DS5EDS5L Servo Manual

DS5E/DS5L series servo drive
User manual
WUXI XINJE ELECTRIC CO., LTD.
Data No. SC5 04 20190108 1.1

Safety Precautions
PrePrecaPrecautio
Bens
sure to review this section carefully before use this product. In precondition of security, wire
the product correctly.
Before using this product, please read this part carefully and operate after fully understanding
the use, safety and precautions of the product. Please connect the product correctly on the
premise of paying great attention to safety.
The problems that may arise during the use of the product are basically listed in the safety precautions,
and all are indicated by the two levels of attention and danger. For other unmentioned matters, please
follow the basic electrical operation rules.
When used incorrectly, there may be danger, moderate injury or minor injury, and
Caution property loss.
When used incorrectly, it may cause danger, personal casualties or serious injuries,
Danger as well as serious property losses.
Attention to Product Confirmation

1．Do not install damaged drives, drives that lack spare parts, or drives whose models do not meet the
requirements.
Installation Notes
1. Before installing wiring, be sure to disconnect the power supply to prevent electric shock.
2. It is forbidden to expose the product to water, corrosive gases, flammable gases and other
substances, causing electric shock and fire hazards.
3. Do not touch the conductive part of the product directly, which may cause misoperation and
malfunction.
Cautions for wiring

1. Please connect AC power to LN or L1/L2/L3 or R/S/T on the dedicated power terminal of the
driver. Do not connect the output terminals U, V, W of the driver to the three-phase power supply.
2. Please connect the ground wire correctly. Poor grounding may cause electric shock. Please use
2mm2 wire to ground the ground terminal of the driver.
3. Please lock the fixed screw of the terminal, otherwise it may cause fire.
4. Be sure to disconnect all external power supply before wiring the driver.
5. Wiring, please ensure that the encode line, power line is loose, do not tighten, lest cable damage.
Operation Cautions
1. Do not touch the rotating part of the motor after the driver is running. There is a danger of injury.
2. Please pay attention to the test run of the motor once, do not connect the motor with the machine,
there is the possibility of injury.
3. After connecting the machine, please set the appropriate parameters before running, otherwise it
may cause the machine out of control or failure.
4. In operation, do not touch the radiator, there is a risk of scald.
5. Under power-on condition, do not change the wiring, there is a risk of injury.
6. Do not switch power frequently. If you need to switch power many times, please control it once in 2
minutes.
Maintenance and inspection

1. Do not touch the inside of servo driver and servo motor, otherwise it may cause electric shock.
2. When the power is started, it is forbidden to remove the driver panel, otherwise it may cause electric
shock.
3. Within 10 minutes of power off, the terminal should not be contacted. Otherwise, the residual
voltage may cause electric shock.
Wiring attention
1. Do not cross the power line and the control signal line from the same pipeline, nor tie them together.
The power line and the control signal line are separated by more than 30 centimeters.
2. For signal line and encoder (PG) feedback line, please use multi-stranded wire and multi-core
stranded integral shielding line. For wiring length, the longest signal input line is 3 meters and the
longest PG feedback line is 20 meters.
Catalog
►► Confirmation on product arrival ....................................................................................................... 1

