
9: Actual speed too large
10: Position reference +

Actual speed
Gain
Defines the gain During
H08-10 switchover 0–10 - Immediately 5.0
switchover delay. running
delay
Based on
Gain switch-
Defines the gain During
H08-11 switchover 1–1000 over Immediately 50
switchover level. running
level condi-
tions
Based on
Gain switch- Defines the dead
During
H08-12 switchover 0–20000 over time of gain Immediately 30
running
dead time condi- switchover.
tions
Position gain Defines the
During
H08-13 switchover 0.0–100.0 ms position loop gain Immediately 3.0
running
time switchover time.
‑140‑
Adjustment
3.5.3 Comparison of Filters

Impact of
Name Description Applicable Occasion Excessive Reference
Filtering
The number of
The system wiring does not pulses received “2.1.2 Position
Prevents interference to
comply with specifications. by the servo Reference In-
Pulse input pin ensure the number of
drive is lower
filter pulses received by the The ambient interference is put Setting” on
than those sent
servo drive is accurate. strong.
from the host page 15
controller.
The acceleration/
deceleration process is not
Filters the position
performed on the position
references (encoder unit) “2.1.4 Position
references sent from the
divided or multiplied by the The response
Position host controller. Reference Fil-
electronic gear ratio, delay is
reference filter ter Function”
smoothening motor The pulse reference prolonged.
operation and alleviating frequency is low. on page 40
shock to the machine. The electronic gear ratio is
larger than 10.
3.5.4 Feedforward Gain
Speed feedforward
Figure 3-10 Operation diagram of speed feedforward control
Speed feedforward can be applied to the position control mode to improve the speed reference
responsiveness and reduce the position deviation during operation at fixed speed.
The procedure for setting speed feedforward is as follows:
1. Set the source of the speed feedforward signal.

Set H05-19 to a non-zero value to activate speed feedforward and locate the corresponding signal
source.
Parameter
Name Setpoint Remarks
No.
0: No speed feedforward -
Speed feedforward Defines the speed corresponding to the
H05-19 1: Internal speed
control position reference (in encoder unit) as the
feedforward
speed feedforward signal source.
2. Set the speed feedforward parameters.
‑141‑
Adjustment
Set the speed feedforward gain (H08-19) and speed feedforward filter time constant (H08-18).
Parameter
Name Description
No.
Speed feedforward
H08-18
Function:
●Increasing the setpoint of H08-19 improves responsiveness but

may cause speed overshoot during acceleration/deceleration.
●Decreasing the setpoint of H08-18 suppresses speed overshoot
during acceleration/deceleration. Increasing the setpoint of H08-
18 suppresses the noise caused by a long position reference
Speed feedforward update cycle, a long drive control cycle, and uneven position
H08-19
gain reference pulse frequencies, thus reducing COIN (positioning
completed) signal jitter.
Adjustment method:
●Set H08-18 to a fixed value, and then increase the setpoint of

H08-19 gradually from 0 to a certain value at which speed
feedforward reaches the required effect.
●Adjust H08-18 and H08-19 repeatedly until a balanced
performance is achieved.
Torque feedforward
Figure 3-11 Operation diagram of torque feedforward control
In the position control mode, torque feedforward improves torque reference responsiveness and
reduces the position deviation during operation at fixed acceleration/deceleration rate. In the speed
control mode, torque feedforward improves torque reference responsiveness and reduces the speed
deviation during operation at fixed speed.
The procedure for setting torque feedforward is as follows:
1. Set the torque feedforward signal source.

Set H06-11 to 1 to activate torque feedforward and locate the corresponding signal source.
‑142‑
Adjustment
Parameter
Name Setpoint Remarks
No.
0: No torque
-
feedforward
Torque feedforward Defines the speed reference as the torque

H06-11 feedforward signal source.
selection 1: Internal torque
feedforward In the position control mode, the speed
reference is generated by the position controller.
2. Set torque feedforward parameters.
Parameter
Name Description
No.
Function:
● Increasing the setpoint of H08-21 improves

responsiveness but may cause overshoot during
acceleration/deceleration.
● Decreasing the setpoint of H08-20 suppresses overshoot
during acceleration/deceleration. Increasing the setpoint
Torque feedforward filter time
H08-20 of H08-20 suppresses the noise.
constant
Adjustment method:
● Keep H08-20 to the default value, and then gradually

increase the setpoint of H08-21 from 0 to a certain value
at which torque feedforward achieves the required effect.
● Adjust H08-20 and H08-21 repeatedly until a balanced
H08-21 Torque feedforward gain See this section for details.
3.5.5 PDFF control
The pseudo derivative feedback and feedforward (PDFF) control can be used to adjust speed loop
control in the non-torque control mode.
‑143‑
Adjustment
Figure 3-12 Example of PDFF
PDFF control enhances the anti-disturbance capacity of the speed loop and improves the follow-up
behavior against speed references through adjusting the speed loop control method.
Parameter No. Name Description

Parameter function:
● Adjusts the control method of the speed loop in the non-torque

control mode.
Note:
● An excessively small setpoint slows down the responsiveness of

H08-24 PDFF control coefficient the speed loop.
● When the speed feedback overshoots, gradually decrease the
setpoint of H08-24 from 100.0 to a certain value at which the PDFF
control achieves the desired effect.
● When H08-24 is set to 100.0, the speed loop control method does
not change and the default proportional integral control is used.
3.5.6 Torque Disturbance Observer
This function is used in a non-torque control mode.
Disturbance observer 1
The disturbance observer observes the external disturbance. Disturbances within the frequency range
can be observed and suppressed with different cutoff frequencies and compensation values.
The following figure depicts the control block diagram for disturbance observer 1.
‑144‑
Adjustment
Note
1/s: Integral component

Disturbance observer cutoff The higher the cutoff frequency is, the more easily will vibration
H08-31
frequency occur.
Disturbance observer
H08-32 Defines the compensation percentage.
compensation coefficient
H08-33 needs to be changed only when the inertia ratio does not
reflect the actual condition. The effective inertia is the inertia setpoint
H08-33 inertia correction
multiplied by H08-33. It is recommended to use the default value of
coefficient
H08-33.
Setting
Condition
Disturbance Defines the cutoff
During
H08-31 observer cutoff 10–1700 1 Hz frequency of Immediately 600
running
frequency disturbance observer.
Disturbance
Defines the
observer During
H08-32 0–100 1% compensation Immediately 0
compensation running
percentage.
coefficient
Disturbance Defines the coefficient
observer inertia for correcting the During
H08-33 1 to 10000 1% Immediately 100
correction disturbance observer running
coefficient inertia.
Disturbance observer 2
The following figure depicts the control block diagram for disturbance observer 2.
‑145‑
Adjustment
Figure 3-13 Block diagram for disturbance observer 2
The disturbance observer detects and estimates the external disturbance torque suffered by the
system and compensates the torque reference accordingly, reducing the effect of external disturbance
on the servo system and suppressing vibration.

Torque disturbance Parameter function:
H09-30
compensation gain
●Increasing the setpoint of H09-30 enhances disturbance
suppression but intensifies the noise.
●Increasing the setpoint of H09-31 reduces the noise.
Decreasing the setpoint of H09-31 enables detection and
estimation of the external disturbance torque that features a
short delay, which improves the disturbance suppression
capacity but intensifies the noise.
Filter time constant of Note:
H09-31
torque disturbance observer ●Set H09-31 to a large value first and then gradually increase
the setpoint of H09-30 from 0 to a certain value at which the
desired performance is achieved. Next, decrease the setpoint of
H09-31 gradually without affecting the effectiveness of the
disturbance observer.
●Adjust H09-30 and H09-31 repeatedly until a balanced
Setting
Condition
Speed feedforward During
H08-18 0.00–64.00 ms constant of the speed Immediately 0.00
filter time constant running
feedforward gain.
Speed feedforward Defines the speed During
H08-19 0.0–100.0 % Immediately 0.0
gain feedforward gain. running
Torque Defines the filter time

During
H08-20 feedforward filter 0.00–64.00 ms constant of the torque Immediately 0.50
running
time constant feedforward gain.
Torque Defines the torque During
H08-21 0.0–200.0 ms Immediately 0.0
feedforward gain feedforward gain. running
‑146‑
Adjustment
Setting
Condition
PDFF control Defines PDFF control During
H08-24 0.0–100.0 % Immediately 100.0
coefficient coefficient. running
Defines the disturbance
Torque disturbance During
H09-30 0 to 100.0 % torque compensation Immediately 0.0
compensation gain running
gain.
Filter time constant
of torque During
H09-31 0.00–25.00 ms constant of the Immediately 0.50
disturbance running
disturbance observer.
observer
3.5.7 Speed Observer
The speed observer, which facilitates quick positioning, applies to applications featuring slight
changes in load characteristics and the inertia.
It improves the responsiveness to a higher range and filters high frequencies automatically, improving
the gain and shortening the positioning time without incurring high-frequency vibration.
The block diagram for the speed observer is shown as follows.
‑147‑
Adjustment
Commissioning procedure
Setting
Para. No. Name Min. unit Value Range Default Effective Time
Condition
H08-00 Speed loop gain 0.1 Hz 1–20000 400 During running Immediately
Speed observer
H08-27 1 Hz 10–2000 170 During running Immediately
cutoff frequency
Speed observer
H08-28 inertia correction 1% 10–10000 100 During running Immediately
coefficient
Speed observer filter
H08-29 0.01 ms 2–2000 80 During running Immediately
time
Speed observer
H08-40 1 0–1 0 During running Immediately
selection
‑148‑
Adjustment
3.5.8 Model Tracking Function
Model tracking function, which is only available in the position control mode, can be used to improve
responsiveness and shorten the positioning time.
Parameters used by model tracking are set automatically along with gain parameters through STune
or ETune.
Manual adjustment is needed only in the following cases:
● The auto-tuned values cannot deliver desired performance.

● Improving the responsiveness takes priority over the auto-tuned values.
● Customized gain parameters or customized model tracking control parameters are needed.
The block diagram for model tracking function is as follows.
‑149‑
Adjustment
Commissioning procedure
Para. Setting
Name Min. unit Value Range Default Effective Time
No. Condition
Torque reference filter During
H07-05 0.01 ms 0–3000 79 Immediately
time constant running
During
H08-00 Speed loop gain 0.1 Hz 1–20000 400 Immediately
running
Speed loop integral During

H08-01 0.01 ms 15–51200 1989 Immediately
time constant running
During
H08-02 Position loop gain 0.1 Hz 1–20000 640 Immediately
running
H08-42 Model control selection 1 0–1 0 At stop Immediately
During
H08-43 Model gain 0.1 0–10000 400 Immediately
running
‑150‑
Adjustment
Para. Setting
Name Min. unit Value Range Default Effective Time
No. Condition
During
H08-46 Model feedforward 1 0–1024 950 Immediately
running
During
H08-51 Model filter time 2 0.01 ms 0–2000 0 Immediately
running
3.5.9 Friction Compensation
Friction compensation is used to reduce the friction impact on mechanical transmission. Use different
positive/negative compensation values according to the operating direction.
Note
Friction compensation is valid only in the position control mode.
Para. No. Value Range Description

H09-32 Gravity Defines the constant compensation torque for
0%–100.0%
compensation value vertical gravity load.
H09-33 Forward friction Defines the friction compensation for forward
0%–100.0%
compensation position references.
H09-34 Reverse friction Defines the friction compensation for reverse
-100.0%–0%
compensation position references.
H09-35 Friction
Defines the operating speed after the friction is
compensation speed 0–30.0 RPM
neutralized.
threshold
0: Speed reference
H09-36 Friction 1: Model speed (valid only when

Defines the source of speed threshold.
compensation speed the model function is enabled)
2: Speed feedback
The diagram for friction compensation is as follows.
‑151‑
Adjustment
Note
When the speed is less than the speed threshold, static friction applies. When the speed exceeds the speed thresh-
old, dynamic friction applies. The compensation direction is determined by the direction of the position reference.
Forward direction requires a positive compensation value. Reverse direction requires a negative compensation
value.
3.6 Parameter Adjustment in Different Control Modes
Perform parameter adjustment in the sequence of "Inertia auto-tuning" => "Gain auto-tuning =>
"Manual gain tuning" in all the control modes.
3.6.1 Parameter Adjustment in the Position Control Mode
Obtain the value of H08-15 (Load moment of inertia ratio) through inertia auto-tuning.
Gain parameters in the position control mode are listed in the following tables.
● 1st group of gain parameters
Parameter No. Name Description Default

Torque reference filter time Defines the torque reference
H07-05 0.79 ms
constant filter time constant.
Defines the speed loop
H08-00 Speed loop gain 40.0 Hz
proportional gain.
Speed loop integral time Defines the integral time

H08-01 19.89 ms
constant constant of the speed loop.
Defines the position loop
H08-02 Position loop gain 64.0 Hz
proportional gain.
● 2nd group of gain parameters

2nd torque reference filter Defines the torque reference
H07-06 0.79 ms
time constant filter time constant.
Defines the speed loop
H08-03 2nd speed loop gain 40.0 Hz
proportional gain.
2nd speed loop integral time Defines the integral time

H08-04 20.00 ms
constant constant of the speed loop.
Defines the position loop
H08-05 2nd position loop gain 64.0 ms
proportional gain.
Defines the mode of the 2nd
H08-08 2nd gain set mode 1
gain set.
Defines the gain switchover
H08-09 Gain switchover condition 0
condition.
H08-10 Gain switchover delay 5.0 ms
delay.
H08-11 Gain switchover level 50
level.
‑152‑
Adjustment

Defines the dead time of gain
H08-12 Gain switchover dead time 30
switchover.
Defines the position loop gain
H08-13 Position gain switchover time 3.0 ms
switchover time.
● Common gain parameters

Defines the filter time constant
Speed feedforward filter time
H08-18 of the speed feedforward 0.50 ms
constant
signal.
Defines the speed feedforward
H08-19 Speed feedforward gain 0.0%
gain.
Defines the filter time constant
Torque feedforward filter time
H08-20 of the torque feedforward 0.50 ms
constant
signal.
Defines the torque feedforward
H08-21 Torque feedforward gain 0.0%
gain.
Speed feedback filtering Used to set the speed feedback
H08-22 0
option filtering function.
Defines the cutoff frequency of
Cutoff frequency of speed
H08-23 the first-order low-pass filter 4000 Hz
feedback low-pass filter
for the speed feedback.
Defines the coefficient of the
H08-24 PDFF control coefficient 100.0%
PDFF controller.
Torque disturbance Defines the torque disturbance
H09-30 0.0%
compensation gain compensation gain.
Filter time constant of torque Defines the filter time constant
H09-31 0.5 ms
disturbance observer of the disturbance observer.
Low-frequency resonance Defines the low-frequency
H09-04 0
suppression mode resonance suppression mode.
Defines the frequency of the
Frequency of low-frequency
H09-38 low-frequency resonance 100.0 Hz
resonance
suppression filter.
Low-frequency resonance Used to set the low-frequency
H09-39 2
frequency filter setting resonance suppression filter.
Defines the position fluctuation
Threshold of low-frequency threshold (in pulses) which can
H0A-16 0.0005 Rev
resonance position deviation be judged as low-frequency
resonance.
Perform gain auto-tuning to obtain the initial values of the 1st or 2nd group of gain parameters and the
common gain parameters.
You can fine-tune the following gain parameters manually.

H07-05 Torque reference filter time Defines the torque reference filter time constant.
constant
H08-00 Speed loop gain Defines the speed loop proportional gain.
H08-01 Speed loop integral time Defines the integral time constant of the speed
constant loop.
‑153‑
Adjustment

H08-02 Position loop gain Defines the position loop proportional gain.
H08-19 Speed feedforward gain Defines the speed feedforward gain.
3.6.2 Parameter Adjustment in the Speed Control Mode
Parameter adjustment in the speed control mode is the same as that in the position control mode
except for the position loop gains (H08-02 and H08-05). For details, see “3.6.1 Parameter Adjustment in
the Position Control Mode” on page 152.
3.6.3 Parameter Adjustment in the Torque Control Mode
Parameter adjustment in the torque control mode are differentiated based on the following
conditions:
● If the actual speed reaches the speed limit, the adjustment method is the same as that described in
“3.6.2 Parameter Adjustment in the Speed Control Mode” on page 154.
● If the actual speed does not reach the speed limit, the adjustment method is the same as that
described in “3.6.2 Parameter Adjustment in the Speed Control Mode” on page 154, except for the
position/speed loop gain and speed loop integral time constant.
3.7 Vibration Suppression
The block diagram for vibration suppression is as follows.
In which:
● In the above figure: NTF1–NTF4: 1st notch to 4th notch

● VIBSUP3: medium- and low-frequency jitter suppression, reduction applied at a carrier frequency
lower than 8 K under 300 Hz
● 1/s: Integral component
‑154‑
Adjustment
Minimum Maximum Setting Effective

Para. No. Name Default Unit
Value Value Condition Time
Medium- and low-
During
H08-53 frequency jitter 0 0.1 Hz 0 6000 Immediately
running
suppression frequency 3
Medium- and low-
frequency jitter During
H08-54 0 1% 0 200 Immediately
suppression compensation running
coefficient 3
Medium- and low-
frequency jitter During
H08-56 300 1% 0 1600 Immediately
suppression phase running
modulation coefficient 3
Note
● Jitter suppression phase modulation coefficient: Defines synchronous phase adjustment of the compensation
value and vibration. It is recommended to use the default value. Adjustment is needed when the phase of the
compensation deviates sharply from the phase of the vibration.
● Jitter suppression frequency: Defines the jitter frequency that needs to be suppressed.
● Jitter suppression compensation coefficient: Defines the compensation coefficient for jitter suppression.
3.7.1 Mechanical Resonance Suppression
Resonance frequency is present in the mechanical system. When the gain increases, resonance may
occur near the resonance frequency, disabling further increase of the gains.
Mechanical resonance can be suppressed through the torque reference filter (H07-05, H07-06) and the
notch.
Torque reference filter (H07-05, H07-06)
To suppress the mechanical resonance, set the filter time constant to attenuate torque references in a
frequency range above the cutoff frequency.
Filter cutoff frequency fc (Hz) = 1/[2π x H07-05 (ms) x 0.001]
Notch
The notch reduces the gain at certain frequencies to suppress mechanical resonance. After the
vibration is suppressed by the notch, you can continue to increase the gain. The working principle of
the notch is shown in the following figure.
‑155‑
Adjustment
Figure 3-14 Working principle of the notch
A total of four notches can be used, and each is defined by three parameters: notch frequency, width
level, and depth level. The 1st and 2nd notches are manual notches, whose parameters needs to be set
by users. Parameters of the 3rd and 4th notches can be either set by the user or set automatically after
being configured as adaptive notches (H09-02 =1 or 2).
Table 3–9 Description of notch parameters
Manual Notch Manual/Adaptive Notch

Item
1st Notch 2nd Notch 3rd Notch 4th Notch
Frequency H09-12 H09-15 H09-18 H09-21
Width level H09-13 H09-16 H09-19 H09-22
Depth level H09-14 H09-17 H09-20 H09-23
Note
● When the frequency is 4000 Hz (default), the notch is invalid.
● The adaptive notch is preferred in resonance suppression. The manual notch can be used in cases where the
adaptive notch cannot deliver desired performance.
‑156‑
Adjustment
Figure 3-15 Procedure for setting the notch
● Procedure for setting the adaptive notch:
1. Set H09-02 (Adaptive notch mode) to 1 or 2 based on the number of resonance points.
2. When resonance occurs, set H09-02 to 1 to enable one adaptive notch first. If resonance occurs
again after gain tuning, set H09-02 to 2 to enable two adaptive notches.
3. Parameters of the 3rd or 4th notches are updated automatically during operation, and their
values are saved to the corresponding parameters in group H09 every 30 min.
4. If resonance is suppressed, the adaptive notch functions well. After the servo drive operates
stably for a period of time, set H09-02 to 0. Parameters of the adaptive notch are fixed to the
values updated the last time.
This is to prevent notch parameters from being updated to wrong values, causing malfunction
of the servo drive and intensifying vibration.
5. If vibration persists after the notch is working for a period of time, switch off the S-ON signal.
6. If there are more than two resonance frequencies, use both the adaptive notch and the manual
notch to suppress resonance or use all the four notches as manual notches (H09-02 = 0).
‑157‑
Adjustment
Note
● When the adaptive notch is used, if the S-OFF signal is activated within 30 min, the notch parameters will not be
saved to the corresponding parameters.
● When the resonance frequency is below 300 Hz, the suppression effect of the adaptive notch may be degraded.
● Procedure for setting the manual notch:
1. Analyze the resonance frequency.

2. When using the manual notch, set the notch frequency to the same value as the actual resonance
frequency, which is obtained through the following methods:
■ Use the "Mechanical characteristic analysis" function in the software tool.