1 Selection of servo syste .......................................................................................................................... 2
1.1 Selection of servo drive ....................................................................................................... 2
1.1.1 Model name...................................................................................................................... 2
1.1.2 Description of each part ................................................................................................... 2
1.1.3 Performance specifications .............................................................................................. 3
1.2 Servo motor selection ........................................................................................................................................... 4
1.2.1 Model name...................................................................................................................... 4
1.3 Cable selection ..................................................................................................................................................... 5
1.3.1 Model name...................................................................................................................... 5
1.4 Selection of other accessories ............................................................................................................................... 8
1.4.1 Selection of regenerative resistance ................................................................................. 8
2 Installation of servo system.................................................................................................................... 9
2.1 Servo driver installation ....................................................................................................................................... 9
2.1.1 Installation site ................................................................................................................. 9
2.1.2 Environment condition ..................................................................................................... 9
2.1.3 Installation standard ......................................................................................................... 9
2.2 Servo motor installation ..................................................................................................................................... 11
2.2.1 Installation environment................................................................................................. 11
2.2.2 Environment condition ................................................................................................... 11
2.2.3 Installation cautions ....................................................................................................... 12
2.3 Size of servo driver............................................................................................................................................. 14
2.4 Size of servo motor............................................................................................................................................. 16
3 Wiring of servo system ........................................................................................................................ 20
3.1 Main circuit wiring ............................................................................................................................................. 21
3.1.1 Servo driver terminal arrangement ................................................................................. 21
3.1.2 Main circuit terminals and explanations ........................................................................ 21
3.1.3 CN0, CN1, CN2 terminal ............................................................................................... 23
3.1.4 Communication port....................................................................................................... 24
3.2 Classification and function of signal terminals ................................................................................................... 26
3.2.1 Pulse signal .................................................................................................................... 26
3.2.2 SI input signal ................................................................................................................ 26
3.2.3 SO output signal ............................................................................................................. 27
3.2.4 Analog input circuit（DS5E/5L not support）.............................................................. 27
3.2.5 Encoder feedback output signal（DS5E/5L not support） ........................................... 27
4 Operate panel ....................................................................................................................................... 28
4.1 Basic operation ................................................................................................................................................... 28
4.1.1 Operating panel description ........................................................................................... 28
4.1.2 Button operation ............................................................................................................. 28
4.2 Running Display Status Description ................................................................................................................... 29
4.3 Group U monitor parameters .............................................................................................................................. 31
4.4 Group F Auxiliary Functional Parameters .......................................................................................................... 34
4.4.1 Group F0 ........................................................................................................................ 34
4.4.2 Group F1 ........................................................................................................................ 34
4.5 Fault alarm handling ........................................................................................................................................... 36
4.6 Parameter setting example .................................................................................................................................. 36
4.7 Change motor code............................................................................................................................................. 36
5 Operation of Servo System .................................................................................................................. 38
5.1 Selection and Switching of Control Mode .......................................................................................................... 38
5.1.1 Selection of control mode .............................................................................................. 38
5.1.2 The switch of control mode............................................................................................ 38
5.2 Basic function setting ......................................................................................................................................... 39
5.2.1 Servo enable ................................................................................................................... 39
5.2.2 Rotation direction switching .......................................................................................... 39
5.2.3 Stop mode ...................................................................................................................... 40
5.2.4 Overrun prevention (P-OT, N-OT) ................................................................................ 41
5.2.5 Electric loss brake（BK） ............................................................................................. 42
- 1 -
5.2.6 Alarm output signal ........................................................................................................ 44
5.2.7 Anti-blocking alarm ....................................................................................................... 44
5.3 Position control (external pulse instruction) ....................................................................................................... 45
5.3.1 Control mode selection .................................................................................................. 45
5.3.2 Forward direction of pulse instruction and pulse form .................................................. 45
5.3.3 Electronic gear ratio ....................................................................................................... 46
5.3.4 Position command filter ................................................................................................. 50
5.3.5 Pulse offset clear（/CLR） ........................................................................................... 50
5.3.6 Positioning completion signal（/COIN, /COIN_HD） ................................................. 51
5.3.7 Positioning near signal（/NEAR） ............................................................................... 52
5.3.8 Instruction pulse prohibition（/INHIBIT） .................................................................. 53
5.3.9 Position pulse deviation setting ...................................................................................... 53
5.4 Position control (internal instruction) ................................................................................................................. 54
5.4.2 Internal position mode.................................................................................................... 54
5.4.3 Position segment 1 to 35 parameter settings .................................................................. 57
5.4.4 Change step signal（/CHGSTP） ................................................................................. 58
5.4.5 Pause the present segment signal（/INHIBIT） ........................................................... 58
5.4.6 Skip the present segment signal（/ZCLAMP） ............................................................ 58
5.4.7 Reference origin ............................................................................................................. 59
5.4.8 Set the segment number through communication .......................................................... 61
5.4.9 Motion start signal（/MRUN）..................................................................................... 61
5.5 Speed control (analog voltage command) (not support) ..................................................................................... 61
5.6 Speed control (internal speed) ............................................................................................................................ 62
5.6.2 Internal speed setting...................................................................................................... 63
5.6.3 Soft start ......................................................................................................................... 63
5.6.4 Input signal setting ......................................................................................................... 64
5.6.5 Speed command limit ..................................................................................................... 65
5.6.6 Zero clamp（/ZCLAMP） ............................................................................................ 65
5.6.7 Torque limit.................................................................................................................... 66
5.6.8 Same speed detection（/V-CMP） ............................................................................... 67
5.6.9 Speed reach signal（/V-RDY） .................................................................................... 67
5.6.10 Alarm speed ................................................................................................................. 68
5.6.11 Filter ............................................................................................................................. 68
5.6.12 Proportion action command (/P-CON)......................................................................... 68
5.7 Speed control (pulse frequency command) ........................................................................................................ 69
5.7.2 Pulse frequency command ............................................................................................. 70
5.7.3 Command pulse frequency at rated speed ...................................................................... 70
5.7.4 Speed command pulse filter time ................................................................................... 70
5.8 Torque control (analog voltage command) (not support) ................................................................................... 70
5.9 Torque control (internal setting) ......................................................................................................................... 71
5.9.2 Internal torque command ............................................................................................... 71
5.9.3 Internal speed limit for torque control............................................................................ 71
5.9.4 Speed up to limit value output ....................................................................................... 72
5.10 Motion bus control ........................................................................................................................................... 72
5.10.1 Bus wiring .................................................................................................................... 73
5.10.2 Motion parameters ....................................................................................................... 74
5.10.3 Bus position mode ........................................................................................................ 74
5.10.4 Bus torque mode .......................................................................................................... 75
5.10.5 Bus speed mode............................................................................................................ 76
5.11 Absolute value system ...................................................................................................................................... 78
5.11.1 absolute value system setting ....................................................................................... 78
5.11.2 Replace the battery ....................................................................................................... 78
5.11.3 The upper limit of revolving circles ............................................................................. 79
5.11.4 Read absolute position through communication .......................................................... 80
5.12 I/O signal .......................................................................................................................................................... 81
5.12.1 Servo alarm output（/ALM）and alarm reset（/ALM-RST） .................................. 81
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5.12.2 Warn output（/WARN） ............................................................................................ 81
5.12.3 Rotating detection output（/TGON） ......................................................................... 82
5.12.4 Servo ready output（/S-RDY） .................................................................................. 83
5.12.5 Encoder Z phase output（/Z） .................................................................................... 83
5.12.6 User-defined output signal ........................................................................................... 84
5.12.7 I/O signal distribution .................................................................................................. 86
5.12.8 Input SI filter time ........................................................................................................ 86
6 Servo gain adjustment .......................................................................................................................... 88
6.1 Overview of servo gain adjustment .................................................................................................................... 88
6.1.1 Overview and process .................................................................................................... 88
6.1.2 The Difference of these adjustment modes .................................................................... 89
6.1.3 Model loop gain ............................................................................................................. 89
6.1.4 Torque disturbance observation ..................................................................................... 90