■ Calculate the resonance frequency based on the motor phase current displayed on the
oscilloscope interface of the software tool.
■ Set H09-02 (Adaptive notch mode) to 3. The servo drive automatically tests the resonance
frequency and saves the detected value into H09-24 (Auto-tuned resonance frequency) after
start-up.
3. Input the resonance frequency obtained in step 1 into parameters of the selected notch, and
input the width level and depth level of this notch.
4. If resonance is suppressed, the notch functions well. In this case, you can continue adjusting the
gain. If resonance occurs again, repeat steps 1 and 2.
5. If vibration persists after the notch is working for a period of time, switch off the S-ON signal.
● Width level of the notch

The width level indicates the ratio of the notch width to the center frequency of the notch.
In which:
f T : center frequency of the notch, which is also the mechanical resonance frequency
f H -f L : notch width, indicating the frequency width whose amplitude attenuation rate is -3 dB
relative to the notch center frequency
The following figure shows the frequency characteristics of the notch. Use the default value 2 in
general conditions.
● Depth Level of the notch

The notch depth level indicates the ratio of the input to the output at the center frequency.
The input at the center frequency is fully suppressed when the depth level is 0 or fully passed when
the depth level is 100. Therefore, the smaller the depth level is, the larger the notch depth is, and
the stronger the suppression effect will be. Note that a too small depth level may lead to system
oscillation.
‑158‑
Adjustment
Note
If the amplitude-frequency characteristic curve obtained through the mechanical characteristic analysis tool does
not have obvious spikes but vibration does occur in actual operations, the gain limit of the servo drive may be
reached, which leads to the vibration. Such vibration, which is not a mechanical resonance that normally sup-
pressed by a notch, can be suppressed only by reducing the gains or the torque reference filter time.
The following figure shows the frequency characteristics of the notch.
Figure 3-16 Frequency characteristics of the notch
Setting
Para. No. Name Value Range Description Effective Time Default
Condition
0: Parameters of the 3rd and 4th
notches no longer updated
1: One adaptive notch activated,

parameters of the 3rd notch
updated in real time based on the
vibration condition
2: Two adaptive notches activated, Defines the

Adaptive During
H09-02 parameters of the 3rd and 4th adaptive notch Immediately 0
notch mode running
notches updated in real time mode.
based on the vibration condition
3: Resonance frequency detected

only, displayed in H09-24
4: Adaptive notch cleared, values

of the 3rd and 4th notches
restored to default
Defines the
Frequency of During
H09-12 50–4000 frequency of Immediately 4000
the 1st notch running
the 1st notch.
Width level Defines the
During
H09-13 of the 1st 0–10 width level of Immediately 2
running
notch the 1st notch.
Defines the
Depth level
attenuation During
H09-14 of the 1st 0–99 Immediately 0
level of the 1st running
notch
notch.
‑159‑
Adjustment
Setting
Para. No. Name Value Range Description Effective Time Default
Condition
Frequency of Defines the
During
H09-15 the 2nd 50–4000 frequency of Immediately 4000
running
notch the 2nd notch.
During
H09-16 of the 2nd 0–10 width level of Immediately 2
running
notch the 2nd notch.
Defines the
Depth level
attenuation During
H09-17 of the 2nd 0–99 Immediately 0
level of the running
notch
2nd notch.
During
H09-18 the 3rd 50–4000 frequency of Immediately 4000
running
notch the 3rd notch.
During
H09-19 of the 3rd 0–10 width level of Immediately 2
running
notch the 3rd notch.
Defines the
Depth level
attenuation During
H09-20 of the 3rd 0–99 Immediately 0
level of the 3rd running
notch
notch.
During
H09-21 the 4th 50–4000 frequency of Immediately 4000
running
notch the 4th notch.
During
H09-22 of the 4th 0–10 width level of Immediately 2
running
notch the 4th notch.
Defines the
Depth level
attenuation During
H09-23 of the 4th 0–99 Immediately 0
level of the 4th running
notch
notch.
Displays the
resonance
Auto-tuned
frequency
H09-24 resonance - - - 0
detected when
frequency
H09-02 is set
to 3.
‑160‑
Adjustment
3.7.2 Low-frequency Resonance Suppression at the Mechanical Load End
Figure 3-17 Low-frequency vibration at the mechanical load end
If the mechanical load end is long and heavy, vibration may easily occur in this part during emergency
stop, affecting the positioning effect. Such vibration is called low-frequency resonance as its frequency
is generally within 100 Hz, which is smaller than the mechanical resonance frequency mentioned in
“3.7.1 Mechanical Resonance Suppression” on page 155. Use the low-frequency resonance suppression
function to suppress such vibration.
Figure 3-18 Procedure for setting low-frequency resonance suppression filter
First, use the oscilloscope function in the software tool to collect the position deviation waveform of
the motor in the locked state. Then calculate the position deviation fluctuation frequency, which is the
low-frequency resonance frequency. Finally, input the value of H09-38 manually and use the default
value of H09-39. Observe the suppression effect after using the low-frequency resonance suppression
filter.
‑161‑
Adjustment
Figure 3-19 Low-frequency resonance suppression effect
Value Setting
Range Condition
Low-frequency
resonance
Defines the low-frequency
suppression During
H09-38 1.0–100.0 Hz resonance suppression Immediately 100.0
frequency at running
frequency.
the mechanical
load end
Low-frequency
resonance
Defines the low frequency During
H09-39 suppression at 0–3 - Immediately 2
resonance suppression level. running
the mechanical
load end
Frequency of
low-frequency
2nd group of low-frequency
resonance During
H09-44 0–200.0 Hz resonance suppression. The Immediately 0
suppression 1 running
setpoint 0 indicates this
at mechanical
function is disabled.
load end
Defines the responsiveness of
Responsive- the 2nd group of low-frequency
ness of low- resonance suppression.
frequency Increasing the setpoint reduces
During
H09-45 resonance 0.01–10.00 Hz the delay caused by Immediately 1.00
running
suppression 1 suppression and improves the
at mechanical responsiveness. Note that an
load end excessively high setpoint may
cause vibration.
Width of low- Defines the width of the 2nd
frequency group of low frequency
resonance resonance suppression. During
H09-47 0–2.00 Hz Immediately 1.00
suppression 1 Increase the setpoint when the running
at mechanical vibration frequency changes
load end during operation.
‑162‑
Adjustment
Value Setting
Range Condition
Frequency of
low-frequency
3rd group of low frequency
resonance During
H09-49 0–200.0 Hz resonance suppression. The Immediately 0
suppression 2 running
setpoint 0 indicates this
at mechanical
function is disabled.
load end
Defines the responsiveness of
Responsive- the 3rd group of low frequency
ness of low- resonance suppression.
frequency Increasing the setpoint reduces
During
H09-50 resonance 0.01–10.00 Hz the delay caused by Immediately 1.00
running
suppression 2 suppression and improves the
at mechanical responsiveness. Note that an
load end excessively high setpoint may
cause vibration.
Width of low- Defines the width of the 3rd
frequency group of low-frequency
resonance resonance suppression. During
H09-52 0–2.00 Hz Immediately 1.00
suppression 2 Increase the setpoint when the running
at mechanical vibration frequency changes
load end during operation.
3.8 Mechanical Characteristic Analysis
3.8.1 Overview
Mechanical characteristic analysis is used to determine the mechanical resonance point and system
bandwidth. Up to 8 kHz response characteristic analysis is available and three modes including
mechanical characteristics, speed open loop and speed closed loop are supported.
‑163‑
Adjustment
3.8.2 Operating Procedure
Figure 3-20 Operating procedure for mechanical characteristic analysis
Note
● To avoid strong vibration during testing, set the initial current excitation to 10%.
● The analysis waveform may be distorted if the current excitation is too small.
● If vibration generated during testing cannot be suppressed by reducing the current excitation, the causes and
solutions may be: 1) The gain values are too high. Reduce the speed gain or set notch parameters based on the
auto-tuned resonance point. 2) The set inertia ratio is too high. Set the inertia ratio properly.
● In the mechanical characteristic test mode, waveforms before and after notch settings are consistent. In the
speed closed loop and speed open loop modes, gain curves in the waveforms are attenuated after notch
settings.
Figure 3-21 Example of the waveform obtained
‑164‑
Adjustment
An example of the waveform obtained with the mechanical characteristic analysis is shown in “Figure
3–21 Example of the waveform obtained” on page 164.
‑165‑
Troubleshooting
4 Troubleshooting
4.1 Troubleshooting During Startup
4.1.1 Position Control Mode
Fault diagnosis
Start Process Fault Symptom Cause Confirming Method
1. The voltage of the

The fault persists though CN1, CN2, CN3, and CN4 are disconnected.
control circuit power
Measure the AC voltage between L1C and L2C.
supply is abnormal.
● For single-phase 220 V models, measure the AC voltage between L1 and L2.
Switching on the
When the DC bus voltage amplitude (voltage between P⊕ and Nɵ) is lower
control circuit (L1C, 2. The voltage of the
than 200 V, the keypad displays "nrd".
L2C) and the main The LED neither lights main circuit power
● For three-phase 220 V/380 V models, measure the AC voltage among L1, L2,
circuit (L1, L2/R, S, T/ up nor displays "rdy". supply is abnormal. L3/R, S, T. When the DC bus voltage amplitude (voltage between P⊕ and Nɵ)
L1, L2, L3) is lower than 460 V, the keypad displays "nrd".
3. The programming
Check whether the programming terminal is shorted.
terminal is shorted.
4. The servo drive is

-
faulty.
The keypad displays Rectify the fault causes according to “4.2.2 Common
Solutions to Faults” on page 177 and
"Er.xxx". “4.2.3 Solutions to Common Warnings” on page 199.
The keypad displays "rdy" after preceding faults are cleared.
‑166‑
Troubleshooting
The keypad displays Rectify the fault causes according to “4.2.2 Common
Solutions to Faults” on page 177 and
"Er.xxx". “4.2.3 Solutions to Common Warnings” on page 199.
Switch the keypad display to the servo status interface and view whether the
keypad displays "rdy" instead of "run".
● Check parameters in groups H03 or H17 to see whether FunIN.1 (S-ON) is

assigned to a DI. If FunIN.1 is assigned, check whether the corresponding DI
logic is active. If FunIN.1 is not assigned, assign FunIN.1 to a DI and activate
Switching on the S- 1. The S-ON signal is the logic of this DI. For how to assign FunIN.1 to a DI, see “5.4 Group
H03:
ON signal Terminal Input Parameters” on page 212 and “5.17 Group H17:
The servo motor shaft is inactive.
(S-ON signal switched in the free running VDI/VDO Parameters” on page 245.
state. ● If the keypad keeps displaying "rdy" even though the S-ON signal has been
on)
assigned to a DI through parameters in group H03 or H17 and the
corresponding DI logic is active, check whether the DI is connected correctly
according to Chapter "Wiring" in SV660P Series Servo Drive Hardware Guide.
Check whether H02-00 (Control mode selection) is set to 1 (Position control

2. The control mode is
mode). If it is set to 2 (Torque control mode), the motor shaft will is de-
wrong.
energized because the default torque reference is 0.
The keypad displays "run" after preceding faults are cleared.
● The high/low-speed pulse input terminal is wired incorrectly. When H05-00

(Position reference source) is set to 0 (pulse reference), check whether the
high/low-speed pulse input terminal is wired correctly according to Chapter
"Wiring" in SV660P Series Servo Drive Hardware Guide. Meanwhile, check
whether the setting of H05-01 (Pulse reference input terminal selection) is
matching.
● No position reference is inputted.
● Check whether FunIN.13 (Inhibit, position reference inhibited) or FunIN.37
(PulseInhibit, pulse reference inhibited) is used.
● When H05-00 (Position reference source) is set to 0 (Pulse input), the host
controller or other pulse output device does not output pulses. Check
The value of the whether there are pulses input to the high/low-speed pulse input terminals.
Inputting position The servo motor does
position reference For details, see Chapter "Wiring" in SV660P Series Servo Drive Hardware
references not rotate. Guide.
counter (H0B-13) is 0.
● When H05-00 (Position reference source) is set to 1 (Step reference), check
whether H05-05 (Step reference) is 0. If not, check whether FunIN.20
(PosStep, step reference enabled) is assigned to a DI and whether the logic of
this DI is active.
● When H05-00 (Position reference source) is set to 2 (Multi-position
reference), check whether parameters in group H11 are set correctly. If yes,
check whether FunIN.28 (PosInSen, internal multi-position enable) is
assigned to a DI and whether the logic of this DI is active.
● If interrupt positioning is used, check whether H05-29 (Interrupt positioning
cancel) is set to 1 (Enable). If yes, check whether FunIN.29 (XintFree, interrupt
positioning cancel) is used to cancel the interrupt positioning state.
‑167‑
Troubleshooting
● When H05-00 (Position reference source) is set to 0 (Pulse reference), check

whether the setting of H05-15 (Pulse reference form) is consistent with the
actual input pulses. If not, H05-15 is set improperly or terminals are wired
incorrectly.
● When H05-00 (Position reference source) is set to 1 (Step reference), check
The value of the
whether the value of H05-05 (Step reference) is a positive or a negative
The servo motor rotates position reference
number.
Inputting position
in the reverse direction. counter (H0B-13) is a ● When H05-00 (Position reference source) is set to 2 (Multi-position
references negative number. reference), check the sign (+/-) of each displacement reference value in
parameter group H11.
● Check whether FunIN.27 (PosDirSel, position reference direction selection)
is assigned to a DI and whether the logic of this DI is active.
● Check whether H02-02 (Direction of rotation) is set properly.
The servo motor can rotate after preceding faults are cleared.
The motor speed is

Gains are set Perform gain auto-tuning according to Chapter "Adjustment" in SV660P
unstable during low-
improperly. Series Servo Drive Function Guide.
speed operation.
Rotating unstably at
The motor shaft The load moment of If the motor can operate safely , perform inertia auto-tuning and gain auto-
low speed
vibrates leftward and inertia ratio (H08-15) is tuning according to Chapter "Adjustment" in SV660P Series Servo Drive
rightward. excessively high. Function Guide.
The servo motor can rotate properly after preceding fault causes are rectified.
The position deviation

The positioning is Check the position reference counter (H0B-13), feedback pulse counter (H0B-
Running normally is beyond the
inaccurate. 17), and the mechanical stop position according to the following section.
permissible range.
Procedure for checking the causes of inaccurate positioning
Figure 4-1 Schematic diagram for positioning control
● When inaccurate positioning occurs, check the following four signals in the preceding figure.
■ Output position reference count value (Pout) in the position reference output device (host
controller or internal parameters of the servo drive)
■ Input position reference count value (Pin) received by the servo drive, corresponding to H0B-13
(Position reference counter)
■ Accumulative pulse feedback value (Pf) returned by the encoder, corresponding to H0B-17
(Feedback pulse counter)
■ Mechanical stop position (PL)
● The A, B, C shown in the preceding figure represent the three causes that lead to inaccurate
positioning.
‑168‑
Troubleshooting
■ A: An input position reference count error occurs due to the noise in the wiring of the host
controller and the servo drive.
■ B: The input position reference is interrupted during operation of the motor.
Cause: The S-ON signal is switched off, the positive/negative limit switch signal (P-OT or N-OT) is
active, or the position deviation clear signal (ClrPosErr) is active.
■ C: Mechanical position slip occurs between the machine and the servo motor.
● In an ideal scenario where the position deviation is 0, the following relations exist:
■ Pout = Pin: Output position reference count value = Input position reference count value
■ Pin x Electronic gear ratio = Pf: Input position reference count value x Electronic gear ratio =
Accumulative pulse feedback
■ Pf x △L = PL: Accumulative pulse feedback x Corresponding load displacement per position
reference = Mechanical stop position
● When inaccurate positioning occurs, check the cause based on the following steps:
■ Pout ≠ Pin
Fault cause: A
To rectify cause A, do as follows:
1. Check whether the pulse input terminals (low-speed or high-speed pulse input terminal, see
Chapter "Wiring" in SV660P Series Servo Drive Hardware Guide) are connected with twisted
pairs.
2. If the open-collector input mode for low-speed pulse input terminals is used, change to the
differential input mode.
3. Route pulse input terminals and the main circuit (L1, L2, R, S, T, U, V, W) through different
routes.
4. If low-speed pulse input terminals are used, increase the filter time constant of low-speed
pulse input pins (H0A-24). If high-speed pulse input terminals are used, increase the filter time
constant of the high-speed pulse input pins (H0A-30).
■ Pin x Electronic gear ratio ≠ Pf:

Fault cause: B
To rectify cause B, do as follows:
1. Check whether a fault occurs during operation, causing the servo drive to stop before
executing all the commands.
2. If the fault is caused by an active position deviation clear signal (ClrPosErr), check whether the
position deviation clear mode (H05-16) is proper.
■ Pf x △L ≠ PL:
Fault cause: C
To rectify cause C, check mechanical connections and find the sliding position.
‑169‑
Troubleshooting
4.1.2 Speed Control Mode

supply is abnormal.
Switching on the
● For single-phase 220 V models, measure the AC voltage between L1 and L2.
control circuit
When the DC bus voltage amplitude (voltage between P⊕ and Nɵ) is lower than
(L1C, L2C) and
2. The input voltage is 200 V, the keypad displays "nrd".
the main circuit The LED neither lights ● For three-phase 220 V/380 V models, measure the AC voltage among L1, L2, L3/
abnormal.
(L1, L2/R, S, T/L1, up nor displays "rdy".
R, S, T. When the DC bus voltage amplitude (voltage between P⊕ and Nɵ) is lower
L2, L3) than 460 V, the keypad displays "nrd".
3. The programming
Check whether the programming terminal is shorted.

-
faulty.
The keypad displays Rectify the fault causes according to “4.2.2 Common Solutions to Faults” on page 177 and “4.2.3
"Er.xxx". Solutions to Common Warnings” on page 199.
The keypad displays Rectify the fault causes according to “4.2.2 Common Solutions to Faults” on page 177 and “4.2.3
"Er.xxx". Solutions to Common Warnings” on page 199.
Switch the keypad display to the servo status interface and view whether the
● Check parameters in groups H03 or H17 to see whether FunIN.1 (S-ON) is

assigned to a DI. If FunIN.1 is assigned, check whether the corresponding DI logic
is active. If FunIN.1 is not assigned, assign FunIN.1 to a DI and activate the logic of
Switching on the 1. The S-ON signal is this DI. For how to assign FunIN.1 to a DI, see “5.4 Group
H03: Terminal
S-ON signal inactive. Input Parameters” on page 212 and “5.17 Group H17: VDI/VDO
The servo motor shaft is
(S-ON signal Parameters” on page 245.
in the free running state.
● If the keypad keeps displaying "rdy" even though the S-ON signal has been
switched on)
assigned to a DI through parameters in group H03 or H17 and the corresponding
DI logic is active, check whether the DI is connected correctly according to
Chapter "Wiring" in SV660P Series Servo Drive Hardware Guide.
Check whether H02-00 (Control mode selection) is set to 0 (Position control

2. The control mode is
mode). If it is set to 2 (Torque control mode), the motor shaft will be in the free
wrong.
running status because the default torque reference is 0.
‑170‑
Troubleshooting
● The speed reference selected is wrong. Check whether H06-02 (Speed reference
selection) is set correctly.
● No speed reference is inputted or the speed reference is abnormal.
● When the speed reference is set through the keypad, check whether H06-03
(Speed reference set through keypad) is set correctly.
● When the speed reference is set through multi-speed references, check whether
parameters in group H12 are set correctly.
The servo motor does ● When the speed reference is set through communication, check whether H31-09
Inputting speed The speed reference
not rotate or the motor (Speed reference set through communication) is set correctly.
references (H0B-01) is 0. When the speed reference is set through jog speed references, check whether
speed is incorrect. ●
H06-04 (Jog speed) is set correctly and whether FunIN.18 (JOGCMD+, forward jog)
and FunIN.19 (JOGCMD, reverse jog) are assigned to DIs and the DI logics are
active.
● Check whether H06-05 (Acceleration time constant of speed reference) and H06-
06 (Deceleration time constant of speed reference) are set correctly.
● Check whether FunIN.12 (ZCLAMP, zero clamp) is misassigned and whether the
active logic of the corresponding DI is correct.
● When the speed reference is set through the keypad, check whether the value of
H06-03 (Speed reference set through keypad) is lower than 0.
● When the speed reference is set through multi-speed references, check the sign
(+/-) of each speed reference value in group H12.
● When the speed reference is set through communication, check whether the
The value of the speed value of H31-09 (Speed reference set through communication) is lower than 0.
The servo motor rotates
reference (H0B-01) is a ● When the speed reference is set through jog speed references, check whether
Inputting speed
in the reverse direction. the value of H06-04 (Jog speed) and the active logics of FunIN.18 (JOGCMD+,
negative number.
references
forward jog) and FunIN.19 (JOGCMD-. reverse jog) match the desired direction of
rotation.
● Check whether FunIN.26 (SpdDirSel, speed reference direction selection) is
assigned to a DI and whether the logic of the DI is active.
The motor speed is

Gains are set Perform gain auto-tuning according to Chapter "Adjustment" in SV660P Series
unstable during low-
improperly. Servo Drive Function Guide.
speed operation.
Rotating
unstably at low If the motor can operate safely , perform inertia auto-tuning according to Chapter
The load moment of
speed The motor shaft vibrates "Adjustment" in SV660P Series Servo Drive Function Guide.
inertia ratio (H08-15) is
leftward and rightward. Perform gain auto-tuning according to Chapter "Adjustment" in SV660P Series
excessively high.
Servo Drive Function Guide.
‑171‑
Troubleshooting
4.1.3 Torque Control Mode

supply is abnormal.
● For single-phase 220 V models, measure the AC voltage between L1 and L2. When
the DC bus voltage amplitude (voltage between P⊕ and Nɵ) is lower than 200 V, the
The LED neither keypad displays "nrd".
Switching on the main circuit power
● For three-phase 220 V/380 V models, measure the AC voltage among L1, L2, L3/R,
lights up nor
control circuit (L1C, supply is abnormal. S, T. When the DC bus voltage amplitude (voltage between P⊕ and Θ) is lower than
displays "rdy".
L2C) and the main 460 V, the keypad displays "nrd".
circuit (L1, L2/R, S,
3. The programming
T/L1, L2, L3) Check whether the programming terminal is shorted.

-
faulty.
The keypad Rectify the fault causes according to “4.2.2 Common Solutions to Faults” on page 177 and “4.2.3
displays "Er.xxx". Solutions to Common Warnings” on page 199.
The keypad Rectify the fault causes according to “4.2.2 Common Solutions to Faults” on page 177 and “4.2.3
displays "Er.xxx". Solutions to Common Warnings” on page 199.
● Switch the keypad display to the servo status interface and view whether the
● Check parameters in groups H03 or H17 to see whether FunIN.1 (S-ON) is assigned
Switching on the S- to a DI. If FunIN.1 is assigned, check whether the corresponding DI logic is active. If
FunIN.1 is not assigned, assign FunIN.1 to a DI and activate the logic of this DI. For
ON signal The servo motor
The S-ON signal is how to assign FunIN.1 to a DI, see “5.4 Group
H03: Terminal Input
(S-ON signal shaft is in the free
inactive. Parameters” on page 212 and “5.17 Group H17: VDI/VDO Parameters” on
switched on) running state. page 245.
● If the keypad keeps displaying "rdy" even though the S-ON signal has been
assigned to a DI through parameters in group H03 or H17 and the corresponding DI
logic is active, check whether the DI is connected correctly according to Chapter
"Wiring" in SV660P Series Servo Drive Hardware Guide.
The torque reference selected is wrong.
Check whether H07-02 (Torque reference source) is set correctly.
The servo motor The internal torque No torque reference is inputted.
does not rotate. reference (H0B-02) is 0. ● When the torque reference is set through the keypad, check whether H07-03
(Torque reference set through keypad) is set to 0.
● When the torque reference is set through communication, check whether H31-11
Inputting torque (Torque reference set through communication) is set to 0.
references ● When the torque reference is set through keypad, check whether the value of H07-
03 (Torque reference set through keypad) is lower than 0.
The value of the
The servo motor ● When the torque reference is set through communication, check whether the value
internal torque
rotates in the of H31-11 (Torque reference set through communication) is lower than 0.
reference (H0B-02) is a ● Check whether FunIN.25 (ToqDirSel, speed reference direction selection) is
reverse direction.
negative number. assigned and whether the corresponding DI logic is active.
‑172‑
Troubleshooting
The motor speed

is unstable during Gains are set
Perform gain auto-tuning.
low-speed improperly.
Rotating unstably at
operation.
low speed
The motor shaft The load moment of
If the servo motor can run safely, perform inertia auto-tuning again.
vibrates leftward inertia ratio (H08-15) is
Perform gain auto-tuning.
and rightward. excessively high.
4.2 Troubleshooting During Operation
4.2.1 Fault and Warning List
Fault and warning levels
Faults and warnings of the servo drive are divided into three levels based on severity: No. 1 > No. 2 >
No. 3, as shown below.
● No. 1 non-resettable fault

● No. 1 resettable fault
● No. 2 resettable fault
● No. 3 resettable warning
"Resettable" means the keypad stops displaying the fault/warning status once a "Reset signal" is input.
To stop the keypad from displaying the fault/warning, set H0D-01 to 1 (Fault reset enabled) or activate
the logic of the DI assigned with FunIN.2 (ALM-RST, fault and warning reset).
● To reset No. 1 and No. 2 resettable faults, switch off the S-ON signal first and then set H0D-01 to 1 or
use FunIN.2 (ALM-RST).
● To reset No. 3 warnings, set H0D-01 to 1 or use FunIN.2 (ALM-RST).
Note
● Some faults and warnings can be reset only after the fault causes are rectified by modifying the settings.
However, a reset operation does not necessarily activate the modification to settings.
● The control circuit must be powered off and on again in case of modifications that can be activated only after
the power supply (L1, L2/L1, L2, L3/L1C, L2C) is powered off and on again.
● For modifications activated after stop, switch off the S-ON signal. The servo drive operates normally only after
modifications are activated.
‑173‑
Troubleshooting
Setting Effective
Para. No. Name Value Range Function Default
Condition Time
Used to stop the keypad from
displaying the fault/warning
0: No operation when a resettable fault/
H0D-01 Fault reset At stop At once 0
warning occurs.
1: Enable
H0D-01 is set to 0 immediately
after reset.

The servo drive may, depending on the warning types,
continue running after warning reset.
When FunIN.2 is assigned to a low-speed DI, the effective

level change of this DI must be kept for more than 3 ms.
Fault/Warning
FunIN.2 ALM-RST Otherwise, fault reset will be inactive. Do not assign FunIN.2
reset signal
to a high-speed DI. Otherwise, fault/warning reset will be
inactive.
● Inactive: Not resetting the fault/warning

● Active: Resetting the fault/warning
Fault and warning log
The servo drive can record the latest 10 faults and warnings and values of status parameters upon the
fault/warning event. Among the latest 5 faults/warnings, if a fault/warning occurs repetitively, the
servo drive records the fault/warning code and the drive status only once.
A fault/warning will still be saved in the fault log after reset. To remove the fault/warning from the fault
log, set H02-31 (System parameter initialization) to 1 or 2.
You can select the specific fault/warning in H0B-33, view the corresponding fault/warning code in H0B-
34 and the values of status parameters in H0B-35...H0B-42. For details of these parameters, see
Chapter "Parameter List". If no fault occurs, the keypad displays "Er.000" in H0B-34.
The keypad displays "Er.xxx" when you view H0B-34 (Fault code of the selected fault) through the
keypad. In "Er.xxx", "xxx" is the fault/warning code. The value of H0B-34 read through the software tool
or communication is a decimal, which needs to be converted to a hexadecimal equivalent to indicate
the actual fault/warning code. The following table gives examples of such conversion.
H0B-34
Er.xxx H0B-34 (Decimal) Description
(Hexadecimal)
0: No. 1 non-resettable fault
Er.101 257 0101
101: Fault code
2: No. 1 resettable fault
Er.130 8496 2130
130: Fault code
6: No. 2 resettable fault
Er.121 24865 6121
121: Fault code
E: No. 3 resettable warning
Er.110 57616 E110
110: Warning code
‑174‑
Troubleshooting
Fault and Warning List
The servo drive can output the fault/warning code of the highest-level.
To output the fault/warning code, assign FunOUT.12 (ALMO1 (AL1), 1st bit of the fault code),
FunOUT.13 (ALMO2 (AL2), 2nd bit of the fault code), and FunOUT.14 (ALMO3 (AL3), 3rd bit of the fault
code) to three DOs respectively. When different faults/warnings occur, the level of each of the three
DOs changes accordingly.
● No. 1 non-resettable faults:
Table 4–1 No. 1 non-resettable fault list

Code Output
Display Fault Name Fault Type Resettable
AL3 AL2 AL1
Er.101 Internal parameter error No. 1 No 1 1 1
Programmable logic
Er.102 No. 1 No 1 1 1
configuration fault
Programmable logic
Er.104 No. 1 No 1 1 1
interrupted
Er.105 Internal program error No. 1 No 1 1 1
Er.108 Parameter storage fault No. 1 No 1 1 1
Er.120 Product model mismatch No. 1 No 1 1 1
Product mismatch in absolute
Er.122 No. 1 No 1 1 1
position mode
Data check error or no
Er.136 parameter saved in the motor No. 1 No 1 1 1
ROM
Er.201 Overcurrent 2 No. 1 No 1 1 0
FPGA system sampling
Er.208 No. 1 No 1 1 0
operation timeout
Output short-circuited to
Er.210 No. 1 No 1 1 0
ground
Er.220 Phase sequence incorrect No. 1 No 1 1 0
Er.234 Runaway No. 1 No 1 1 0
Encoder multi-turn counting
Er.735 No. 1 No 1 1 1
overflow
Er.740 Encoder interference No. 1 No 1 1 1
Er.A33 Encoder data error No. 1 No 0 1 0
Er.A34 Encoder echo check error No. 1 No 0 1 0
Note
The value "1" indicates active and "0" indicates inactive. Values "1" and "0" do not indicate high and low levels of
the DO.
● No. 1 resettable faults
‑175‑
Troubleshooting
Table 4–2 No. 1 resettable fault list

Code Output
AL3 AL2 AL1
Er.130 Different DIs assigned with the No. 1 Yes 1 1 1
same function
Er.207 D/Q-axis current overflow No. 1 Yes 1 1 0
Er.400 Main circuit overvoltage No. 1 Yes 0 1 1
Er.410 Main circuit undervoltage No. 1 Yes 0 1 1
Er.500 Overspeed No. 1 Yes 0 1 0
Er.602 Angle auto-tuning failure No. 1 Yes 0 0 0
Er.605 Bootstrap speed too fast No. 1 Yes 0 0 0
Er.610 Drive overload No. 1 Yes 0 0 0
Er.620 Motor overload No. 1 Yes 0 0 0
Er.630 Motor stall over-temperature No. 1 Yes 0 0 0
protection
Er.640 Junction temperature too high No. 1 Yes 0 0 0
Er.650 Heatsink over-temperature No. 1 Yes 0 0 0
Er.B00 Position deviation too large No. 1 Yes 1 0 0
● No. 2 resettable faults
Table 4–3 No. 2 resettable fault list

Code Output
AL3 AL2 AL1
Er.121 S-ON command invalid No. 2 Yes 1 1 1
Er.420 Main circuit phase loss No. 2 Yes 0 1 1
Er.430 Control circuit undervoltage No. 2 Yes 0 1 1
Er.510 Pulse output overspeed No. 2 Yes 0 1 0
Er.600 Inertia auto-tuning failure No. 2 Yes 0 0 0
Er.660 Vibration too strong No. 2 Yes 0 0 0
Er.661 Gain values too low No. 2 Yes 0 0 0
Er.666 Runaway No. 2 Yes 0 0 0
Er.668 Homing method improper No. 2 Yes 0 0 0
Er.731 Encoder battery failure No. 2 Yes 1 1 1
Encoder multi-turn counting
Er.733 No. 2 Yes 1 1 1
error
Er.B01 Pulse input error No. 2 Yes 1 0 0
Electronic gear ratio beyond
Er.B03 No. 2 Yes 1 0 0
the limit
CAN communication
Er.D03 No. 2 Yes 1 0 1
interrupted
● No. 3 resettable warnings
Table 4–4 No. 3 resettable warning list

Code Output
Display Name Fault Type Resettable
AL3 AL2 AL1
Frequency-division pulse
Er.110 No. 3 Yes 1 1 1
output setting error
Er.601 Homing timeout No. 3 Yes 0 0 0
‑176‑
Troubleshooting
Code Output
Display Name Fault Type Resettable
AL3 AL2 AL1
Er.730 Encoder battery warning No. 3 Yes 1 1 1
Er.900 DI emergency braking No. 3 Yes 1 1 1
Er.909 Motor overload No. 3 Yes 1 1 0
Er.920 Regenerative resistor overload No. 3 Yes 1 0 1
Resistance of external
Er.922 No. 3 Yes 1 0 1
regenerative resistor too small
Regenerative transistor over-
Er.924 No. 3 Yes 1 0 1
temperature
The motor power cables are
Er.939 No. 3 Yes 1 0 0
disconnected.
Parameter modifications
Er.941 No. 3 Yes 0 1 1
activated at next power-on
Er.942 Parameters saved frequently No. 3 Yes 0 1 1
Er.950 Forward overtravel warning No. 3 Yes 0 0 0
Er.952 Reverse overtravel warning No. 3 Yes 0 0 0
Er.980 An encoder fault occurs. No. 3 Yes 0 0 1
Er.990 Power input phase loss No. 3 Yes 0 0 1
Er.994 CAN address conflict No. 3 Yes 0 0 1
Er.A40 Parameter auto-tuning failure No. 3 Yes 0 1 0
4.2.2 Common Solutions to Faults
● Er.101: Internal parameter error

Cause:
■ The total number of parameters changes, which generally occurs after software update.
■ Values of parameters in groups H02 and above exceed the limit, which generally occurs after
software update.
‑177‑
Troubleshooting
Cause Confirming Method Solution

Check whether the control circuit (L1C, Restore system parameters to default
L2C) is in the process of power-off or settings (H02-31 = 1) and write parameters
instantaneous power failure occurs. again.
Measure whether the input voltage of the
control circuit cable on the non-drive side
1. The voltage of the is within the following range:
control circuit power ●220 V servo drive: Increase the power supply capacity or
supply drops ●Effective value: 220 V to 240 V replace with a power supply of higher
instantaneously. ●Allowable deviation: –10% to +10% capacity. Restore system parameters to
(198 V to 264 V) default settings (H02-31 = 1), and write
●380 V servo drive: parameters again.
●Effective value: 380 V to 440 V
●Allowable deviation: –10% to +10%
(342 V to 484 V)
2. Instantaneous
Power on the system again, restore
power failure occurs Check whether instantaneous power
system parameters to default settings
during parameter failure occurs when saving parameters.
(H02-31 = 1), and write parameters again.
saving.
3. The number of
●Change the write mode and write
write operations
Check whether parameters are updated parameters again.
within a certain
frequently through the host controller. ●The servo drive is faulty, replace the
period of time
servo drive.
exceeds the limit.
Reset the servo drive model and servo
4. The software is motor model, and restore system
Check whether the software is updated.
updated. parameters to default settings (H02-31 =
1).
If the fault persists though parameters are
5. The servo drive is restored to default settings and the servo
Replace the servo drive.
faulty. drive is powered off and on several times,
the servo drive is faulty.
● Er.102: Programmable logic configuration fault

Cause:
■ The software versions of the FPGA the MCU do not match.

■ The FPGA- or MCU-related hardware is damaged, leading to communication failure between
MCU and FPGA.
View the MCU software version
(H01-00) and FPGA software version
(H01-01) through the keypad or the Contact Inovance for technical
1. The software versions of the
software tool. Check whether the support. Update the FPGA or MCU
FPGA the MCU do not match.
non-zero bits in the most significant software to make them match.
bits of these two versions are
consistent.
The fault persists after the servo
2. The FPGA is faulty. drive is powered off and on several Replace the servo drive.
times.
● Er.104: Programmable logic interrupted

To distinguish the fault cause, the servo drive displays different internal fault codes under the same
external fault code. You can view these internal fault codes in H0B-45.
‑178‑
Troubleshooting
Cause:
Access to MCU or FPGA times out.

1. The FPGA is faulty (Er.104).
2. The handshaking between FPGA The fault persists after the servo
and MCU is abnormal (Er.100). drive is powered off and on several Replace the servo drive.
3. Internal operation of the servo times.
drive times out (Er.940).
● Er.105: Internal program error

Cause:
■ The total number of parameters read/written from the EEPROM is abnormal.

■ The parameter value range is abnormal, which generally occurs after software update.

Restore system parameters to
Check the fault cause according to
1. An EEPROM fault occurs. default values (H02-31 = 1) and
the method described in Er.101
restart the servo drive.
The fault persists after the servo
2. The servo drive is faulty. drive is powered off and on several Replace the servo drive.
times.
● Er.108: Parameter storage fault

Cause:
■ Parameter values cannot be written to EEPROM.

■ Parameter values cannot be read from EEPROM.
1. An error occurs when writing Modify a certain parameter, power If the modification is not saved and
parameters to EEPROM. off and on the servo drive again the fault persists after the servo
2. An error occurs when reading and check whether the drive is powered off and on several
data from EEPROM. modification is saved. times, replace the servo drive.
● Er.120: Product model mismatch

Cause:
The rated current of the motor is higher than that of the servo drive.

Check the servo drive and servo motor
nameplates to ensure that the equipment If the motor code is unknown, set H00-00
1. The product used is SV660P series servo drive and 23- to 14101 when using SV660P series servo
(motor or servo bit servo motor. Meanwhile, check whether drive and 23-bit servo motor.
drive) code does H00-00 (Motor code) is set to 14101.
not exist. If the servo drive model is unknown, set
Check the servo drive code (H01-02) to see
the servo drive model correctly according
whether this servo drive code exists.
to the nameplate.
2. The power rating
Check whether the servo drive code (H01-
of the motor does
02) matches the serial-type motor code Replace the unmatched products.
not match that of
(H00-05).
the servo drive.
● Er.121: S-ON command invalid

Cause:
‑179‑
Troubleshooting
A redundant S-ON signal is sent when some auxiliary functions are used.

Check whether the following auxiliary
1. The external S-ON
functions are used: Check whether
signal is active when Deactivate the DI assigned with FunIN.1
auxiliary functions (H0D-02, H0D-03, and
servo drive is (both hardware DI and virtual DI).
H0D-12) are used and whether FunIN.1 (S-
enabled internally.
ON signal) is active.
● Er.122: Product mismatch in absolute position mode

Cause:
The motor does not match in the absolute position mode or the motor code is set improperly.

1. The motor does
● Check the motor nameplate to see
not match or the
whether the motor is configured with Reset H00-00 (Motor code) according to
motor code is set
a multi-turn absolute encoder. the motor nameplate or replace with a
improperly in the
● Check whether H00-00 (Motor code) matching motor.
absolute position
is set properly.
mode.
● Er.130: Different DIs assigned with the same function

Cause:
■ Different DIs, including hardware DIs and virtual DIs, are assigned with the same function.
■ The DI function No. exceeds the maximum setting number allowed for DI functions.

Assign different DI function numbers to
Check whether parameters in groups H03 parameters in groups H03 or H17, and
1. The same
(H03-02, H03-04...H03-20) and H17 (H17- then restart the control circuit to activate
function is assigned
00, H17-02...H17-30) are assigned with the the assignment, or switch off the S-ON
to different DIs.
same non-zero DI function No.. signal and send a "RESET" signal to
activate the assignment.
2. The DI function
No. exceeds the Restore system parameters to default
Check whether the MCU program is
maximum setting values (H02-31 = 1) and restart the servo
updated.
number allowed for drive.
DI functions.
3. Parameters are Check whether a DI function is assigned to
imported through or canceled by different DIs when
the software: The importing parameters through the
same DI function is software.
assigned to or
Modify the value of H03-10 through the
canceled by
software, and then set H03-02.
different DIs.
● Er.136: Data check error or no parameter saved in the motor ROM

Cause:
When the servo drive reads parameters in the encoder ROM, no parameters are saved there or
parameter values are inconsistent with the parameter setpoints.
‑180‑
Troubleshooting

Replace with a mutually-matching servo
View the servo drive and servo motor
1. The servo drive drive and servo motor and power on
nameplates to check whether the devices
model does not again. When using SV660P series servo
used are SV660P series servo drive and
match the servo drive and servo motor equipped with 23-
servo motor equipped with 23-bit absolute
motor model. bit absolute encoder, set H00-00 (Motor
encoder.
code) to 14101.
●Check whether the encoder cable
provided by Inovance is used. For
cable specifications, see SV660P
Series Servo Drive Hardware Guide.
●Use the encoder cable provided by
The cable must be connected
2. A parameter Inovance. Ensure motor terminals are
securely without scratching, breaking
check error occurs connected securely and servo drive
or poor contact on both ends.
or no parameter is screws are tightened properly. Use a
Measure signals PS+, PS-, +5V and
new encoder cable if necessary.
●
saved in the serial
GND on both ends of the encoder
encoder ROM. ●Route encoder cables and power
cable and observe whether signals at
cables (UVW) through different routes.
both ends are consistent. For signal
assignment, see Chapter "Wiring" in
SV660P Series Servo Drive Hardware
Guide.
3. The servo drive is The fault persists after the servo drive is
faulty. restarted.
● Er.201: Overcurrent 2
Cause:
Hardware overcurrent is detected.
‑181‑
Troubleshooting

1. References are Reference time sequence: Wait for the
input keypad to display "Rdy", and then switch
simultaneously at on the S-ON signal, finally input the
Check whether a reference is input before
the servo drive reference.
the keypad displays "Rdy".
startup or the Incorporate the reference filter time
reference input is constant or increase the acceleration/
too early. deceleration time if allowed.
● If the built-in regenerative resistor is
used and the resistance is 0, change
to use the external regenerative
resistor (H02-25 = 1 or 2) and remove
the jumper between terminals P ⊕ and
If the built-in regenerative resistor is
D. Select an external regenerative
●
used (H02-25 = 0), check whether

resistor of the same resistance and
terminals P ⊕ and D are jumpered. If
equal or higher power than the built-
yes, measure the resistance between
in one.
terminals C and D.
● If the resistance of the external
2. The regenerative If an external regenerative resistor is
regenerative resistor used is lower
●
resistor is of small used (H02-25 = 1 or 2), measure the

than H02-21, replace with a new
resistance or short- resistance of the external
regenerative resistor and connect it
circuited. regenerative resistor connected
between terminals P⊕ and C. For
between terminals P⊕ and C.
details, see section "Specifications of
For details, see section
the regenerative resistor" in SV660P
●
"Specifications of the regenerative

Series Servo Drive Selection Guide.
resistor" in SV660P Series Servo Drive
● Set H02-26 (Power of external
Selection Guide.
regenerative resistor) and H02-27
(Resistance of external regenerative
resistor) to values consistent with the
specifications of the external
regenerative resistor used.
Check whether the servo drive power
3. The motor cables Tighten the cables that are loose or
cables and motor cables on the U, V, and
are in poor contact. disconnected.
W side of the servo drive are loose.
After confirming the servo drive power
cables and motor cables are connected
4. Motor cables are Replace the motor in case of poor
properly, measure whether the insulation
grounded. insulation.
resistance between the servo drive U/V/W
side and the PE cable is at MΩ level.
Disconnect the motor cables and check
5. Motor UVW cables whether short circuit occurs among U, V,
Connect the motor cables correctly.
are short-circuited. and W phases and whether burrs exist in
the wiring.
6. The motor is Disconnect the motor cables and measure
Replace the motor if the resistance is
damaged due to whether the resistance among U, V, and W
unbalanced.
over-temperature. phases of motor cables is balanced.
Check whether vibration or sharp noise
7. Gains are set Perform gain auto-tuning according to
occurs during start and operation of the
improperly and the Chapter "Adjustment" in SV660P Series
motor, or view "Current feedback" in the
motor oscillates. Servo Drive Function Guide.
software tool.
‑182‑
Troubleshooting

Check whether the encoder cable provided
8. The encoder by Inovance is used and whether the cable
cable is wired is aging, corroded, or connected loosely.
Re-solder, tighten or replace the encoder
incorrectly, aging, Switch off the S-ON signal and rotate the cable.
corroded, or motor shaft manually. Check whether the
connected loosely. value of H0B-10 (Electrical angle) changes
as the motor shaft rotates.
Disconnect the motor cable but the fault
persists after the servo drive is powered off Replace the servo drive.
faulty.
and on again.
● Er.207: D/Q-axis current overflow

Cause:
■ Abnormal current feedback leads to overflow of the internal register.