6.2 Adaptive ............................................................................................................................................................. 91
6.2.1 Overview ........................................................................................................................ 91
6.2.2 Notes .............................................................................................................................. 91
6.2.3 Operation steps ............................................................................................................... 91
6.2.4 Inertia mode ................................................................................................................... 91
6.2.5 Recommended inertia ratio parameters .......................................................................... 92
6.2.6 Adaptive parameters effect............................................................................................. 92
6.2.7 Invalid parameters when adaptive effective ................................................................... 93
6.3 Rotary inertia presumption ................................................................................................................................. 94
6.3.1 Overview ........................................................................................................................ 94
6.3.2 Notes .............................................................................................................................. 94
6.3.3 Operation tool ................................................................................................................ 94
6.3.4 Operation steps ............................................................................................................... 95
6.4 Fast adjustment ................................................................................................................................................... 99
6.4.1 Overview ........................................................................................................................ 99
6.4.2 Fast adjustment steps...................................................................................................... 99
6.4.3 Rigidity level corresponding gain parameters ................................................................ 99
6.4.4 Notes ............................................................................................................................ 102
6.5 Auto-tuning ...................................................................................................................................................... 102
6.5.1 Overview ...................................................................................................................... 102
6.5.2 Notes ............................................................................................................................ 102
6.5.3 Operation tools ............................................................................................................. 103
6.5.4 Internal instruction auto-tuning steps ........................................................................... 103
6.5.5 External instruction auto-tuning steps .......................................................................... 107
6.5.6 Related parameters ....................................................................................................... 112
6.6 Manual adjustment ........................................................................................................................................... 113
6.6.1 Overview ...................................................................................................................... 113
6.6.2 Adjustment steps .......................................................................................................... 114
6.6.3 Gain parameters for adjustment ................................................................................... 114
6.7 Vibration suppression ....................................................................................................................................... 116
6.7.1 Overview ...................................................................................................................... 116
6.7.2 Operation tools ............................................................................................................. 116
6.7.3 Vibration Suppression (Panel) ..................................................................................... 116
6.7.3 Vibration suppression(panel) ....................................................................................... 116
6.7.4 Vibration suppression (PC software) ........................................................................... 117
6.7.5 Vibration suppression (manual setting) ........................................................................ 118
6.7.6 Notch filter ................................................................................................................... 118
6.8 Gain adjustment correlation ............................................................................................................................. 120
6.8.1 Load shaking ................................................................................................................ 120
6.8.2 Vibration ...................................................................................................................... 121
6.8.3 Noise ............................................................................................................................ 121
7 Alarm ................................................................................................................................................. 121
7.1 Alarm code list ................................................................................................................................................. 121
7.2 Analysis of alarm types .................................................................................................................................... 123
8 Appendix ............................................................................................................................................ 131
Appendix 1. PX-XX parameters list ....................................................................................................................... 131
Appendix 2. UX-XX monitoring parameters ......................................................................................................... 148
Appendix 3. FX-XX auxiliary function parameters ............................................................................................... 151
Appendix 4. Modbus address list ........................................................................................................................... 151
- 3 -
Appendix 5. Q&A .................................................................................................................................................. 156
Appendix 6. General debugging steps .................................................................................................................... 158
Appendix 7. Application examples ........................................................................................................................ 159
Appendix 8. Model list ........................................................................................................................................... 160
- 4 -
►► Confirmation on product arrival
After the product arrives, please confirm the integrity of the product in the following aspects.
Items Notes
Does the product on arrival match the Please confirm according to the nameplate of servo motor
specified model? and servo unit.
The panel displays "Code" and Please set motor code in P0-33
"E-310"? (See motor nameplate MOTOR CODE for code)
Does the servomotor shaft rotate The servo motor shaft is normal if it can be turned
smoothly? smoothly by hand. Servo motors with brakes, however,
cannot be turned manually.
Check the overall appearance, and check for damage or
Is there any damage?
scratches that may have occurred during shipping.
Are there any loose screws? Check screws for looseness using a screwdrive.
Is the motor code the same with the Check the motor code marked on the nameplates of the
code in drive? servomotor and the parameter P0-33 on the servo drive.
If any of the above is faulty or incorrect, contact Xinje or an authorized distributor.
1
1 Selection of servo syste
1.1 Selection of servo drive

1.1.1 Model name
DS 5 -2 P - PTA
Name Encoder type
Name Meaning
T Communication
DS Servo drive
Name Rated output power

0P1 100w
Name Product series
0P2 200w
5E Xnet fieldbus
0P4 400w
5L Pulse model
0P7 750w
Name Rated input voltage
1P5 1.5KW
2 AC220V
2P3 2.3KW
4 AC380V
2P6 2.6KW
1.1.2 Description of each part
RS232 port
CN0: pulse, direction

Power supply
I/O signal
Motor wiring
CN1: Used for Extending Bus Function

Regenerative To connect extension bus module
resistor
CN2: encoder cable for drive
2
1.1.3 Performance specifications
Servo unit DS5 series servo drive
Applicable encoder Standard: 17-bit/23-bit communication encoder
DS5□-2□P□-PTA: Single/three phases AC200-240V, 50/60Hz
Single phase AC200-240V 50/60Hz is used below 1.5KW (excluding
1.5KW)；
It is recommended to use three-phase AC200-240V 50/60Hz when the
Input power supply value is above 1.5KW (including 1.5KW).
(For the single-phase power supply, please connect to L1 and L3,
otherwise the power failure will affect the memory of parameters.)
DS5□-4□P□-PTA: three-phase AC340～420V, 50/60Hz
Three-phase full-wave rectifier IPM PWM control sinusoidal current
Control mode
drive mode
Using
-10～+40 ℃
temperature
Storage
-20～+60 ℃
Using temperature
condition Environment
Below 90％RH (no condensation)
humidity
Vibration
4.9m/s2
resistance
Structure Pedestal installation
3
1.2 Servo motor selection
1.2.1 Model name

MS5S – 80 ST E – C S 02430 B Z - 2 0P7 – S01
Name Inertia Name Design number

S01 standard
MS5S Low inertia S02
Small Aviation Plug
Type
MS5G Middle inertia
MS5H High inertia
Name Rated power (KW)
Name Seat number
0P2 0.2
60 60 seat
0P4 0.4
80 80 seat
0P7 0.75
Name Product name

ST Sine drive motor Name Voltage level
2 220V
Name Product name 4 380V
empty No oil seal
E With oil seal
Name Power-off brake
Name Encoder type Empty without
C Magnetic encoder Z with
Photoelectric
T encoder
Name Shaft
Name Encoder accuracy
A No key
S Single circle 17-bit Name Rated torque (N·
m) Rated speed (rpm) B With key
M Multi-circle 17-bit 00630 0.637 3000
U Single circle 23-bit 01330 1.3 3000
L Multi-circle 23-bit 02430 2.39 3000
Note: At present, only the combination of CS, CM, TL and T is selected for the type of encoder.
Encoder
frame
flange
Output Shaft (Drive Shaft)
4
1.3 Cable selection
1.3.1 Model name

 Encoder cable model
CP SP M 02
Name Cable type Name Length(m)
CP Normal 03 3
CPT High flexibility 05 5
08 8
Name Plug type

SP Amp plug-S01 motor Name Plug type
SW Waterproof Aviation Plug- M Without battery box
S02 Motor
SL Normal aviation plug B With battery box
10-core small aviation plug With battery box
SC BM
magnetic type
for 130 short body motor
 Power cable model
CM – L 15 - M - 03
Name Cable type Name Length(m)
CP Normal 03 3
CPT High flexibility 05 5
08 8
High flexibility-aviation plug with
CMBT
brake
Name Cable type
Name Plug type M Magnetic encoder
P Small power 4-core amp plug Name Diameter(mm²) Photoelectric encoder
Empty
Small power 6-core water proof 07 0.75
W
aviation plug 15 1.5
L 4-core small aviation plug 25 2.5
XL 4-core medium aviation plug 60 6
100 10
 Brake cable model