■ Abnormal encoder feedback leads to an internal register fault.

If the fault persists after the servo drive is
1. Axis-D/Q current
powered off and on several times, the Replace the servo drive.
overflows.
servo drive is faulty.
● Er.208: FPGA system sampling operation timeout

Cause:
Find the fault cause through the internal fault code H0B-45.

1. The MCU H0B-45 (Internal fault code) = 1208:
communication Replace the servo drive.
The internal integrated circuit is damaged.
times out.
●It is recommended to use the cables
provided by Inovance. For use of
customized cables, check whether the
H0B-45 (Internal fault code) = 2208: customized cable complies with
● The encoder cable is connected specifications and whether it is a
improperly. shielded twisted pair cable.
2. The encoder ● The encoder cable is connected ●Check whether the connectors at
communication loosely. both ends of the encoder are in good
times out. ● The encoder cable is too long. contact and whether any pin retracts.
● The encoder communication suffers ●Contact the manufacturer.
from interference. ●Route the motor cables and encoder
● The encoder is faulty. cables through different routes.
Ensure the servo motor and servo
drive are grounded properly.
●Replace the servo motor.
‑183‑
Troubleshooting

H0B-45 (Internal fault code) = 3208:
● Check whether ambient devices are

generating disturbances and whether ● Route the high-current cables and
3. The current multiple disturbance sources such as low-current cables through different
sampling times out. variable-frequency devices are routes.
present inside the cabinet. ● Replace the servo drive.
● The internal current sampling
integrated circuit is damaged.
H0B-45 (Internal fault code) = 0208:
4. The FPGA
See the solutions for causes 1, 2, and 3.
operation times out. Determine the fault cause according to
preceding causes 1, 2, and 3.
● Er.210: Output short-circuited to ground

Cause:
An abnormal motor phase current or bus voltage is detected during auto-inspection upon power-
on.
■ The DC bus voltage exceeds the discharge threshold.

■ Phase-U current of servo drives in sizes C, D, and E exceeds 1/4 of the setpoint of H01-07.
■ Overcurrent occurs on phase-P and phase-N of servo drives in sizes A and B.

1. The servo drive
Disconnect the motor cables and measure
power cables (UVW) Re-connect or replace the servo drive
whether the servo drive power cables (U/
are short-circuited power cables.
V/W) are short-circuited to ground (PE).
to ground.
After confirming the servo drive power
2. The motor is cables and motor cables are connected
short-circuited to properly, measure whether the insulation Replace the motor.
ground. resistance between the servo drive U/V/W
side and the PE cable is at MΩ level.
Disconnect the power cables from the
3. The servo drive is servo drive, but the fault persists after the
faulty. servo drive is powered off and on several
times.
4. The motor speed
is too high during Check whether the motor is in the
Reduce the motor speed.
phase-to-ground generating status during power-on.
detection.
● Er.220: Phase sequence incorrect

Cause:
The UVW phase sequence of the servo drive does not match that of the motor, which is detected
during angle auto-tuning.

The UVW phase sequence of the Er.220 is reported again during Perform wiring and angle auto-
servo drive does not match that of angle auto-tuning though the servo tuning again.
the motor. drive is powered off and on several
times.
● Er.234: Runaway
Cause:
‑184‑
Troubleshooting
■ The torque reference direction is opposite to the speed feedback direction in the torque control
mode.
■ The speed feedback direction is opposite to the speed reference direction in the position or
speed control mode.

1. The UVW phase Check whether the servo drive power
Connect the U/V/W cables in the correct
sequence is cables are connected in the correct
phase sequence.
incorrect. sequence at both ends.
2. The interference
signal causes an
The UVW phase sequence is correct. But
error in the initial
Er.234 occurs when the servo drive is Power off and on the servo drive again.
phase detection of
enabled.
the motor rotor
upon power-on.
Replace with a mutually-matching servo
View the servo drive and servo motor
3. The encoder drive and servo motor. For use of SV660P
nameplates to check whether the devices
model is wrong or series servo drive and 23-bit servo motor,
used are SV660P series servo drive and
the wiring is set H00-00 to 14101. Check the motor
servo motor equipped with 23-bit absolute
incorrect. model, encoder type, and encoder cable
encoder.
connection again.
Check whether the encoder cable

●
provided by Inovance is used and

whether the cable is aging, corroded,
4. The encoder cable
or connected loosely.
is wired incorrectly, Re-solder, tighten or replace the encoder
Switch off the S-ON signal and
●
aging, corroded, or cable.
rotate the motor shaft manually.
connected loosely.
Check whether the value of H0B-10
(Electrical angle) changes as the
motor shaft rotates.
5. The gravity load in Check whether the load of the vertical axis Lighten the load of the vertical axis,
vertical axis is too large. Adjust brake parameters H02- increase the stiffness level, or hide this
applications is too 09...H02-12 and observe whether the fault fault without affecting the safety
heavy. can be cleared. performance and normal use.
In applications where the motor drives a vertical axis or is driven by the load, set H0A-12 to 0 to hide the runaway
fault.
● Er.400: Main circuit overvoltage

Cause:
The DC bus voltage between terminals P⊕ and NΘ exceeds the overvoltage threshold.
■ 220 V servo drive: Normal value: 310 V Overvoltage threshold: 420 V

‑185‑
Troubleshooting

Measure whether the input voltage on the
main circuit side is within the following
range:
220 V servo drive:

●
1. The voltage input Effective value: 220 V to 240 V

●
Replace or adjust the power supply
to the main circuit is Allowable deviation: –10% to +10%
●
according to the specified range.
too high. (198 V to 264 V)
380 V servo drive:
●
Effective value: 380 V to 440 V

●
Allowable deviation: –10% to +10%

●
(342 V to 484 V)
2. The power supply Connect a surge protection device and
Check whether the power supply is
is unstable or then switch on the main circuit and
unstable, affected by lightning, or
affected by control circuit power supplies again. If the
complies with the preceding range.
lightning. fault persists, replace the servo drive.
● If the resistance is "∞" (infinite), the

regenerative resistor is disconnected
internally.
● If a built-in regenerative resistor is
●If the built-in regenerative resistor is used, change to use an external
used (H02-25 = 0), check whether regenerative resistor (H02-25 = 1 or 2)
terminals P ⊕ and D are jumpered. If and remove the jumper between
yes, measure the resistance between terminals P ⊕ and D. Select an
terminals C and D. external regenerative resistor of the
●If an external regenerative resistor is same resistance and equal or higher
3. The regenerative
used (H02-25 = 1 or 2), measure the power than the built-in one.
resistor fails.
resistance of the external ● If an external regenerative resistor is
regenerative resistor connected used, replace it with a new one and
between terminals P⊕ and C. connect the new one between
●For specifications of the terminals P⊕ and C.
regenerative resistor, see SV660P ● Set H02-26 (Power of external
Series Servo Drive Selection Guide. regenerative resistor) and H02-27
(Resistance of external regenerative
resistor) to values consistent with the
specifications of the external
regenerative resistor used.
4. The resistance of Connect a new external regenerative
the external resistor with recommended resistance
Measure the resistance of the external between terminals P⊕ and C.
regenerative resistor
regenerative resistor connected between
is too large, Set H02-26 (Power of external regenerative
terminals P⊕ and C. Compare the
resulting in resistor) and H02-27 (Resistance of
measured value with the recommended
insufficient energy external regenerative resistor) to values
value.
absorption during consistent with the specifications of the
braking. external regenerative resistor used.
5. The motor is in
abrupt acceleration/ Confirm the acceleration/deceleration
After confirming the input voltage of the
deceleration status time during operation and measure
main circuit is within the specified range,
and the maximum whether the DC bus voltage between
increase the acceleration/deceleration
braking energy terminals P ⊕ and NΘ exceeds the fault
time if the operating conditions allow.
exceeds the energy threshold during deceleration.
absorption value.
‑186‑
Troubleshooting

Check whether H0B-26 (Bus voltage) is
6. The bus voltage within the following range:
sampling value ● 220 V servo drive: H0B-26 ＞ 420 V
deviates greatly ● 380 V servo drive: H0B-26 > 760 V Contact Inovance for technical support.
from the measured Check whether the DC bus voltage
value. detected between terminals P⊕ and NΘ is
close to the value of H0B-26.
7. The servo drive is The fault persists after the main circuit is
faulty. powered off and on several times.
● Er.410: Main circuit undervoltage

Cause:
The DC bus voltage is lower than the undervoltage threshold.

■ 380 V servo drive: Normal value: 540 V Undervoltage threshold: 380 V

1. The power supply Check the specifications of the input
of the main circuit is power supply. Measure whether the input
unstable or power voltages of the main circuit on the non-
failure occurs. drive side and the drive side are within the
following range:
220 V servo drive:

●

●

●
2. Instantaneous
(198 V to 264 V)
Increase the capacity of the power supply.
power failure occurs.
380
● V servo drive:
For details, see SV660P Series Servo Drive
●
Selection Guide.
●
(342 V to 484 V)
Measure the voltages of all the three
phases.
Monitor the power supply voltage and
3. The voltage of the check whether the main circuit power
power supply drops supply is applied to other devices,
during operation. resulting in insufficient power capacity
and voltage drop.
4. A three-phase
Replace the cables and connect the main
servo drive is
Check whether the main circuit is wired circuit cables correctly.
connected to a
properly and whether power input phase
single-phase power Single-phase: L1, L2
loss protection (H0A-00) is disabled.
supply, leading to
Three-phase: L1, L2, L3/R, S, T
phase loss.
Check whether H0B-26 (Bus voltage) is
within the following range:
5. The servo drive is 220 V servo drive: H0B-26 ＜ 200 V
●
faulty. ● 380 V servo drive: H0B-26 < 380 V
The fault persists after the main circuit is
powered off and on several times.
● Er.430: Control circuit undervoltage

Cause:
‑187‑
Troubleshooting


Check whether the control circuit (L1C, Power off and on the servo drive again.
L2C) is in the process of power-off or Ensure the power supply is stable in case
instantaneous power failure occurs. of power failure.
Check whether the input voltage of the
control circuit cable is within the following
range:
1. The control circuit ●220 V servo drive:
power supply is ●Effective value: 220 V to 240 V
unstable or power ●Allowable deviation: –10% to +10%
failure occurs. (198 V to 264 V) Increase the capacity of the power supply.
●380 V servo drive:
●Allowable deviation: –10% to +10%
(342 V to 484 V)
Measure the voltages of all the three
phases.
Check whether control circuit cables are
2. The control circuit
well connected and whether their voltages
cable is in poor Re-connect or replace the cables.
on the servo drive side (L1, L2, L3) are
contact.
within the preceding range.
● Er.500: Overspeed
Cause:
The actual speed of the motor exceeds the overspeed threshold.

1. The UVW phase
Check whether the servo drive power
sequence of the Connect the U/V/W cables in the correct
cables are connected in the correct
motor cable is phase sequence.
sequence at both ends.
wrong.
Check whether the overspeed threshold is
lower than the maximum speed needed:
2. H0A-08
Overspeed threshold = 1.2 x Maximum
(Overspeed Reset the overspeed threshold according
motor speed (H0A-08 = 0)
threshold) is set to the mechanical requirements.
improperly. Overspeed threshold = H0A-08 (H0A-08 ≠
0, and H0A-08 < 1.2 x Maximum motor
speed)
‑188‑
Troubleshooting

● In the position control mode where
the position reference source is pulse
references, reduce the pulse
Check whether the motor speed reference frequency without affecting
corresponding to the input reference the positioning accuracy or decrease
exceeds the overspeed threshold. the electronic gear ratio if the motor
When the reference source is pulse speed allows.
3. The input references in the position control mode: ● In the speed control mode, view the
reference exceeds values of the speed reference and
Motor speed (RPM) =
the overspeed speed limit (H06-06...H06-09) and
threshold. confirm that both values are within
the overpseed threshold.
● In the torque control mode, set the
For SV660P series servo drives, the speed limit to a value within the
encoder resolution is 8388608 PPR. overspeed threshold. For speed limit
in the torque control mode, see
SV660P Series Servo Drive Function
Guide.
Perform gain auto-tuning or adjust the
Check in the software tool whether the
4. The motor speed operating conditions according to Chapter
speed feedback exceeds the overspeed
overshoots. "Adjustment" in SV660P Series Servo Drive
threshold.
Function Guide.
faulty. powered off and on again.
● Er.510: Pulse output overspeed

Cause:
The output pulse frequency exceeds the frequency upper limit allowed by the hardware (2 MHz)
when pulse output is used (H05-38 = 0 or 1).
‑189‑
Troubleshooting

When H05-38 (Servo pulse output source)
is set to 0 (Encoder frequency-division
Decrease the value of H05-17 (Encoder
output), check whether the output pulse
frequency-division pulses) to allow the
frequency corresponding to the motor
output pulse frequency, within the speed
speed upon fault event exceeds the limit.
range required by the machine, to drop
Output pulse frequency (Hz) = below the frequency upper limit allowed
by the hardware.
The input pulse frequency exceeds 2 MHz

Decrease the input pulse frequency to a
or interference exists in the pulse input
The output pulse value within the frequency upper limit
pins when H05-38 (Servo pulse output
frequency exceeds allowed by hardware.
source) is set to 1 (Reference pulse
the frequency upper
synchronous output). Note:
limit allowed by the
hardware (2 MHz). ●Low-speed pulse input pins: In this case, if you do not modify the
differential input terminals: PULSE+, electronic gear ratio, the motor speed will
PULSE-, SIGN+, SIGN-, maximum be reduced.
pulse frequency: 200 kpps If the input pulse frequency is high but is
●Open-collector input terminals: still within the frequency upper limit
PULLHI, PULSE+, PULSE-, SIGN+, allowed by the hardware, take anti-
SIGN-, maximum pulse frequency: interference measures (use STP cable for
200 kpps pulse input and set pin filter parameters
●High-speed pulse input pins: H0A-24 or H0A-30). This is to prevent false
differential input terminals: HPULSE warnings caused by interference pulses
+, HPULSE-, HSIGN+, HSIGN-, superimposed to actual pulse references.
maximum pulse frequency: 2 Mpps
● Er.600: Inertia auto-tuning failure

Cause:
■ The vibration cannot be suppressed. You can set notch parameters (H09-12...H09-23) manually
to suppress vibration.
■ The auto-tuned values fluctuate dramatically. Increase the maximum operating speed, reduce
the acceleration/deceleration time, and shorten the stroke of the lead screw during ETune
operation.
■ Mechanical couplings of the load are loose or eccentric. Rectify the mechanical faults.
■ A warning occurs during auto-tuning and causes interruption. Rectify the fault causes and
perform inertia auto-tuning again.
■ The vibration cannot be suppressed if the load carries a large inertia. In this case, increase the
acceleration/deceleration time first to ensure the motor current is unsaturated.
● Er.602: Angle auto-tuning failure

● Er.605: Bootstrap speed too fast
Cause:
The actual motor speed exceeds the rated speed during bootstrap charging of the servo drive.
● Er.610: Servo drive overload

Cause:
The accumulative heat of the servo drive reaches the fault threshold.
● Er.620: Motor overload

Cause:
‑190‑
Troubleshooting
The accumulative heat of the motor reaches the fault threshold.

● Connect cables according to the
correct wiring diagram.
1. The motor and ● It is recommended to use the cables
Check the wiring among the servo drive,
encoder cables are provided by Inovance.
motor and encoder according to the
connected ● When customized cables are used,
correct wiring diagram.
improperly. prepare and connect the customized
cables according to the wiring
instructions.
2. The load is so
heavy that the Confirm the overload characteristics of ●Replace with a servo drive of higher
effective torque the servo drive or motor. capacity and a matching servo
outputted by the motor.
Check whether the average load rate
motor keeps ●Reduce the load and increase the
(H0B-12) keeps exceeding 100.0%.
exceeding the rated acceleration/deceleration time.
torque.
Calculate the mechanical inertia ratio or
3. The acceleration/ perform inertia auto-tuning. View the
deceleration is too value of H08-15 (Load moment of inertia Increase the acceleration/deceleration
frequent or the load ratio). time in an individual operation cycle.
inertia is too large. Confirm the individual operation cycle
when the servo motor operates cyclically.
4. Gains are improper Adjust gain values again according to
Check whether the motor vibrates and
or the stiffness level Chapter "Adjustment" in SV660P Series
generates unusual noise during operation.
is too high. Servo Drive Function Guide.
Read the servo drive nameplate and set
5. The servo drive the servo drive model (H01-02) and motor
For SV660P series products, view the
model or motor model properly according to section
serial-type motor code in H00-05 and the
model is set "Servo Drive Model and Nameplate" in
servo drive model in H01-02.
improperly. SV600P Series Servo Drive Selection
Guide.
Check the reference and motor speed
(H0B-00) through the software tool or
keypad.
●References in the position control

6. The motor stalls mode: H0B-13 (Input position
due to mechanical reference counter)
factors, resulting in ●References in the speed control
Eliminate the mechanical factors.
overload during mode: H0B-01 (Speed reference)
operation. ●References in the torque control
mode: H0B-02 (Internal torque
reference)
Check whether the reference value is not
0 but the motor speed is 0 RPM in the
corresponding mode.
faulty. powered off and on again.
You can clear the fault or restart the power supply 30s after overload occurs.
‑191‑
Troubleshooting
● Er.630: Motor stall over-temperature protection

Cause:
The actual motor speed is lower than 10 RPM but the torque reference reaches the limit, and such
status lasts for the time defined by H0A-32.

1. UVW phase loss or
Connect cables again according to the
incorrect phase Perform a no-load trial run on the motor
correct wiring diagram or replace the
sequence occurs on and check the wiring.
cables.
the servo drive.
2. The servo drive
UVW cables or the
Check the wiring. correct wiring diagram or replace the
encoder cables are
cables.
disconnected.
keypad.

mode: H0B-13 (Input position
reference counter)
3. The motor stalls
●References in the speed control
due to mechanical Eliminate the mechanical factors.
mode: H0B-01 (Speed reference)
factors.
●References in the torque control
reference)
corresponding mode.
● Er.640: Junction temperature too high

Cause:
The temperatures of the IGBT and diodes reach the over-temperature threshold (H0A-38).

1. The ambient Improve the cooling conditions of the
temperature is too Measure the ambient temperature. servo drive to lower down the ambient
high. temperature.
Change the fault reset method. After
View the fault records (set H0B-33 and
2. The servo drive is overload occurs, wait for 30s before reset.
view H0B-34) to check whether an
restarted several Increase the capacities of the servo drive
overload fault/warning is reported (Er.610,
times to reset the and servo motor. Increase the
Er.620, Er.630, Er.650, Er.909, Er.920,
overload fault. acceleration/deceleration time and
Er.922).
reduce the load.
3. The fan is Check whether the fan works properly
damaged. during operation.
installed in a wrong
direction and the Check whether the servo drive is installed Install the servo drive according to the
clearance between properly. installation requirements.
servo drives is
improper.
The fault persists even though the servo
drive is restarted five minutes after power- Replace the servo drive.
faulty.
off.
‑192‑
Troubleshooting
● Er.650: Heatsink over-temperature

Cause:
The temperature of the servo drive power module is higher than the over-temperature threshold.

1. The ambient Improve the cooling conditions of the
temperature is too Measure the ambient temperature. servo drive to lower down the ambient
high. temperature.
Change the fault reset method. After
View the fault records (set H0B-33 and
2. The servo drive is overload occurs, wait for 30s before reset.
view H0B-34) to check whether an
restarted several Increase the capacities of the servo drive
overload fault/warning is reported (Er.610,
times to reset the and servo motor. Increase the
Er.620, Er.630, Er.650, Er.909, Er.920,
overload fault. acceleration/deceleration time and
Er.922).
reduce the load.
3. The fan is Check whether the fan works properly
damaged. during operation.
installed in a wrong
direction and the Check whether the servo drive is installed Install the servo drive according to the
clearance between properly. installation requirements.
servo drives is
improper.
The fault persists even though the servo
drive is restarted five minutes after power- Replace the servo drive.
faulty.
off.
Check whether the value of H01-02 is
consistent with the model shown on the
If the servo drive code is invalid, set the
6. The servo drive nameplate. View the servo drive model
servo drive code correctly according to
model is set (H01-02) and check whether the servo
the SV660P Series Servo Drive Selection
incorrectly. drive model is valid according to the
Guide.
SV660P Series Servo Drive Selection
Guide.
● Er.660 Vibration too strong

Cause:
The vibration is too strong or lasts for too long. The set resonance point will be cleared when Er.660
occurs.
■ Setting H08-58 to 1 hides warnings caused by excessively strong vibration.

■ Setting H08-58 to 2 hides warnings caused by excessively strong vibration and lasting vibration.
● Er.661: Gain values too low

Cause:
■ The vibration cannot be suppressed. Enable vibration suppression manually to dampen the
vibration.
■ Excessive overshoot occurs during positioning. Check whether the positioning threshold is too
low. Increase the acceleration/deceleration time and reduce the response level.
■ The command suffers from noise. Modify the electronic gear ratio to improve the command
resolution, or increase the command filter time constant in the "Parameter configuration"
interface.
■ The current fluctuates. Check whether the current of the machine fluctuates periodically.
‑193‑
Troubleshooting
■ The vibration cannot be suppressed if the load carries a large inertia. In this case, increase the
acceleration/deceleration time first to ensure the motor current is unsaturated.
● Er.666: Runaway
Cause: A runaway fault occurs. You can hide this fault by setting H0A-02 to 1.
■ H09-26 (Response level) is set to an excessively high value, but the set inertia range is too large
(while the actual inertia is low). In this case, vibration may occur due to mismatch.
■
■ The acceleration/deceleration time is too short, leading to over-saturation.

■ The mechanical couplings are loose and the vibration frequency changes frequently.
● Er.668: Homing method improper

Cause:
The homing method does not match the set mode.

View the values of H00-00 (Motor code),
H02-01 (Absolute system selection), and
Change the value of H00-00 to 14101 and
1. The motor model H05-69 (Auxiliary homing function). If H05-
H02-01 to 0. If other types of fault occurs,
does not match the 69 is set to 1 or 3 and H00-00 is set to a
the homing method may not be
homing method. value other than 14101 or H02-01 is set to
supported.
a value other than 0, Er.668 will be
reported.
View the values of H05-30 (Homing enable
selection), H05-31 (Homing method), and
Set H05-30 to a value representing
2. Single-turn homing H05-69 (Auxiliary homing function). If H05-
electrical homing. H05-31 represents the
is configured with the 69 is set to 1, check whether H05-31 is set
homing method corresponding to single-
homing trigger mode. to a value between 14...16 and whether
turn homing.
the setpoint of H05-30 represents
electrical homing.
Check whether H05-31 is set to a value
3. Homing is
between 0...13 and whether H05-69 is set
configured with the Change the homing method defined by
to 3. If H05-69 is set to 3, check whether
single-turn homing H05-31.
the homing method defined by H05-31
mode.
takes Z signal as the home.
● Er.731: Encoder battery failure

Cause:
The voltage of the absolute encoder battery is lower than 3.0 V.

Set H0D-20 (Absolute encoder reset
1. The battery is not connected Check whether the battery is
selection) to 1 (No operation) to
during power-off. connected during power-off.
clear the fault.
2. The encoder battery voltage is Use a new battery with the
Measure the battery voltage.
too low. matching voltage.
● Er.733: Encoder multi-turn counting error

Cause:
An encoder multi-turn counting error occurs.
‑194‑
Troubleshooting

function) to 1 (Reset the fault) to
1. The encoder is faulty. clear the fault, but Er.733 persists Replace the motor.
after the servo drive is powered off
and on again.
● Er.735: Encoder multi-turn counting overflow

The servo drive detects that the multi-turn counting value of the encoder overflows.

1. Encoder multi-turn counting
overflow is detected when H02-01
selection) to 1 (Reset the fault) to
(Absolute system selection) is set -
clear the fault, and then perform a
to 1 (Absolute position linear
power cycling on the servo drive.
mode).
● Er.740: Encoder interference

Cause:
The encoder Z signal suffers from interference, resulting in a significant change of the electrical
angle corresponding to Z signal.

1. The encoder is Connect the encoder cables according to
Check the wiring of the encoder.
wired improperly. the correct wiring diagram.
Check whether vibration on site is too
2. The encoder cable Re-connect encoder cables and ensure
strong, which loosens the encoder cable
is connected loosely. encoder terminals are connected securely.
and even damages the encoder.
‑195‑
Troubleshooting

Check the cable layout on site:
●Check whether ambient devices are

generating disturbance and whether
multiple disturbance sources such as
variable-frequency devices are
present inside the cabinet. ●It is recommended to use the cables
●Make the servo drive stay in "rdy" provided by Inovance.
status and rotate the motor shaft ●If a customized cable is used, check
counterclockwise (CCW) manually. whether this cable is a shielded
Then observe whether the value of twisted pair cable that complies with
3. The encoder Z H0B-10 (Electrical angle) increases/ the specifications.
signal suffers from decreases smoothly. Turning one ●Route the motor cables and encoder
interference. circle corresponds to five 0-360° (for Z cables through different routes.
series motor). For X series motors, Ensure the servo motor and servo
turning one circle corresponds to four drive are grounded properly.
0-360°. ●Check whether the connectors at
●If H0B-10 changes abruptly when both ends of the encoder are in good
you rotate the motor shaft, the contact and whether any pin retracts.
encoder is faulty.
●If no warning is reported during
rotation but the servo drive reports a
warning during operation,
disturbance may be present.
Replace with a new encoder cable. If the
fault no longer occurs after cable
replacement, it indicates the original
Replace with a new encoder cable.
encoder cable is damaged.
4. The encoder is If the fault persists after the encoder cable
faulty. Keep the motor in a fixed position,
is replaced, the encoder may be faulty. In
perform several times of power cycling
this case, replace the servo motor.
and observe the change of the electrical
angle (H0B-10) upon each power cycling,
which should be within ±30°.
● Er.A33: Encoder data error

Cause:
Encoder parameters are abnormal.

Check for wrong connection,
disconnection and poor contact of
1. The serial encoder cable is
Check the wiring. the encoder cable. Route the
disconnected or loose.
motor cable and encoder cable
through different routes.
If the fault persists after the servo
2. An error occurs when reading/
drive is powered off and on several Replace the servo motor.
writing serial encoder parameters.
times, the encoder is faulty.
● Er.B00: Position deviation too large

Cause:
The position deviation in the position control mode is larger than the setpoint of H0A-10 (Threshold
of excessive position deviation).
‑196‑
Troubleshooting

1. UVW phase loss or
incorrect phase Perform a no-load trial run on the motor
correct wiring diagram or replace the
sequence occurs on the and check the wiring.
cables.
servo drive.
Connect the cables again. The servo
drive power cables must be connected
2. The servo drive UVW
in the correct sequence at both ends.
cables or the encoder Check the wiring.
Replace with new cables if necessary
cables are disconnected.
and ensure cables are connected
properly.
keypad.

mode: H0B-13 (Input position
reference counter)
3. The motor stalls due ●References in the speed control
Eliminate the mechanical factors.
to mechanical factors. mode: H0B-01 (Speed reference)
●References in the torque control
reference)
corresponding mode.
Check the position loop gain and speed
Perform gain auto-tuning or manual
loop gain of the servo drive.
4. The gain values are gain tuning according to Chapter
too low. 1st gain set: H08-00...H08-02 "Adjustment" in SV660P Series Servo
2nd gain set: H08-03...H08-05 Drive Function Guide.
Reduce the position reference frequency

or the electronic gear ratio.
When the position reference source is When the host controller is used to
pulse reference, check whether the output position pulses, you can set the
5. The input pulse
input pulse frequency is too high. acceleration time in the host controller.
frequency is high.
The acceleration/deceleration time is If the acceleration/deceleration time
too short or 0. cannot be set in the host controller,
increase the values of H05-04 and H05-
06.
6. The value of H0A-10
(Threshold of excessive
Check whether the value of H0A-10 is
position deviation) is too Increase the value of H0A-10.
too low.
low against the
operating conditions.
Monitor the operation waveform
through the oscilloscope function in the If the position reference is not 0 but the
7. The servo drive/motor
software tool: position references, position feedback is always 0, replace
is faulty.
position feedback, speed references, the servo drive or motor.
and torque references.
● Er.B01: Pulse input error

Cause:
The pulse input frequency is higher than H0A-09 (Maximum position pulse frequency).
‑197‑
Troubleshooting

Reset H0A-09 according to the maximum
1. The pulse input
position pulse frequency needed by
frequency is higher than Check whether H0A-09 is lower than the
normal operations.
H0A-09 (Maximum maximum pulse input frequency
position pulse required by normal operation. If the pulse output frequency of the host
frequency). controller is higher than 4 MHz, decrease
it.
First, use a shielded twisted pair for
pulse input and separate pulse input
cables from servo drive power cables.
Next, when differential input is used in

low-speed pulse input terminals (H05-01
= 0), connect the "GND" of the host
Check in the software tool whether the controller to the "GND" of servo drive;
position reference increases abruptly or when open-collector input is used,
the value of H0B-13 (Position reference connect the "GND" of the host controller
2. The input pulse suffers counter) exceeds the number of pulses
to the "COM" of the servo drive. When
from interference. outputted by host controller. high-speed pulse input terminals (H05-
Then, check the grounding condition of 01 = 1) are used, only differential input is
cables. available, in this case, connect the
"GND" of the host controller to the
"GND" of the servo drive.
Finally, increase the filter time of pulse

input terminal pins in H0A-24 or H0A-30
depending on the hardware input
terminals used.
● Er.B03: Electronic gear ratio beyond the limit

Cause:
The electronic gear ratio exceeds the limit: (0.001 x Encoder resolution/10000, 4000 x Encoder
resolution/10000).

If H05-02 (Pulses per revolution) is set to
0, check the ratios of H05-07 to H05-09
Set the ratios of the encoder resolution
The set electronic gear and H05-11 to H05-13.
to H05-02, H05-07 to H05-09, and H05-11
ratio exceeds the If the setpoint of H05-02 is higher than 0, to H05-13 according to the preceding
preceding limit. check the ratios of the encoder range.
resolution to H05-02, H05-07 to H05-09,
and H05-11 to H05-13.
Electronic gear ratio-related parameters,
namely H05-02, H05-07/H05-09, and
Parameters are modified H05-11/H05-13, are modified in a wrong Use the fault reset function or perform a
in a wrong sequence. sequence, causing Er.B03 to occur power cycling on the servo drive.
during calculating the electronic gear
ratio.
● Er.D03: CAN communication interrupted

Cause:
The CAN communication times out.
‑198‑
Troubleshooting

Check the status of the CAN
communication card indicator of the
master PLC.
The ERR indicator of the master PLC Check the connection of communication
The CAN blinks at a frequency of 1 Hz and the ERR cables between the master and the slave
communication is indicators of some slave PLCs keep on whose ERR indicator keeps on.
interrupted due to (When using PLC software tool, you can Check the communication baud rate
disconnection of the monitor D78xx in the component (H0C-08) of the slave whose ERR indicator
slave. monitoring table of the master. "xx" keeps on, and adjust the slave baud rate
indicates the station no. in decimal. If to the same value as that of the master.
corresponding D78xx of some configured
stations is 5, it indicates a fault occurs on
the slave.)
Check the status of the CAN
communication card indicator of the
master PLC.
The CAN The ERR indicators of all the slave PLCs
communication is keep on. (When using PLC software tool,
Check the cable connections of the
interrupted due to you can monitor D78xx in the component
master.
disconnection of the monitoring table of the master. "xx"
master. indicates the station no. in decimal. If
corresponding D78xx of all the configured
stations is 5, it indicates a fault occurs on
the master.)
4.2.3 Solutions to Common Warnings
● Er.110: Frequency-division pulse output setting error

Cause:
The set encoder frequency-division pulses does not match the threshold defined by the encoder
specification when encoder frequency-division output is used (H05-38 = 0).

The number of For incremental encoders, the number of
encoder frequency- frequency-division pulses cannot exceed
Reset H05-17 (Encoder frequency-division
division pulses is the encoder resolution.
pulses) according to the specification.
outside the specified The resolution of a 23-bit serial
range. incremental encoder is 8388608 PPR.
● Er.601: Homing failure

Cause:
The home is not found within the time defined by H05-35 when homing is activated (H05-30 = 1 to
5).
‑199‑
Troubleshooting

●If a hardware DI is used, check
whether FunIN.31 (HomeSwitch) is
set in parameter group H03 and
whether the DI is connected properly.
Change the DI logic manually and
●There is only high-speed searching
check the value of H0B-03 to see
but no low-speed searching during
whether the DI level change is
1. The home switch homing.
received by the servo drive. If not, the
fails. ●After high-speed searching, the
DI switch is wired incorrectly. If yes,
servo drive keeps low-speed
an error occurs during homing. For
searching in the reverse direction.
details on the homing operation, see
section "Homing Function" in SV660P
Series Servo Drive Function Guide.
●If a virtual DI (VDI) is used, check
whether the VDI is used correctly.
2. The homing time Check whether the value of H05-35 (Time
Increase the value of H05-35.
limit is too short. limit for homing) is too small.
Check the distance between the start
3. The speed in high- position of homing and the home switch.
speed searching for Then check whether the setpoint of H05-
Increase the value of H05-32.
the home switch 32 (Speed in high-speed searching for the
signal is too low. home switch signal) is too small, resulting
in a long homing process.
● Er.730: Encoder battery warning

Cause:
The battery voltage of the absolute encoder is lower than 3.0 V.

1. The encoder battery voltage is Use a new battery with the
Measure the battery voltage.
lower than 3.0 V. matching voltage.
● Er.900: DI emergency braking

Cause:
The logic of the DI (hardware DI or virtual DI terminal) assigned with FunIN.34 (EmergencyStop) is
active.
Check the operating mode and
Check whether the logic of the DI
FunIN.34: Emergency stop, clear the active DI braking signal
assigned with FunIN.34
triggered without affecting the safety
(EmergencyStop) is active.
performance.
● Er.909: Motor overload warning

Cause:
The accumulative heat of the 60Z series motor (200 W and 400 W) reaches the warning threshold.
‑200‑
Troubleshooting

Connect cables based on the correct
●
1. The motor and wiring diagram.

encoder cables are Check the wiring among the servo drive, It is recommended to use the cables
●
connected servo motor and the encoder according to provided by Inovance.

improperly or in the correct wiring diagram. When customized cables are used,
●
poor contact. prepare and connect the cables

according to the wiring instructions.
2. The load is too Confirm the overload characteristics of the
heavy and the servo drive or motor. ●Replace with a servo drive of higher
effective torque capacity and a matching servo motor.
Check whether the average load rate
output by the motor ●Reduce the load and increase the
(H0B-12) of the servo drive keeps
keeps exceeding the acceleration/deceleration time.
rated torque. exceeding 100.0%.
Check the mechanical inertia ratio or

3. The acceleration/ perform inertia auto-tuning. View the
deceleration is too value of H08-15 (Load moment of inertia Increase the acceleration/deceleration
frequent or the load ratio). time.
inertia is too large. Confirm the individual operation cycle
when the servo motor operates cyclically.
4. Gains are
Check whether the motor vibrates and Perform gain auto-tuning again according
improper or the
generates an abnormal noise during to Chapter "Adjustment" in SV660P Series
stiffness level is too
operation. Servo Drive Function Guide.
high.
View the servo drive nameplate and set
5. The servo drive the servo drive model (H01-02) and the
For SV660P series products, view the
model or motor motor model to proper values to make
serial-type motor code in H00-05 and the
model is set them match (see SV660P Series Servo
servo drive code in H01-02.
improperly. Drive Selection Guide for the matching
relation).
(H0B-00) through the software tool or the
keypad.

6. Locked-rotor mode: H0B-13 (Input position
occurs due to reference counter)
mechanical factors, ●References in the speed control Rectify the mechanical factors.
resulting in overload mode: H0B-01 (Speed reference)
during operation. ●References in the torque control
reference)
Check whether the value of the reference
is not 0 or is very large but the motor
speed is 0 in the corresponding mode.
Replace the servo drive if the fault persists
Power off and on the servo drive again. after the servo drive is powered off and on
faulty.
again.
● Er.920: Regenerative resistor overload

Cause:
The accumulative heat of the regenerative resistor exceeds the set value.
‑201‑
Troubleshooting

Replace with a new external
regenerative resistor. If the
Remove the external regenerative
resistance measured is the same as
resistor and measure whether its
1. The external regenerative the nominal value, connect the
resistance is "∞" (infinite).
resistor is connected improperly, regenerative resistor between
disconnected or loosened. terminals P⊕ and C.
Measure whether resistance Connect the external regenerative
between terminals P⊕ and C is resistor between terminals P⊕ and
"∞" (infinite). C with a new cable.
2. The jumper between P ⊕ and D is
Measure whether the resistance
shorted or disconnected when the Ensure terminals P ⊕ and D are
between terminals P ⊕ and D is
built-in regenerative resistor is jumpered.
"∞" (infinite).
used.
Set H02-25 correctly.
●H02-25 = 1 (external
3. H02-25 (Regenerative resistor
regenerative resistor, natural
type) is set improperly when an
View the setpoint of H02-25. cooling)
external regenerative resistor is
●H02-25 = 2 (external
used.
regenerative resistor, forced-air
cooling)
Measure the resistance of the
external regenerative resistor
connected between terminals P⊕
Select a proper regenerative
and C, and compare the resistance
4. The resistance of the external resistor according to section
measured with the value described
regenerative resistor used is too "Specifications of the Regenerative
in section "Specifications of the
large. Resistor" in SV660P Series Servo
Regenerative Resistor" in SV660P
Drive Selection Guide.
Series Servo Drive Selection Guide
to check whether the resistance is
too large.
5. The setpoint of H02-27 Check whether the value of H02-27
(Resistance of external is larger than the resistance of the Set H02-27 according to the
regenerative resistor) is larger than external regenerative resistor resistance of the external
resistance of the external connected between terminals P⊕ regenerative resistor used.
regenerative resistor used. and C.
Check whether the input voltage of
the main circuit on the servo drive
side is within the following range:

6. The input voltage of the main ●Effective value: 220 V to 240 V Replace or adjust the power supply
circuit exceeds the specified range. ●Allowable deviation: –10% to according to the specified range.
+10% (198 V to 264 V)
●Allowable deviation: –10% to
+10% (342 V to 484 V)
‑202‑
Troubleshooting

Perform moment of inertia auto-
tuning according to section "Inertia
auto-tuning" in SV660P Series
Servo Drive Function Guide or
7. The load moment of inertia ratio Select an external regenerative
calculate the total mechanical
is too large. resistor with large capacity and set
inertia according to mechanical
parameters. H02-26 (Power of the external
regenerative resistor) to a value
Check whether the actual load
consistent with the actual power.
inertia ratio exceeds 30.
Select a servo drive with large
8. The motor speed is excessively
capacity.
high and the deceleration process View the motor speed curve during
is not done within the set time. The cyclic operation and check whether Reduce the load if allowed.
motor is in the continuous the motor is in the deceleration Increase the acceleration/
deceleration status during cyclic status continuously. deceleration time if allowed.
operation.
Increase the cyclic deceleration
View the motor speed curve in an
interval if allowed.
9. The capacity of the servo drive or individual cycle and calculate
the regenerative resistor is whether the maximum braking
insufficient. energy can be absorbed
completely.
10. The servo drive is faulty. - Replace with a new servo drive.
● Er.922: Resistance of the external regenerative resistor too small

Cause:
The value of H02-27 (Resistance of external regenerative resistor) is lower than H02-21 (Permissible
minimum resistance of regenerative resistor).

If yes, replace with an external
●
Measure the resistance of the
regenerative resistor that
When an external regenerative external regenerative resistor
matches the servo drive, and
resistor is used (H02-25 = 1 or 2), connected between terminals P⊕
connect this resistor between
the resistance of this resistor is and C to check whether it is smaller
terminals P ⊕ and C. If not, set
lower than the minimum resistance than the value of H02-21
H02-27 to a value consistent
allowed by the servo drive. (Permissible minimum resistance
with the resistance of this
of regenerative resistor).
resistor.
● Er.924: Braking transistor over-temperature

Cause:
The estimated temperature of the braking transistor is higher than H0A-38 (Maximum protection
threshold).
● Er.939: Motor power cable disconnected

Cause:
The actual phase current of the motor is lower than 10% of the rated current. The actual motor
speed is low, but the value of the internal torque reference is high.
‑203‑
Troubleshooting

Check whether the difference
between H0B-24 (Phase current
effective value) and H0B-02 Re-connect the motor power
Motor power cables are
(Internal torque reference) is above cables or replace with new cables if
disconnected.
500% and whether H0B-00 (Actual necessary.
motor speed) is lower than 25% of
the rated motor speed.
● Er.941: Parameter modifications activated at next power-on

Cause:
Modifications of some parameters take effect at next power-on. If these parameters are modified,
power off and on the servo drive again.

Check whether parameters you
The parameters modified are those
modified are those whose Power off and on the servo drive
whose "Effective time" is "Next
"Effective time" is "Next power- again.
power-on".
on".
● Er.942: Parameter saved frequently

Cause:
The number of parameters modified at a time exceeds 200.

Too many parameters are modified Check whether the host controller Check the operating mode. For
and saved to EEPROM (H0C-13 = 1) executes parameter modifications parameters that need not be saved
at a brief interval. at a brief interval. to EEPROM, set H0C-13 to 0.
● Er.950: Forward overtravel warning

Cause:
The logic of DI assigned with FunIN.14 (P-OT, positive limit switch) is active.

Check whether a certain DI in
Check the operating mode. On the
group H03 is assigned with
1. The logic of the DI assigned with prerequisite of ensuring safety,
FunIN.14.
FunIN.14 (P-OT, positive limit send a reverse run command or
switch) is active. Check whether the logic of DI rotate the motor to deactivate the
corresponding to the bit of H0B-03 logic of DI assigned with FunIN.14.
(Monitored DI status) is active.
Check whether the position
feedback (H0B-17) is close to the Ensure the servo drive references
2. The servo drive position
value of H0A-41. are proper, allowing the load travel
feedback reaches the positive
range to be within the software
software position limit. Check whether the software position limit range.
position limit is set in H0A-40.
● Er.952: Reverse overtravel warning

Cause:
The logic of the DI assigned with FunIN.15 (N-OT, negative limit switch) is active.
‑204‑
Troubleshooting

Check whether FunIN.15 is set to a
Check the operating mode. On the
DI through parameters in group
1. The logic of the DI assigned with prerequisite of ensuring safety,
H03.
FunIN.15 (N-OT, negative limit send a forward run command or
switch) is active. Check whether the logic of DI rotate the motor to deactivate the
corresponding to the bit of H0B-03 logic of DI assigned with FunIN.15.
(Monitored DI status) is active.
Check whether the position
feedback (H0B-17) is close to the Ensure the servo drive references
2. The servo drive position
value of H0A-43. are proper, allowing the load travel
feedback reaches the negative
range to be within the software
software position limit. Check whether the software position limit range.
position limit is set in H0A-40.
● Er.980: Encoder fault

Cause:
An encoder algorithm error occurs.