 CB-P03-Length (for 750W and below power motors with motor suffix S01)
 CMBT-W07-M-Length (for 750W and below power motors with motor suffix S02)
5
 Encoder cable
(1) Pin definition of encoder on servo driver side
Pin definition
Connector appearance
No. Definition
1 5V
2 GND
1 3 5 3 /
2 4 6 4 /
5 485+
6 485-
(2) Cable connection of encoder on motor side
Pin definition
Connector pins Suitable model
No. Definition
1 Battery +
2 Battery -
3 Shielded cable
9 6 3 4 485+
40, 60, 80 flange
8 5 2 5 485-
-S01 motor
7 4 1 6 /
7 5V
8 GND
9 /
No. Definition
1 Shielded cable
2 Battery +
6 1
3 Battery - 40, 60, 80 flange
5 7 2
4 485+ -S02 motor
4 3
5 485-
7 5V
8 GND
No. Definition
1 Shielded cable
2 /
1 2
3 485-
3 4 5
4 485+ 110 and above flange

6 7 8 9 10
11 12 13
5 / motor
14 15 6 GND
7 Battery -
8 5V
9 Battery +
Battery box description:
1) The encoder including the cable definition of battery +, battery- is for the absolute motor, and
the non-absolute motor cable has no such pin.
2) Only the cable of absolute value motor has external battery box, which contains a 3.6V/2.7Ah
large capacity battery, and has the function of replacing batteries when power cut.
6
 Power cable
(1) Pin definition of power cable on servo driver side
Connector Pin definition
appearance Color Definition
Brown U
Black V
Blue W
Yellow-green PE
(2) Power cable connection on motor side

Pin definition
Connector pins Suitable model
No. Definition
1 U
4 2 2 W 40, 60, 80 flange
3 1 3 V -S01 motor
4 PE
No. Definition
40, 60, 80 flange
1 2 1 BK
-S01 motor brake
2 BK
No. Definition
1 PE
2 U
1 2 750W and below S02 small aviation
5 3 V
4 3 plug motor
6 4 W
5 BK
6 BK
No. Definition
1 1 PE
4 2 2 U 110 and above motor
3
3 V
4 W
Brake pins:
The cable including BK pin is used for the brake motor. The cable of the non-brake motor has no BK
pin.
7
1.4 Selection of other accessories
1.4.1 Selection of regenerative resistance

When the servo motor is driven by the generator mode, the power returns to the servo amplifier side,
which is called regenerative power. The regenerated power is absorbed by charging the smooth
capacitor of the servo amplifier. After exceeding the rechargeable energy, the regenerative resistance is
used to consume the regenerative power.
The servo motor driven by regenerative (generator) mode is as follows:

 The deceleration stop period during acceleration and deceleration operation;
 Running vertically and axially;
 When the external load drives the motor to rotate.
Servo driver model Regenerative resistance connection terminals

(1) Using built-in regenerative resistance, short P + and D terminals, P + and
C are disconnected.
(2) Use external regenerative resistance, connect regenerative resistance to P
+ and C terminals, remove P + and D short wiring, P0-25 = power value,
DS5□-2□P□-PTA
P0-26 = resistance value.
Note: if software version U2-07 < 3700, the parameter P0-24 should be set.
The value of 0 is for the built-in resistance to take effect, and the value of 1 is
for the external resistance to take effect.
The following table is the recommended specifications of external regenerative resistance for each type
of motor.
External regenerative External regenerative
Rmin resistance resistance
Servo driver model
(Not less than this value) (Recommended (Recommended power
resistance value) values)
DS5□-20P1-PTA
50Ω 50Ω-100Ω Above 200W
DS5□-20P2-PTA
DS5□-20P4-PTA
40Ω 40Ω-100Ω Above 500W
DS5□-20P7-PTA
DS5□-21P5-PTA
DS5□-22P3-PTA 25Ω 25Ω-50Ω Above 1000W
DS5□-22P6-PTA
DS5□-41P5-PTA 55Ω 55Ω - 100Ω Above 1000W
Note:
(1) The smaller the resistance is, the faster the discharge will be, but the smaller the resistance is, the
easier the breakdown resistance will be. Therefore, please close to the the lower limit but not be less
than the lower limit when choosing the type.
(2) When wiring, please use high-temperature flame-retardant wire, and the regenerative resistance
surface can not contact with the wire.
8
2 Installation of servo system
2.1 Servo driver installation
2.1.1 Installation site