If the fault persists after the servo
The encoder is faulty. drive is powered off and on several Replace the servo motor.
times, the encoder is faulty.
● Er.990: Power input phase loss

Cause:
A three-phase servo drive below 1 kW is allowed to run under a single-phase power supply, but
H0A-00 (Power input phase loss fault/warning selection) is set to 1 (Enabled).

If the warning persists when a
three-phase servo drive is
connected to a three-phase power
When H0A-00 (Power input phase supply, handle this warning as
loss fault/warning selection) is set described in Er.420 (Main circuit
to 1 (Enable phase loss fault and phase loss).
warning), a warning will be Check whether the three-phase
reported if a three-phase servo servo drive is allowed to run under If the warning persists when a
drive (H01-02 = 5) of 0.75 kW is a single-phase power supply. three-phase servo drive that allows
connected to a single-phase power single-phase power input is
supply, despite that this servo drive connected to a single-phase power
allows single-phase power input. supply, set H0A-00 (Power input
phase loss fault/warning selection)
to 0 (Enable phase loss fault and
inhibit phase loss warning).
● Er.994: CAN address conflict

Check whether H0C-00 (Servo axis Allocate a unique address for each
The CANlink address conflict
address) is allocated repetitively to salve and ensure H0C-00 is not
occurs.
different slaves. allocated repetitively.
4.2.4 Internal Faults
When any one of the following fault occurs, contact Inovance for technical support.
‑205‑
Troubleshooting
● Er.602: Angle auto-tuning failure

● Er.220: Phase sequence incorrect
● Er.A40: Parameter auto-tuning failure
● Er.111: Internal parameter error
‑206‑
Parameters
5 Parameters
Parameter Group Overview of Parameter Groups
Group H00 Servo motor parameters
Group H01 Servo drive parameters
Group H02 Basic control parameters
Group H03 Terminal input parameters
Group H04 Terminal output parameters
Group H05 Position control parameters
Group H06 Speed control parameters
Group H07 Torque control parameters
Group H08 Gain parameters
Group H09 Auto-tuning parameters
Group H0A Fault and protection parameters
Group H0B Monitoring parameters
Group H0C Communication parameters
Group H0D Auxiliary functions
Group H11 Multi-position parameters
Group H12 Multi-speed parameters
Group H17 VDI/VDO parameters
Group H30 Servo variables read through communication
Group H31 Servo variables set through communication
5.1 Group H00: Servo Motor Parameters
Effective Setting Related

Para. No. Name Value Range Unit Default
Time Condition Mode
14000: Inovance motor with 20-

bit incremental encoder Next power-
H00-00 Motor code - 14101 At stop All
14101: Inovance motor with 23- on
bit absolute encoder
H00-02 Customized no. - - - - At display -
H00-04 Encoder version - - - - At display -
Serial-type motor
H00-05 - - - - At display -
code
14100: Multi-turn absolute
Absolute encoder encoder Next power-

H00-08 - - At stop All
type Others: Single-turn absolute on
encoder
‑207‑
Parameters

Time Condition Mode
0-220 Next power-

H00-09 Rated voltage V - At stop -
1-380 on
Next power-
H00-10 Rated power 0.01–655.35 kW - At stop -
on
Next power-
H00-11 Rated current 0.01–655.35 A - At stop -
on
Next power-
H00-12 Rated torque 0.01–655.35 N·m - At stop -
on
Next power-
H00-13 Maximum torque 0.10–655.35 N·m - At stop -
on
Next power-
H00-14 Rated speed 100–6000 RPM - At stop -
on
Next power-
H00-15 Maximum speed 100–6000 RPM - At stop -
on
Next power-
H00-16 Moment of inertia Jm 0.01–655.35 kgcm2 - At stop -
on
Number of PMSM pole Next power-

H00-17 2–360 Pole pair - At stop -
pairs on
Next power-
H00-18 Stator resistance 0.001–65.535 Ω - At stop -
on
Next power-
H00-19 Stator inductance Lq 0.01–655.35 mH - At stop -
on
Next power-
H00-20 Stator inductance Ld 0.01–655.35 mH - At stop -
on
Linear back EMF Next power-

H00-21 0.01–655.35 mV/RPM - At stop -
coefficient on
Next power-
H00-22 Torque coefficient Kt 0.01–655.35 N·m/Arms - At stop -
on
Next power-
H00-23 Electrical constant Te 0.01–655.35 ms - At stop -
on
Mechanical constant Next power-

H00-24 0.01–655.35 ms - At stop -
Tm on
Absolute encoder Next power-

H00-28 0–1073741824 PPR - At stop -
position offset on
0x000: Incremental encoder

Encoder selection Next power-
H00-30 (UVW-ABZ) 1 0x013 At stop -
(Hex) on
0x013: Inovance encoder
Next power-
H00-31 Encoder resolution 0–1073741824 PPR 1048576 At stop -
on
Serial-type motor Next power-

H00-35 0–65535 1 0 At stop -
model on
Maximum motor Next power-

H00-43 0.01–655.35 A 0 At stop -
current on
‑208‑
Parameters
5.2 Group H01: Servo Drive Parameters
Para. No. Name Value Range Unit Default Effective Time Setting Condition Related Mode
H01-00 MCU software version 0–65535 - - - At display -
H01-01 FPGA software version 0–65535 - - - At display -
H01-02 Servo drive code 0–65535 - - Next power-on At stop -
5.3 Group H02: Basic Control Parameters
Setting
Para. No. Name Value Range Unit Default Effective Time Related Mode
Condition
0: Speed control mode
1: Position control mode
3: Torque control mode ↔ Speed

control mode
H02-00 Control mode selection 4: Speed control mode ↔ - 1 Immediately At stop -

5: Torque control mode ↔

6: Torque control mode ↔ Speed

control mode ↔ Position control
mode
0: Incremental position mode
Absolute system 1: Absolute position linear mode

H02-01 - 0 Next power-on At stop All
selection
2: Absolute position rotation
mode
0: CCW as forward direction

(phase A leads phase B)
H02-02 Direction of rotation 1: CW as forward direction - 0 Next power-on At stop PST
(reverse mode, phase A lags

behind phase B)
0: CCW as forward direction

(phase A leads phase B)
H02-03 Output pulse phase 1: CW as forward direction - 0 Next power-on At stop PST
(reverse mode, phase A lags

behind phase B)
‑209‑
Parameters
Setting
Condition
0: Coast to stop, keeping de-

energized state
1: Stop at zero speed, keeping de-

energized state
H02-05 Stop mode at S-ON OFF - 0 Immediately At stop PST
2: Stop at zero speed, keeping
dynamic braking state
3: Dynamic braking stop, keeping


energized state

energized state
2: Stop at zero speed, keeping

H02-06 Stop mode at No. 2 fault - 2 Immediately At stop PST


de-energized state

energized state
Stop mode upon 1: Stop at zero speed, keeping

H02-07 - 1 Immediately At stop PST
overtravel position lock state

energized state

energized state

H02-08 Stop mode at No. 1 fault - 2 Immediately At stop PST
de-energized state

Delay from brake output

H02-09 ON to command 0–500 ms 250 Immediately During running PS
received
Delay from brake output

OFF to motor de-
H02-10 1–1000 ms 150 Immediately During running PS
energized in standstill
state
Speed threshold at
H02-11 brake output OFF in 0–3000 RPM 30 Immediately During running PS
rotation state
Delay from S-ON OFF to

H02-12 brake output OFF in 1–1000 ms 500 Immediately During running PS
rotation state
‑210‑
Parameters
Setting
Condition
0: Output warning information
Warning display on the immediately

H02-15 - 0 Immediately At stop PST
keypad 1: Not output warning
information
H02-18 S-ON filter time constant 0–64 ms 0 Immediately At stop PST
Permissible minimum
H02-21 resistance of - Ω - - At display PST
Power of built-in
H02-22 - W - - At display PST
Resistance of built-in
H02-23 - Ω - - At display PST
Resistor heat dissipation

H02-24 10–100 % 30 Immediately At stop PST
coefficient
0: Built-in
1: External, natural cooling

Regenerative resistor
H02-25 2: External, forced air cooling - 0 Immediately At stop PST
type
3: No regenerative resistor
needed
Power of external
H02-26 1–65535 W - Immediately At stop PST
Resistance of external
H02-27 1–1000 Ω - Immediately At stop PST
H02-30 User password 0–65535 - 0 Next power-on At stop PST
0: No operation
1: Restore default settings

System parameter
H02-31 (parameters in groups H00 and - 0 Immediately At stop PST
initialization
H01 excluded)
2: Clear fault log
H02-32 Default keypad display 0–99 - 50 Immediately During running -
H02-34 CAN software version - - - - At display -
‑211‑
Parameters
5.4 Group H03: Terminal Input Parameters
Setting
Condition
0–0xFFFF
Bit0: FunIN.1
DI function assignment 1
H03-00 Bit1:FunIN.2 - 0 Next power-on During running -
(activated upon power-on)
…
Bit15: FunIN.16
0–0xFFFF
Bit0: FunIN.17
…
Bit15: FunIN.32
H03-02 DI1 function 0–41 - 14 At stop During running -
Input polarity: 0–1
H03-03 DI1 logic 0: Active low - 0 At stop During running -
1: Active high
1: Active high
1: Active high
1: Active high
1: Active high
1: Active high
‑212‑
Parameters
Setting
Condition
1: Active high
0–0xFFFF
Bit0: FunIN.33
…
Bit15: FunIN.16
0–0xFFFF
Bit0: FunIN.49
…
Bit15: FunIN.16
H03-60 DI1 filter time 0–50000 0.01 ms 50 Immediately During running -
5.5 Group H04: Terminal Output Parameters
Setting
Condition
H04-00 DO1 function 0–24 - 1 At stop During running -
Output polarity inversion: 0–1
0: Output low level (L) when

H04-01 DO1 logic active (optocoupler ON) - 0 At stop During running -
1: Output high level (H) when

active (optocoupler OFF)


‑213‑
Parameters
Setting
Condition






H04-22 DO source 0–31 - 0 Immediately At stop -
5.6 Group H05: Position Control Parameters

Time Condition Mode
0: Pulse reference
H05-00 Position reference source 1: Step reference - 0 At once At stop P
2: Multi-position reference
Pulse reference input 0: Low-speed

H05-01 - 0 At once At stop P
terminal selection 1: High-speed
Next power-
H05-02 Pulses per revolution 0 to 1048576 PPR 0 At stop P
on
First-order low-pass filter

H05-04 0 to 6553.5 ms 0.0 At once At stop P
time constant
H05-05 Step reference -9999 to +9999 Reference unit 50 At once At stop P
Moving average filtering

H05-06 0.0 to 128.0 ms 0.0 At once At stop P
time constant
Electronic gear ratio 1 During

H05-07 1 to 1073741824 - 8388608 At once P
(numerator) running

H05-09 1 to 1073741824 - 10000 At once P
(denominator) running

H05-11 1 to 1073741824 - 8388608 At once P
(numerator) running
‑214‑
Parameters

Time Condition Mode

H05-13 1 to 1073741824 - 10000 At once P
(denominator) running
0: Pulse + direction, positive logic
1: Pulse+Direction, negative logic

Next power-
H05-15 Pulse reference form 2: Phase A+Phase B quadrature - 0 At stop P
on
pulse, quadrupled frequency
3: CW + CCW

upon S-ON OFF or fault

upon S-ON OFF or stop at fault
H05-16 Clear action 2: Position deviation cleared - 0 At once At stop P

upon S-ON OFF or stop at fault;
position deviation cleared upon
CIrPosErr signal inputted from DI
when the servo drive is in RUN
state
Number of encoder Next power-

H05-17 35 to 32767 PPR 2500 At stop -
frequency-division pulses on
Speed feedforward 0: No speed feedforward

control 1: Internal speed feedforward
0: Absolute value of position

deviation lower than H05-21

deviation lower than H05-21 and
filtered position reference being 0

Condition for COIN
deviation lower than H05-21 and During
H05-20 (positioning completed) - 0 At once P
unfiltered position reference running
signal output
being 0

deviation kept lower than H05-21
within the time defined by H05-60
and unfiltered position reference
being 0
Threshold of positioning Encoder/ During

H05-21 1 to 65535 5872 At once P
completed Reference unit running
Encoder/ During
H05-22 Proximity threshold 1 to 65535 65535 At once P
Reference unit running
Interrupt positioning 0: Disable Next power-

H05-23 - 0 At stop P
selection 1: Enable on
Displacement of interrupt During

H05-24 0 to 1073741824 Reference unit 10000 At once P
positioning running
‑215‑
Parameters

Time Condition Mode
Constant operating speed During

H05-26 0 to 6000 RPM 200 At once P
in interrupt positioning running
Acceleration/
During
H05-27 Deceleration time of 0 to 1000 ms 10 At once P
running
interrupt positioning
Interrupt positioning 0: Disable During

H05-29 - 1 At once P
cancel signal 1: Enable running
0: Disabled
1: Homing enabled through the

HomingStart signal inputted from
DI
2: Electrical homing enabled

through the HomingStart signal
inputted from DI
During
H05-30 Homing selection - 0 At once P
3: Homing enabled immediately running
upon power-on
4: Homing executed immediately
5: Electrical homing started
6: Current position as the home
8: DI-triggered position as the

home
‑216‑
Parameters

Time Condition Mode


2: Forward, Z signal as
3: Reverse, Z signal as

home

home
6: Forward, positive limit switch

as deceleration point and home
7: Reverse, negative limit switch

as deceleration point and home
During
H05-31 Homing mode 8: Forward, positive limit switch - 0 At once P
running
as deceleration point and Z signal
as home
9: Reverse, negative limit switch

as deceleration point signal and Z
signal as home



home

home
14: Single-turn forward homing
15: Single-turn reverse homing
16: Single-turn nearby homing
Speed in high-speed
During
H05-32 searching for the home 0 to 3000 RPM 100 At once P
running
switch signal
Speed in low-speed
During
H05-33 searching for the home 0 to 1000 RPM 10 At once P
running
switch signal
‑217‑
Parameters

Time Condition Mode
Acceleration/
During
H05-34 Deceleration time during 0 to 1000 ms 1000 At once P
running
homing
During
H05-35 Homing time limit 0 to 65535 ms 10000 At once P
running
During
H05-36 Mechanical home offset -1073741824 to +1073741824 Reference unit 0 At once P
running
0: Encoder frequency-division
output
Servo pulse output 1: Pulse reference synchronous Next power-

H05-38 - 0 At stop P
source output on
2: Frequency-division or
synchronous output inhibited
0: Switching after position
Electronic gear ratio reference (in reference unit) kept

switchover condition 0 for 2.5 ms
1: Switching in real time

after homing triggered again
upon overtravel
1: H05-36 as the relative offset

after homing, reverse homing
Mechanical home offset
triggered upon hitting the limit
H05-40 and action upon - 0 At once At stop P
overtravel
3: H05-36 as the relative offset

after homing, reverse homing
applied automatically upon
overtravel
0: Negative (Z pulse being low

level) Next power-
H05-41 Z pulse output polarity - 1 At stop P
1: Positive (Z pulse being high on
level)
0: Falling edge-triggered Next power- During

H05-43 Position pulse edge 1 0 PST
1: Rising edge-triggered on running
Position offset in
Next power-
H05-46 absolute position linear -2147483648 to +2147483647 Encoder unit 0 At stop PST
on
mode (low 32 bits)
Position offset in
Next power-
H05-48 absolute position linear -2147483648 to +2147483647 Encoder unit 0 At stop PST
on
mode (high 32 bits)
‑218‑
Parameters

Time Condition Mode
Mechanical gear ratio

H05-50 (numerator) in absolute 1 to 65535 1 65535 At once At stop All
position rotation mode
Mechanical gear ratio

(denominator) in
H05-51 1 to 65535 1 1 At once At stop All
absolute position
rotation mode
Pulses per load

H05-52 0 to 4294967295 Encoder unit 0 At once At stop All
(low 32 bits)
Pulses per load

H05-54 0 to 4294967295 Encoder unit 0 At once At stop All
(high 32 bits)
Speed threshold of
During
H05-56 homing upon hit-and- 0 to 1000 RPM 2 At once P
running
stop
Torque limit of homing During

H05-58 0.0 to 300.0 % 100.0% At once P
upon hit-and-stop running
Window time of During

H05-59 0 to 30000 ms 1 At once P
positioning completed running
Hold time of positioning During

H05-60 0 to 30000 ms 0 At once P
completed running
Number of encoder
Next power-
H05-61 frequency-division pulses 0 to 262143 PPR 0 At stop -
on
(32 bits)
0: ms
H05-66 Homing time unit 1: 10 ms 1 0 At once At stop P
2: 100 ms
0: Disable
1: Enable single-turn homing
2: Record single-turn zero offset Next power-

H05-69 Auxiliary homing function 1 0 At stop P
on
3: Start a new search for the Z
signal (homing)
4: Clear single-turn zero offset
‑219‑
Parameters
5.7 Group H06: Speed Control Parameters
Setting
Condition
Source of main speed

H06-00 0: Digital setting (H06-03) - 0 Immediately At stop S
reference A
Source of auxiliary 0: Digital setting (H06-03)

H06-01 - 5 Immediately At stop S
speed reference B 5: Multi-speed reference
0: Source of main speed

reference A
1: Source of auxiliary speed

reference B Immediately At stop
H06-02 Speed reference source - 0 S
2: A+B
3: Switched between A and B
4: Communication
Speed reference set

H06-03 -6000 to +6000 RPM 200 Immediately During running S
through keypad
H06-04 Jog speed 0–6000 RPM 100 Immediately During running S
Acceleration ramp time

H06-05 constant of speed 0–65535 ms 0 Immediately During running S
reference
Deceleration ramp
H06-06 time constant of speed 0–65535 ms 0 Immediately During running S
reference
H06-07 Maximum speed limit 0–6000 RPM 6000 Immediately During running S
H06-08 Forward speed limit 0–6000 RPM 6000 Immediately During running S
H06-09 Reverse speed limit 0–6000 RPM 6000 Immediately During running S
Torque feedforward 0: No torque feedforward

H06-11 - 1 Immediately During running PS
selection 1: Internal torque feedforward
Zero clamp speed

H06-15 0–6000 RPM 10 Immediately During running S
threshold
Threshold of TGON
signal
Threshold of V-Cmp
signal
Threshold of V-Arr
signal
Threshold of V-Zero
signal
Cogging torque ripple

H06-28 compensation 0–1 - 1 Immediately During running PS
selection
‑220‑
Parameters
5.8 Group H07: Torque Control Parameters
The rated torque of the motor corresponds to 100% of the torque reference.
Setting
Condition
Source of main torque

H07-00 0: Digital setting (H07-03) - 0 Immediately At stop T
reference A
0: Digital setting (H07-03)

Source of auxiliary
H07-01 1: 0 (no function) - 1 Immediately At stop T
torque reference B
2: 0 (no function)
0: Source of main torque

reference A
1: Source of auxiliary torque
H07-02 Torque reference source reference B - 0 Immediately At stop T

2: A+B
3: Switched between A and B
4: Communication
Torque reference set

H07-03 -300.0 to +300.0 % 0 Immediately During running T
through keypad
Torque reference filter

H07-05 0–30.00 ms 0.79 Immediately During running PST
time constant
2nd torque reference

H07-06 0–30.00 ms 0.79 Immediately During running PST
0: Positive/Negative internal
torque limit
H07-07 Torque limit source 1: Positive/Negative external - 0 Immediately At stop PST

torque limit
(selected by P-CL and N-CL)
Positive internal torque

H07-09 0.0–400.0 % 350.0 Immediately During running PST
limit
Negative internal torque

limit
Positive external torque

limit
Negative external torque

limit
0: Internal speed limit (speed limit

in torque control)
1: Reserved
H07-17 Speed limit source - 0 Immediately During running T
2: H07-19 or H07-20 as defined by
the DI assigned with FunIN.36 (V-
SEL)
Positive speed limit/

H07-19 Speed limit 1 in torque 0–6000 RPM 3000 Immediately During running T
control
‑221‑
Parameters
Setting
Condition
Negative speed limit/

H07-20 Speed limit 2 in torque 0–6000 RPM 3000 Immediately During running T
control
Reference value for

torque reach
Threshold of valid
torque reach
Threshold of invalid
torque reach
Speed limit window in

H07-40 0.5–30.0 ms 1.0 Immediately During running T
torque control mode
5.9 Group H08: Gain Parameters
Setting
Condition
H08-00 Speed loop gain 0.1–2000.0 Hz 400.0 Immediately During running PS
Speed loop integral time

H08-01 0.15–512.00 ms 19.89 Immediately During running PS
constant
H08-02 Position loop gain 0.0–2000.0 Hz 64.0 Immediately During running P
H08-03 2nd speed loop gain 0.1–2000.0 Hz 40.0 Immediately During running PS
2nd speed loop integral

time constant
H08-05 2nd position loop gain 0.0–2000.0 Hz 64.0 Immediately During running P
0: Fixed to the 1st gain set, P/PI

switched through external DI
H08-08 2nd gain set mode - 1 Immediately During running PST
1: Gains switched based on the
condition defined by H08-09
‑222‑
Parameters
Setting
Condition
0: Fixed to the 1st gain set (PS)
1: Switched through external DI

(PS)
2: Torque reference too large

(PS)
3: Speed reference too large

(PS)
4: Speed reference change rate

too large (PS)
H08-09 Gain switchover condition 5: Speed reference high/low- - 0 Immediately During running PST
speed threshold (PS)
6: Position deviation too large

(P)
7: Position reference available

(P)
8: Positioning completed (P)
9: Actual speed too large (P)
10: Position reference+Actual

speed (P)
H08-10 Gain switchover delay 0.0–1000.0 ms 5.0 Immediately During running PST
Based on
H08-11 Gain switchover level 0–20000 switchover 50 Immediately During running PST
conditions
Based on
H08-12 Gain switchover dead time 0–20000 switchover 30 Immediately During running PST
conditions
Position gain switchover

H08-13 0.0–1000.0 ms 3.0 Immediately During running P
time
Load moment of inertia

H08-15 0.00–120.00 Multiplier 1.00 Immediately During running PST
ratio
Speed feedforward filter

H08-18 0.00–64.00 ms 0.50 Immediately During running P
time constant
H08-19 Speed feedforward gain 0.0–100.0 % 0.0 Immediately During running P
Torque feedforward filter

H08-20 0.00–64.00 ms 0.50 Immediately At stop PS
time constant
H08-21 Torque feedforward gain 0.0–200.0 % 0.0 Immediately During running PS
0: Inhibited
1: Two times
Speed feedback filtering
H08-22 2: Four times - 0 Immediately At stop PS
option
3: Eight times
4: Sixteen times
‑223‑
Parameters
Setting
Condition
Cutoff frequency of speed

H08-23 100–4000 Hz 4000 Immediately During running PS
feedback low-pass filter
H08-24 PDFF control coefficient 0.0–100.0 - 100.0 Immediately During running PS
Speed observer cutoff

frequency
Speed inertia correction

H08-28 10–10000 % 100 Immediately During running PS
coefficient
H08-29 Speed observer filter time 2–2000 0.01 ms 80 Immediately During running PS
cutoff frequency
H08-32 0–100 % 0 Immediately During running PS
compensation coefficient
H08-33 inertia correction 0–100 % 100 Immediately During running PS
coefficient
H08-40 Speed observer selection 0–1 - 0 Immediately At stop PS
H08-41 0–2 - 0 Immediately During running PS
torque switch
H08-42 Model control selection 0–1 - 0 Immediately At stop P
H08-43 Model gain 0–10000 - 400 Immediately During running P
H08-46 Model feedforward 0–1024 - 950 Immediately During running P
H08-51 Model filter time 2 0–2000 0.01 ms 0 Immediately During running P
Medium- and low-

H08-53 frequency jitter 0–6000 0.1 Hz 0 Immediately During running P
Medium- and low-

frequency jitter
H08-54 0–200 % 0 Immediately During running P
suppression compensation
coefficient 3
Medium- and low-

frequency jitter
suppression phase
H08-58 Er.660 switch 0–2 - 0 Immediately During running PS
Medium- and low-

H08-59 frequency jitter 0–6000 0.1 Hz 0 Immediately During running P
Medium- and low-

frequency jitter
suppression compensation
coefficient 4
‑224‑
Parameters
Setting
Condition
Medium- and low-

frequency jitter
suppression phase
Position loop integral time

H08-62 15–51200 0.01 ms 0 Immediately During running P
constant
2nd position loop integral

H08-63 15–51200 0.01 ms 0 Immediately During running P
time constant
5.10 Group H09: Auto-tuning Parameters
Setting
Condition
0: Disabled, gain parameters tuned

manually
1: Standard stiffness level mode, gain

parameters tuned automatically based
on the stiffness level
2: Positioning mode, gain parameters

Gain auto-tuning
H09-00 tuned automatically based on the - 0 Immediately During running PST
mode
stiffness level
3: Interpolation mode + Inertia auto-

tuning
4: Normal mode + Inertia auto-tuning
6: Quick positioning mode + Inertia

auto-tuning
H09-01 Stiffness level 0–41 - 15 Immediately During running PST
0: Adaptive notch no longer updated
1: One adaptive notch (3rd notch)

activated
2: Two adaptive notches (3rd and 4th

Adaptive notch
H09-02 notches) activated - 0 Immediately During running PST
mode
3: Resonance point tested only,
displayed in H09-24
4: Values of the 3rd and 4th notches

restored to default
0: Disabled
Online inertia auto- 1: Enabled, changing slowly

H09-03 - 0 Immediately During running RST
tuning mode 2: Enabled, changing normally
3: Enabled, changing quickly
‑225‑
Parameters
Setting
Condition
Low-frequency
0: Vibration frequency set manually
H09-04 resonance - 0 Immediately During running P
1: Vibration frequency set automatically
suppression mode
0: Positive/Negative triangular wave

mode
Offline inertia auto-
H09-05 1: Jog mode - 0 Immediately At stop PST
tuning mode
2: Dual-direction auto-tuning mode
3: Single-direction auto-tuning mode
Maximum speed of
H09-06 100–1000 RPM 500 Immediately At stop PST
inertia auto-tuning
Time constant for

accelerating to the
H09-07 20–800 ms 125 Immediately At stop PST
max. speed during
inertia auto-tuning
Waiting time after

H09-08 an individual 50–10000 ms 800 Immediately At stop PST
inertia auto-tuning
Number of motor
H09-09 revolutions per 0.00–2.00 r - - At display PST
inertia auto-tuning
H09-11 Vibration threshold 0–1000 0.1% 50 Immediately During running PS
Frequency of the
1st notch
Width level of the

1st notch
Depth level of the

1st notch
Frequency of the
2nd notch
Width level of the

2nd notch
Depth level of the

2nd notch
Frequency of the
3rd notch
Width level of the

3rd notch
Depth level of the

3rd notch
Frequency of the
4th notch
Width level of the

4th notch
‑226‑
Parameters
Setting
Condition
Depth level of the

4th notch
Auto-tuned
H09-24 resonance 0–2 Hz 0 - At display PS
frequency
Torque disturbance
H09-30 0.0–100.0 % 0.0 Immediately During running PS
compensation gain
Filter time constant

of torque
disturbance
observer
Gravity
H09-32 compensation 0–1000 0.1% 0 Immediately During running P
value
Forward friction
H09-33 0–1000 0.1% 0 Immediately During running P
compensation
Reverse friction
H09-34 -1000–0 0.1% 0 Immediately During running P
compensation
Friction
H09-35 compensation 1–300 0.1 RPM 0 Immediately During running P
speed threshold
Friction
H09-36 compensation 0–0x12 - 0 Immediately During running P
speed
Vibration
H09-37 0–65535 1s 1200 Immediately During running PS
monitoring time
Low-frequency
resonance
H09-38 frequency at 1.0–100.0 Hz 100.0 Immediately During running P
mechanical load
end
Low-frequency
resonance
H09-39 suppression at 0–3 - 2 Immediately During running P
mechanical load
end
Frequency of the
5th notch
Width level of the

5th notch
Depth level of the

5th notch
‑227‑
Parameters
Setting
Condition
Frequency of low-
frequency
resonance
H09-44 0–200.0 Hz 0 Immediately During running P
suppression 1 at
mechanical load
end
Responsiveness of
low-frequency
resonance
H09-45 0.01–10 Hz 1.00 Immediately During running P
suppression 1 at
mechanical load
end
Width of low-
frequency
resonance
H09-47 0–2.00 Hz 1.00 Immediately During running P
suppression 1 at
mechanical load
end
Frequency of low-
frequency
resonance
H09-49 0–200.0 Hz 0 Immediately During running P
suppression 2 at
mechanical load
end
Responsiveness of
low-frequency
resonance
H09-50 0.01–10.00 Hz 1.00 Immediately During running P
suppression 2 at
mechanical load
end
Width of low-
frequency
resonance
H09-52 0–2.00 Hz 1.00 Immediately During running P
suppression 2 at
mechanical load
end
‑228‑
Parameters
5.11 Group H0A Fault and Protection Parameters
Setting
Condition
0: Enable phase loss fault and

inhibit phase loss warning
Power input phase 1: Enable phase loss fault and

H0A-00 - 0 Immediately During running -
loss protection warning
2: Inhibit phase loss fault and

warning
Vibration alarm 0: Enable

H0A-02 - 0 Immediately During running -
switch 1: Disable
0: Disable
H0A-03 Power-off memory - 0 Immediately During running -
1: Enable
Motor overload
H0A-04 50–3002 % 100 Immediately At stop -
protection gain
H0A-08 Overspeed threshold 0–10000 RPM 0 Immediately During running PST
Maximum position
H0A-09 100–4000 kHz 4000 Immediately At stop P
pulse frequency
Threshold of
Encoder/
H0A-10 excessive position 1–1073741824 27486951 Immediately During running P
Reference unit
deviation
0: Disable
H0A-12 Runaway protection - 1 Immediately During running PST
1: Enable
Threshold of low-
H0A-16 frequency resonance 1-1000 Encoder unit 5 Immediately During running P
position deviation
0: Encoder unit
H0A-17 Position setting unit - 0 Immediately At stop P
1: Reference unit
DI8 filter time

H0A-19 0–255 25 ns 80 Next power-on At stop -
constant
DI9 filter time

constant
Filter time constant of

H0A-24 low-speed pulse input 0–255 25 ns 30 Next power-on At stop P
pin

H0A-25 speed feedback 0–5000 ms 50 Immediately At stop -
display value
0: Enable
1: Disable
Motor overload
H0A-26 2: No meaning - 3 Immediately At stop -
detection
3: Enable a new motor
overload detection
‑229‑
Parameters
Setting
Condition
Speed DO filter time

H0A-27 0–5000 ms 10 Immediately At stop -
constant
Quadrature encoder

H0A-30 high-speed pulse 0–255 25 ns 3 Next power-on At stop P
input pin
Time window of
motor stall over-
H0A-32 10–65535 ms 200 Immediately During running -
temperature
protection
Motor stall over-

0: Disable
H0A-33 temperature - 1 Immediately During running -
1: Enable
detection
Encoder multi-turn 0: Not hide

H0A-36 - 0 Immediately At stop All
overflow fault 1: Hide
0: Disabled
Software position 1: Enabled immediately upon

H0A-40 - 0 Immediately At stop PST
limit power-on
2: Enabled after homing
Maximum value of
H0A-41 software position -2147483648 to +2147483647 Reference unit 2147483647 Immediately At stop PST
limit
Minimum value of
H0A-43 software position -2147483648 to +2147483647 Reference unit -2147483648 Immediately At stop PST
limit
5.12 Group H0B Monitoring Parameters
Setting
Condition
H0B-00 Motor speed actual value - RPM - - At display PST
H0B-01 Speed reference - RPM - - At display PS
Internal torque reference

H0B-02 - % - - At display PST
(relative to the rated torque)
H0B-03 Monitored DI status - - - - At display PST
H0B-05 Monitored DO status - - - - At display PST
Absolute position counter (32-

H0B-07 - Reference unit - - At display PST
bit decimal)
Mechanical angle (pulses

H0B-09 - Encoder unit - - At display PST
starting from the home)
H0B-10 Electrical angle - ° - - At display PST
‑230‑
Parameters
Setting
Condition
Speed corresponding to the

H0B-11 - RPM - - At display P
input position reference
H0B-12 Average load rate - % - At display PST
Input reference pulse counter

H0B-13 - Reference unit - - At display P
(32-bit decimal)
Encoder position deviation

H0B-15 - Encoder unit - - At display P
counter (32-bit decimal)
Feedback pulse counter (32-

H0B-17 - Encoder unit - - At display PST
bit decimal)
Total power-on time (32-bit

H0B-19 - s - - At display PST
decimal)
H0B-24 RMS value of phase current - A - - At display PST
H0B-26 Bus voltage - V - - At display PST
H0B-27 Power module temperature - ℃ - - At display PST
0: Present fault
1: Last fault
H0B-33 Fault log 2: 2nd to last fault - 0 Immediately During running PST
...
9: 9th to last fault
H0B-34 Fault code of the selected fault - - - - At display PST
Time stamp upon occurrence

H0B-35 - s - At display PST
of the selected fault
Motor speed upon occurrence

H0B-37 - RPM - - At display PST
Motor phase U current upon

H0B-38 occurrence of the selected - A - - At display PST
fault
Motor phase V current upon

H0B-39 occurrence of the selected - A - - At display PST
fault
Bus voltage upon occurrence

H0B-40 - V - - At display PST
DI status upon occurrence of

H0B-41 - - - - At display PST
the selected fault
DO status upon occurrence of

H0B-42 - - - - At display PST
the selected fault
H0B-53 Position deviation counter - Reference unit - - At display P
Motor speed actual value (0.1

H0B-55 - RPM - - At display PST
RPM)
Mechanical absolute position

H0B-58 - Encoder unit 0 - At display All
(low 32 bits)
‑231‑
Parameters
Setting
Condition
Mechanical absolute position

(high 32 bits)
Real-time input position

H0B-64 - Reference unit - - At display PST
reference counter
Number of revolutions fed

H0B-70 - r 0 - At display All
back by the absolute encoder
Single-turn position fed back

by the absolute encoder
Single-turn offset position of

absolute encoder
Absolute position fed back by

H0B-77 the absolute encoder (low 32 - Encoder unit 0 - At display All
bits)
Absolute position fed back by

H0B-79 the absolute encoder (high 32 - Encoder unit 0 - At display All
bits)
Single-turn position of the

rotating load (low 32 bits)

rotating load (high 32 bits)

H0B-85 - Reference unit 0 - At display All
rotating load
5.13 Group H0C: Communication Parameters
Setting
Condition
H0C-00 Servo axis address 1–247 (0: Broadcast address) - 1 Immediately During running PST
0: 2400 bps
1: 4800 bps
2: 9600 bps
H0C-02 Serial baud rate 3: 19200 bps - 5 Immediately During running PST
4: 38400 bps
5: 57600 bps
6: 115200 bps
0: No parity, 2 stop bits
1: Even parity, 1 stop bit

H0C-03 Modbus data format - 0 Immediately During running PST
2: Odd parity, 1 stop bit
3: No parity, 1 stop bit
‑232‑
Parameters
Setting
Condition
0: 20 kbps
1: 50 kbps
2: 100 kbps
CAN communication 3: 125 kbps

H0C-08 - 5 Immediately During running PST
rate 4: 250 kbps
5: 500 kbps
6: 1 Mbps
7: 1 Mbps
0: Disabled
H0C-09 Communication VDI - 0 Immediately At stop PST
1: Enable
Bit0: VDI1 default value

VDI default value
H0C-10 … - 0 Next power-on During running PST
upon power-on
Bit15: VDI16 default value
0: Disabled
H0C-11 Communication VDO - 0 Immediately At stop PST
1: Enable
Bit0: VDO1 default value

Default level of the
H0C-12 VDO assigned with ... - 0 Immediately At stop PST
function 0
Bit15: VDO16 default value
Update parameter
0: Not updated to EEPROM
values written
1: Updated to EEPROM, except During running
H0C-13 through Modbus - 1 Immediately PST
parameters in groups H0B and
communication to
H0D
EEPROM
New protocol:
● 0x0001: Illegal function

(command code)
● 0x0002: Illegal data address
● 0x0003: Illegal data
● 0x0004: Slave device fault
Old protocol:
● 0x0002: The command code is

not 0x03/0x06/0x10.
● 0x0004: The CRC check code
H0C-14 Modbus error code received and calculated by the 1 - - At display -
servo drive differs from the check
code in the data frame.
● 0x0008: The parameter to be
accessed does not exist.
● 0x0010: The parameter written
value exceeds the upper/lower
limit.
● 0x0080: The parameter being
written is modifiable only in the
stop state but the servo drive is in
the operating state.
‑233‑
Parameters
Setting
Condition
Update parameter
0: Not updated to EEPROM
values written
1: Updated to EEPROM, except
H0C-16 through CAN - 0 Immediately During running PST
parameters in groups H0B and
communication to
H0D
EEPROM
Modbus command
H0C-25 0–5000 ms 1 Immediately During running PST
response delay
Sequence of Modbus
0: High 16 bits before low 16 bits
H0C-26 communication data 1 1 Immediately During running PST
1: Low 16 bits before high 16 bits
bits
0: Old protocol
Modbus error frame
H0C-30 1: New protocol (standard 1 1 Immediately During running PST
format
protocol)
5.14 Group H0D: Auxiliary Function Parameters
Setting
Condition
0: No operation
H0D-00 Software reset - 0 Immediately At stop -
1: Enable
0: No operation
H0D-01 Fault reset - 0 Immediately At stop -
1: Enable
Offline inertia auto-

H0D-02 - - - Immediately During running -
tuning
H0D-03 Reserved - - - - - -
0: No operation
H0D-05 Emergency stop - 0 Immediately During running -
1: Enable
H0D-11 Jog function (with filter) - - - - -
0: No operation
1: Forced DI enabled, forced

DO disabled
H0D-17 Forced DI/DO selection - 0 Immediately During running -
2: Forced DO enabled, forced
DI disabled
3: Forced DI and DO enabled
H0D-18 Forced DI setting 0–0x01FF - 0x01FF Immediately During running -
H0D-19 Forced DO setting 0–0x001F - 0 Immediately During running -
0: No operation
Absolute encoder reset 1: Reset encoder fault

H0D-20 - 0 Immediately At stop All
selection
2: Reset encoder fault and
multi-turn data
‑234‑
Parameters
5.15 Group H11: Multi-Position Parameters
Setting Related
Para. No. Name Value Range Unit Default Effective Time
Condition Mode
0: Individual operation (number

of positions defined by H11-01)
1: Cyclic operation (number of

positions defined by H11-01)
Multi-position operation 2: DI-based operation (selected

H11-00 - 1 Immediately At stop P
mode through DI)
3: Cyclic operation (number of

positions defined by H11-01)
5: Axis-controlled continuous
operation
Number of displacement
H11-01 references in multi- 1–16 - 1 Immediately At stop P
position mode
Active when H11-00 is set to 0, 1,

3 or 5
Start displacement no.
H11-02 0: Continue to execute the - 0 Immediately At stop P
after pause
unexecuted displacements
1: Start from displacement 1
0: ms
H11-03 Time unit - 0 Immediately At stop P
1: s
0: Relative displacement
Displacement reference reference

H11-04 - 0 Immediately During running P
type 1: Absolute displacement
reference
Start displacement no. in

H11-05 0–16 - 0 Immediately At stop P
sequential operation
Deceleration upon axis-

H11-09 0–65535 ms 65535 Immediately During running P
control OFF
Start speed of
H11-10 0–6000 RPM 0 Immediately During running P
displacement 1
Stop speed of
displacement 1
Reference
H11-12 Displacement 1 -1073741824 to +1073741824 10000 Immediately During running P
unit
Maximum speed of
displacement 1
Acceleration/
H11-15 Deceleration time of 0–65535 ms (s) 10 Immediately During running P
displacement 1
Waiting time after

H11-16 0–10000 ms (s) 10 Immediately During running P
displacement 1
‑235‑
Parameters
Setting Related
Condition Mode
Reference
unit
Maximum speed of
displacement 2
Acceleration/
displacement 2
Waiting time after

displacement 2
Reference
unit
Maximum speed of
displacement 3
Acceleration/
displacement 3
Waiting time after

displacement 3
Reference
unit
Maximum speed of
displacement 4
Acceleration/
displacement 4
Waiting time after

displacement 4
Reference
unit
Maximum speed of
displacement 5
Acceleration/
displacement 5
Waiting time after

displacement 5
Reference
unit
Maximum speed of
displacement 6
Acceleration/
displacement 6
‑236‑
Parameters
Setting Related
Condition Mode
Waiting time after

displacement 6
Reference
unit
Maximum speed of
displacement 7
Acceleration/
displacement 7
Waiting time after

displacement 7
Reference
unit
Maximum speed of
displacement 8
Acceleration/
displacement 8
Waiting time after

displacement 8
Reference
unit
Maximum speed of
displacement 9
Acceleration/
displacement 9
Waiting time after

displacement 9
Reference
unit
Maximum speed of
displacement 10
Acceleration/
displacement 10
Waiting time after

displacement 10
Reference
unit
Maximum speed of
displacement 11
‑237‑
Parameters
Setting Related
Condition Mode
Acceleration/
displacement 11
Waiting time after

displacement 11
Reference
unit
Maximum speed of
displacement 12
Acceleration/
displacement 12
Waiting time after

displacement 12
Reference
unit
Maximum speed of
displacement 13
Acceleration/
displacement 13
Waiting time after

displacement 13
Reference
unit
Maximum speed of
displacement 14
Acceleration/
displacement 14
Waiting time after

displacement 14
Reference
unit
Maximum speed of
displacement 15
Acceleration/
displacement 15
Waiting time after

displacement 15
Reference
unit
‑238‑
Parameters
Setting Related
Condition Mode
Maximum speed of
displacement 16
Acceleration/
displacement 16
Waiting time after

displacement 16
5.16 Group H12 Multi-Speed Parameters
Setting
Condition
0: Individual operation (number

of speeds defined by H12-01)
Multi-speed operation
H12-00 1: Cyclic operation (number of - 1 Immediately At stop S
mode
speeds defined by H12-01)
2: DI-based operation
Number of speed
H12-01 references in multi- 1–16 - 16 Immediately At stop S
speed operation
0: sec
H12-02 Operating time unit - 0 Immediately During running S
1: min
H12-03 Acceleration time 1 0–65535 ms 10 Immediately During running S
H12-04 Deceleration time 1 0–65535 ms 10 Immediately During running S
H12-20 Speed 1 -6000 to +6000 RPM 0 Immediately During running S
Operating time of speed

H12-21 0–6553.5 s(min) 5.0 Immediately During running S
1
‑239‑
Parameters
Setting
Condition
0: Zero acceleration/deceleration
time
1: Acceleration/Deceleration
time 1
Acceleration/
H12-22 Deceleration time of - 0 Immediately During running S
time 2
speed 1
time 3
time 4

2
time
time 1
Acceleration/
time 2
speed 2
time 3
time 4

3
time
time 1
Acceleration/
time 2
speed 3
time 3
time 4

4
‑240‑
Parameters
Setting
Condition
time
time 1
Acceleration/
time 2
speed 4
time 3
time 4

5
time
time 1
Acceleration/
time 2
speed 5
time 3
time 4

6
time
time 1
Acceleration/
time 2
speed 6
time 3
time 4

7
‑241‑
Parameters
Setting
Condition
time
time 1
Acceleration/
time 2
speed 7
time 3
time 4

8
time
time 1
Acceleration/
time 2
speed 8
time 3
time 4

9
time
time 1
Acceleration/
time 2
speed 9
time 3
time 4
H12-47 Speed 10 -6000 to +6000 RPM -100 Immediately During running S

10
‑242‑
Parameters
Setting
Condition
time
time 1
Acceleration/
time 2
speed 10
time 3
time 4

11
time
time 1
Acceleration/
time 2
speed 11
time 3
time 4

12
time
time 1
Acceleration/
time 2
speed 12
time 3
time 4

13
‑243‑
Parameters
Setting
Condition
time
time 1
Acceleration/
time 2
speed 13
time 3
time 4

14
time
time 1
Acceleration/
time 2
speed 14
time 3
time 4

15
time
time 1
Acceleration/
time 2
speed 15
time 3
time 4
‑244‑
Parameters
Setting
Condition

16
time
time 1
Acceleration/
time 2
speed 16
time 3
time 4
5.17 Group H17: VDI/VDO Parameters
Setting
Condition
H17-00 VDI1 function 0–41 - 0 At stop During running -
0: Active when the written value

is 1
H17-01 VDI1 logic - 0 At stop During running -
changes from 0 to 1

is 1
changes from 0 to 1

is 1
changes from 0 to 1

is 1
changes from 0 to 1

is 1
changes from 0 to 1
‑245‑
Parameters
Setting
Condition

is 1
changes from 0 to 1

is 1
changes from 0 to 1

is 1
changes from 0 to 1

is 1
changes from 0 to 1

is 1
changes from 0 to 1

is 1
changes from 0 to 1

is 1
changes from 0 to 1

is 1
changes from 0 to 1
‑246‑
Parameters
Setting
Condition

is 1
changes from 0 to 1

is 1
changes from 0 to 1
H17-30 VDI16 function 0–41 - 0 At stop During running

is 1
changes from 0 to 1
H17-32 VDO virtual level - - - - At display -
H17-33 VDO1 function 0–24 - 0 At stop During running -
0: Output 1 when active

H17-34 VDO1 logic - 0 At stop During running -






‑247‑
Parameters
Setting
Condition



H17-53 VOD11 function 0–24 - 0 At stop During running -






5.18 Group H30: Servo Variables Read Through Communication
Value Effective Setting

Para. No. Name Unit Default Related Mode
Range Time Condition
H30-00 Servo status read through communication - - - - Read-only PST
DO function status 1 read through

H30-01 - - - - Read-only PST
communication
DO function status 2 read through

H30-02 - - - - Read-only PST
communication
‑248‑
Parameters
Value Effective Setting

Para. No. Name Unit Default Related Mode
Range Time Condition
Input pulse reference sampling value read

H30-03 - - - - At display PST
through communication
H30-04 DI status read through communication - - - - At display PST
5.19 Group H31: Servo Variables Set Through Communication
Setting
Condition
VDI virtual level set

H31-00 through 0–65535 - 0 Immediately During running PST
communication
DO status set through

H31-04 0–31 - 0 Immediately During running PST
communication
Speed reference set

-6000.000 to
H31-09 through RPM 0 Immediately During running S
+6000.000
communication
Torque reference set

H31-11 through -100.000 to +100.000 % 0 Immediately During running T
communication
5.20 DI/DO Function Definitions
Function No. Name Function Description Remarks
Input Signal Description
The corresponding terminal logic must

Inactive: Servo motor disabled be level-triggered.
FunIN.1 S-ON Servo ON Active: Servo motor enabled upon The change of the corresponding DI/VDI
power-on or terminal logic is activated at next
power-on.
Edge-triggered will be applied even if

level-triggered is selected.
To reset No. 1 and No. 2 resettable

Inactive: Disabled
FunIN.2 ALM-RST Fault and warning reset faults, switch off the S-ON signal first.
Active: Enabled
The servo drive may, depending on the
warning types, continue running after
warning reset.
● H08-09 = 1:
● Inactive: Speed control loop being PI
control
It is recommended that the
● Active: Speed control loop being P
FunIN.3 GAIN-SEL Gain switchover corresponding terminal logic be level-
control
● H08-09 = 2: triggered.
● Inactive: Fixed to the 1st gain set

● Active: Fixed to the 2nd gain set
‑249‑
Parameters
Main reference (A)/ It is recommended that the

Inactive: Current reference being A
FunIN.4 CMD-SEL Auxiliary reference (B) corresponding terminal logic be level-
B: Current reference being B
switchover triggered.
Inactive: Default reference direction It is recommended that the

DI-based multi-speed
FunIN.5 DIR-SEL Active: Opposite to the reference corresponding terminal logic be level-
operation direction
direction triggered.

Multi-reference switchover Used to select a reference from 16
FunIN.6 CMD1 corresponding terminal logic be level-
1 references.
triggered.

2 references.
triggered.

3 references.
triggered.

4 references.
triggered.
Used to switch among speed control,

position control, and torque control
FunIN.10 M1-SEL Mode switchover 1 corresponding terminal logic be level-
based on the selected control mode
triggered.
(H02-00 = 3/4/5).
Used to switch among speed control,

position control, and torque control
FunIN.11 M2-SEL Mode switchover 2 corresponding terminal logic be level-
based on the selected control mode
triggered.
(H02-00 = 6).

Active: Zero clamp enabled
FunIN.12 ZCLAMP Zero clamp corresponding terminal logic be level-
Inactive: Zero clamp disabled
triggered.
Applies to internal and external position

Active: Reference pulse input inhibited
FunIN.13 INHIBIT Position reference inhibit references. The corresponding terminal
Inactive: Reference pulse input allowed
logic must be level-triggered.
Overtravel prevention applies when the

Active: Forward drive inhibited machine moves beyond the limit. It is
FunIN.14 P-OT Positive limit switch
Inactive: Forward drive allowed recommended that the corresponding
terminal logic be level-triggered.
Overtravel prevention applies when the

machine moves beyond the limit. It is recommended that the
FunIN.15 N-OT Negative limit switch corresponding terminal logic be level-
Active: Reverse drive inhibited
triggered.
Inactive: Reverse drive allowed
‑250‑
Parameters
The torque limit source is switched

based on H07-07 (Torque limit source).
H07-07 = 1: It is recommended that the

Positive external torque
FunIN.16 P-CL Active: Positive external torque limit corresponding terminal logic be level-
limit
activated triggered.
Inactive: Positive internal torque limit

activated
The torque limit source is switched

based on H07-07 (Torque limit source).
H07-07 = 1: It is recommended that the

Negative external torque
FunIN.17 N-CL Active: Negative external torque limit corresponding terminal logic be level-
limit
activated triggered.
Inactive: Negative internal torque limit

deactivated

Active: Input based on the reference
FunIN.18 JOGCMD+ Forward jog corresponding terminal logic be level-
Inactive: Reference input stopped
triggered.

Active: Input in reverse to the reference
FunIN.19 JOGCMD- Reverse jog corresponding terminal logic be level-
Inactive: Reference input stopped
triggered.
Active: Execute step references It is recommended that the

FunIN.20 POSSTEP Step reference selection Inactive: Reference being zero, staying corresponding terminal logic be level-
in locked state triggered.
Hand wheel override

FunIN.21 HX1 HX1 active, HX2 inactive: x 10
signal 1
HX1 inactive, HX2 active: x 100 corresponding terminal logic be level-
Hand wheel override
FunIN.22 HX2 triggered.
Others: x 1
signal 2
Inactive: Position control applied based

on H05-00 (Position reference source) It is recommended that the
FunIN.23 HX_EN Hand wheel enable signal Active: Position control applied based corresponding terminal logic be level-
on the hand wheel pulse signal triggered.
received in the position control mode

Electronic gear ratio Inactive: Electronic gear ratio 1
FunIN.24 GEAR_SEL corresponding terminal logic be level-
switchover Active: Electronic gear ratio 2
triggered.

Inactive: Forward
FunIN.25 TOQDirSel Torque reference direction corresponding terminal logic be level-
Active: Reverse
triggered.

Inactive: Forward
FunIN.26 SPDDirSel Speed reference direction corresponding terminal logic be level-
Active: Reverse
triggered.
‑251‑
Parameters
Inactive: Actual position reference

Position reference direction same as the set direction
FunIN.27 POSDirSel corresponding terminal logic be level-
direction Active: Actual position reference
triggered.
direction opposite to the set direction
Inactive: Internal multi-position

Multi-position reference reference ignored
FunIN.28 PosInSen corresponding terminal logic be level-
selection Active: Internal multi-position reference
triggered.
started
Interrupt positioning Inactive: Disabled

FunIN.29 XintFree -
canceled Active: Enabled

be level-triggered.
Assign this function to a high-speed DI.
If the logic is set to 2 (Rising edge-

triggered), the servo drive forcibly
Inactive: Not triggered
FunIN.31 HomeSwitch Home switch changes it to 1 (Active high). If the logic
Active: Triggered is set to 3 (Falling edge-triggered), the
servo drive forcibly changes it to 0
(Active low). If the logic is set to 4
(Rising/Falling edge-triggered), the
servo drive forcibly changes it to 0
(Active low).
Inactive: Disabled
FunIN.32 HomingStart Homing function -
Active: Enabled

be level-triggered.
● If the logic is set to 2 (Rising edge-

Active: Interrupt positioning inhibited changes it to 1 (Active high).
Interrupt positioning
FunIN.33 XintInhibit ● If the logic is set to 3 (Falling edge-
inhibit Inactive: Interrupt positioning allowed
changes it to 0 (Active low).
● If the logic is set to 4 (Rising/Falling
edge-triggered), the servo drive forcibly
changes it to 0 (Active low).
Active: Position lock applied after stop

at zero speed
FunIN.34 Emergency Stop Emergency stop corresponding terminal logic be level-
Inactive: Current operating state triggered.
unaffected
Active: Enable It is recommended to assign this

FunIN.35 ClrPosErr Position deviation clear
Inactive: Disable function to DI8 or DI9.

Inactive: H07-19 as internal speed limit
FunIN.36 V_LmtSel Internal speed limit source corresponding terminal logic be level-
Active: H07-20 as internal speed limit
triggered.
‑252‑
Parameters
When the position reference source is

pulse reference (H05-00 = 0) in the
position control mode:
FunIN.37 Pulselnhibit Pulse reference inhibit corresponding terminal logic be level-
Inactive: Respond to pulse references triggered.
Active: Not respond to pulse references

multi-position reference (H05-00 = 2) in
the position control mode: It is recommended that the
Axis control command
FunIN.38 MultiBlockTrig corresponding terminal logic be level-
write interrupted Inactive: Command not written
triggered.
Active: Command written and interrupt
generated

multi-position reference (H05-00 = 2) in
the position control mode: It is recommended that the
Axis control command
FunIN.39 MultiBlockWr corresponding terminal logic be level-
write uninterrupted Inactive: Command not written
triggered.
Active: Command written and interrupt
not generated
Inactive: Command not cleared and

Command cleared and positioning completed
FunIN.40 ClrCmdOkAndArrOk corresponding terminal logic be level-
positioning completed Active: Command cleared and
triggered.
positioning completed

Present position as the Inactive: Not triggered
FunIN.41 HomeRecord corresponding terminal logic be level-
home Active: Triggered
triggered.
Output signal function
The servo drive is ready to receive the

FunOUT.1 S-RDY Servo ready S-ON signal. Active: Servo ready -
Inactive: Servo not ready
Inactive: Absolute value of filtered

motor speed lower than H06-16
(Threshold of TGON signal)
FunOUT.2 TGON Motor rotation output -
Active: Absolute value of filtered motor
speed reaching H06-16 (Threshold of
TGON signal)
Inactive: The difference between the

motor speed feedback and the
reference value exceeds the threshold
defined by H06-19.
FunOUT.3 ZERO Zero speed -
Active: The difference between the
motor speed feedback and the
reference value does not exceed the
‑253‑
Parameters
Active when the absolute value of the

difference between the motor speed
FunOUT.4 V-CMP Speed matching and the speed reference lower than -
H06-17 (Threshold of V-Cmp signal) in
the speed control mode
Active when position deviation pulses

reaching H05-21 (Threshold of
FunOUT.5 COIN Positioning completed -
positioning completed) in the position
control mode
Active when position deviation pulses

FunOUT.6 NEAR Proximity reaching H05-22 (Threshold of -
proximity) in the position control mode
Torque limit acknowledge signal:
FunOUT.7 C-LT Torque limit Active: Motor torque limited -
Inactive: Motor torque unlimited
Speed limit acknowledge signal in the

torque control mode:
FunOUT.8 V-LT Speed limit -
Active: Motor speed limited
Inactive: Motor speed unlimited
Brake signal output:
FunOUT.9 BK Brake output Active: Brake released -
Inactive: Brake applied
FunOUT.10 WARN Warning output Warning output active (ON) -
FunOUT.11 ALM Fault output Active upon fault event -
Output 3-digit warning

FunOUT.12 ALMO1 Output 3-digit warning code -
code

code

code
Active: Interrupt positioning completed

Interrupt positioning
FunOUT.15 Xintcoin Inactive: Interrupt positioning not -
completed
completed
Homing state:
FunOUT.16 HomeAttain Homing output Active: Homing applied -
Inactive: Homing not applied
Electrical homing state:

ElecHome
FunOUT.17 Electrical homing output Active: Electrical Homing applied -
Attain
Inactive: Electrical Homing not applied
‑254‑
Parameters
Active: Torque absolute value reaching

the setpoint
FunOUT.18 ToqReach Torque reach output -
Inactive: Torque absolute value lower
than the setpoint
Active: Speed feedback reaching the

setpoint
FunOUT.19 V-Arr Speed reach output -
Inactive: Speed feedback not reaching
the setpoint
Active: Angle auto-tuning completed
FunOUT.20 AngIntRdy Angle auto-tuning output Inactive: Angle auto-tuning not -
completed
Active: Dynamic brake relay opened

FunOUT.21 DB Dynamic braking output -
Inactive: Dynamic brake relay closed
Active: Internal command completed
FunOUT.22 CmdOk Internal command output Inactive: Internal command not -
completed
Active: Writing the next block allowed
FunOUT.23 WrNextBlockEn Write next block enabled Inactive: Writing the next block -
inhibited
Active: Motion control completed

FunOUT.24 McOk Motion control output -
Inactive: Motion control not completed
‑255‑
Appendix: CANlink Enhanced Axis Control
Parameters
Appendix: CANlink Enhanced Axis Control Parameters

Table –1 List of default parameters for enhanced axis control
Para. No. Description Default

H11-00 Multi-position operation mode 5: Axis-controlled continuous operation
H11-04 Displacement reference type 1: Absolute displacement reference
Start displacement no. in sequential
H11-05 1
operation
H11-16 Waiting time after displacement 1 0
H05-00 Main position reference source 2: Multi-position reference (internal position reference)
H05-02 Pulses per revolution 10000
H05-30 Homing selection 1: Homing enabled by signal input from DI
1: Reverse homing, home switch as the deceleration
H05-31 Homing mode
point and the home
Speed in high-speed searching for the
H05-32 200 RPM
home switch signal
Speed in low-speed searching for the
H05-33 20 RPM
home switch signal
H05-35 Homing time limit 30000 ms
3: H05-36 (Mechanical home offset) used as the
Mechanical home offset and action
H05-40 relative offset after homing, reverse homing applied
upon overtravel
H09-00 Gain auto-tuning mode 1: Standard stiffness level mode
H09-02 Adaptive notch mode 1: Only one adaptive notch (3rd notch) activated
H0C-09 Communication VDI 1: Enable
H0C-11 Communication VDO 1: Enable
H04-00 DO1 function 0: No assignment
H04-04 DO3 function 9: Brake
H04-08 VDO5 function 0: No assignment
H03-06 DI3 function 0: No assignment
H17-00 VDI1 function 1: Servo ON
H17-02 VDI2 function 18: Forward jog
H17-04 VDI3 function 19: Reverse jog
H17-06 VDI4 function 28: Multi-position reference selection
H17-08 VDI5 function 32: Homing enable
H17-10 VDI6 function 34: Emergency stop
H17-12 VDI7 function 2: Fault and warning reset signal
H17-14 VDI8 function 38: Command-write interrupted
H17-15 VDI8 logic 1: Active when the written value changes from 0 to 1
H17-16 VDI9 function Active: Command-write not interrupted
H17-17 VDI9 logic 1: Active when the written value changes from 0 to 1
40: Positioning and reference completed signal
H17-18 VDI10 function
cleared
‑256‑
Appendix: CANlink Enhanced Axis Control Parameters
Note
See the following for how to use CANlink enhanced axis control function:
1. Set H02-31 to 1 to restore parameters to default values.
2. Set H11-00 to 5. If the previous value of H11-00 is not 5, setting it to 5 enables enhanced axis control function.
Parameter involved will be correlated automatically. See the detailed setpoints in the preceding table.
3. If the previous value of H11-00 is 5, setting it to a value other than 5 restores all the parameters listed in the
preceding table to default values.
‑257‑
Shenzhen Inovance Technology Co., Ltd.
Shenzhen Inovance Technology Co., Ltd.
Add.: Building E, Hongwei Industry Park, Liuxian Road, Baocheng No. 70 Zone, Bao'an
District, Shenzhen
Tel: +86-755-2979 9595
Fax: +86-755-2961 9897
http://www.inovance.com
Suzhou Inovance Technology Co., Ltd.

Add.: No. 16 Youxiang Road, Yuexi Town, Wuzhong District, Suzhou 215104, P.R. China
Tel: +86-755-2979 6666
This user guide is subject to change without notice.
Fax: +86-755-2961 6720
Copyright©Shenzhen Inovance Technology Co.,Ltd.
http://wwww.inovance.com

file-2496 (1)

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SV660P Series Servo Drive

Data code 19011393 A03

1 Function Overview ................................................................................ 12

2 Basic Functions of the Servo Drive............................................................. 14

2.1 Position Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14

2.2 Speed Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .70

2.3 Torque Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .88

2.4 Compound Control Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

2.5 Absolute Encoder System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

2.6 Auxiliary Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

2.6.1 Software Position Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

3 Adjustment ........................................................................................ 115

3.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

3.2 Inertia Auto-tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

3.3 Instructions for ETune Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

3.4 Instructions for STune Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

3.5 Manual Gain Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

3.6 Parameter Adjustment in Different Control Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

3.7 Vibration Suppression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

3.8 Mechanical Characteristic Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163

3.8.2 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164

4.1 Troubleshooting During Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166

4.2 Troubleshooting During Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173

5 Parameters ........................................................................................ 207

5.1 Group H00: Servo Motor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207

5.2 Group H01: Servo Drive Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209

5.3 Group H02: Basic Control Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209

5.4 Group H03: Terminal Input Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212

5.5 Group H04: Terminal Output Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213

5.6 Group H05: Position Control Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214

5.7 Group H06: Speed Control Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220

5.8 Group H07: Torque Control Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221

5.9 Group H08: Gain Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222

5.10 Group H09: Auto-tuning Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225

5.11 Group H0A Fault and Protection Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229

5.12 Group H0B Monitoring Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230

5.13 Group H0C: Communication Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232

5.14 Group H0D: Auxiliary Function Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234

5.15 Group H11: Multi-Position Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235

5.16 Group H12 Multi-Speed Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239

5.17 Group H17: VDI/VDO Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245

5.18 Group H30: Servo Variables Read Through Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248

5.19 Group H31: Servo Variables Set Through Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249

5.20 DI/DO Function Definitions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249

Appendix: CANlink Enhanced Axis Control Parameters ....................................... 256

Fundamental Safety Instructions

Safety Levels and Definitions

General Safety Instructions

Storage and Transportation

●Large-scale or heavy equipment must be transported by qualified professionals using specialized

● The equipment must be operated only by professionals with electrical knowledge.

●Equipment installation, wiring, maintenance, inspection, or parts replacement must be performed

●Equipment installation, wiring, maintenance, inspection, or parts replacement must be performed

●Equipment installation, wiring, maintenance, inspection, or parts replacement must be performed

Safety Label Description

2 Basic Functions of the Servo Drive

2.1 Position Control Mode

2.1.1 Position Control Mode

Figure 2-1 Position control diagram

The following describes the position control mode.

2.1.2 Position Reference Input Setting

Figure 2-3 Position reference input setting

Position reference source

Figure 2-4 Setting the position reference source

Defines the position reference

● Pulse reference (H05-00 = 0)

■ Pulse reference input terminals

Pulse reference 0: Low-speed terminals Defines the hardware

Table 2–1 Specifications of pulse input

Pulse Type Maximum Input Frequency Voltage Forward Current

High-speed pulse Differential signal 4M 5V < 25 mA

Differential signal 200 k 5V < 15 mA

■ Pulse input pin filter

Defines the filter time

Defines the filter time

Figure 2-6 Example of filtered signal waveform