 Please install it in the installation cabinet without sunshine or rain.
 Do not use this product near corrosive and flammable gas environments such as hydrogen sulfide,
chlorine, ammonia, sulfur, chlorinated gas, acid, alkali, salt, etc.
 Do not install in high temperature, humidity, dust, metal dust environment;
 No vibration place.
2.1.2 Environment condition

Item Description
Use ambient temperature -10~40℃
Use ambient humidity -20~90%RH (no condensation)
Storage temperature -20~60℃
Storage humidity -20~90%RH (no condensation)
2.1.3 Installation standard

Be sure to comply with the installation standard in the control cabinet shown in the figure below. This
standard is applicable to the situation where multiple servo drivers are installed side by side in the
control cabinet (hereinafter referred to as "when installed side by side").
9
 Servo Drive Orientation
Install the servo drive perpendicular to the wall so the front panel containing connectors faces outward.
 Cooling
As shown in the figure above, allow sufficient space around each servo drive for cooling by cooling
fans or natural convection.
 Side-by-side Installation
When install servo drives side by side as shown in the figure above, make at least 10mm between and
at least 50mm above and below each servo drive. Install cooling fans above the servo drives to avoid
excessive temperature rise and to maintain even temperature inside the control panel.
 Environmental Conditions in the Control Panel
 Servo driver working ambient Temperature: -10~40 ℃
 Humidity: 90%RH or less
 Vibration: 4.9m/s2
 Condensation and Freezing: None
 Ambient Temperature for Long-term Reliability: 50°C maximum
10
2.2 Servo motor installation
MS series servomotors can be installed either horizontally or vertically. The service life of the
servomotor can be shortened or unexpected problems might occur if it is installed incorrectly or in an
inappropriate location. Follow these installation instructions carefully.
CAUTION
1． The end of the motor shaft is coated with antirust. Before installing, carefully remove all of the
paint using a cloth moistened with paint thinner.
2． Avoid getting thinner on other parts of the servo motor.
Antirust
2.2.1 Installation environment

 Do not use this product near corrosive and flammable gas environments such as hydrogen sulfide,
chlorine, ammonia, sulfur, chlorinated gas, acid, alkali, salt, etc.
 In places with grinding fluid, oil mist, iron powder, cutting, etc., please choose motor with oil seal.
 A place away from heat sources such as stoves;
 Do not use motor in enclosed environment. Closed environment will lead to high temperature and
shorten service life of motor.
2.2.2 Environment condition

When used in places with water droplets or oil droplets, the protection effect can be achieved through
the treatment of motors. However, in order to seal the through part of the shaft, please specify the
motor with oil seal. Connectors should be installed downward.
Through part of the shaft
MS series servo motors are for indoor use. Please use them under the following installation conditions:
Item Description
Use ambient temperature -10℃~40℃ (no freeze)
Use ambient humidity 20%~90%RH (no condensation)
Storage temperature -20℃~60℃
Storage humidity -20%~90%RH (no condensation)
Protection level IP65
11
2.2.3 Installation cautions
Item Description
◆ Before installation, please wipe the "rust-proof agent" of the extension end
Antirust treatment
of the servo motor shaft, and then do the relevant rust-proof treatment.
◆ It is forbidden to impact the extension end of the shaft during installation,
otherwise the internal encoder will be broken.
◆ When the pulley is installed on the servo motor shaft with keyway, the
screw hole is used at the end of the shaft. In order to install the pulley, the
Encoder cautions double-headed nails are inserted into the screw holes of the shaft, the washer is
used on the surface of the coupling end, and the pulley is gradually locked with
the nut.
◆ For the servo motor shaft with keyway, use the screw hole at the end of the
shaft to install. For shaft without keyway, friction coupling or similar methods
are used.
◆ When the pulley is dismantled, the pulley mover is used to prevent the
bearing from being strongly impacted by the load.
◆ To ensure safety, protective covers or similar devices, such as pulleys
installed on shaft, are installed in the rotating area.
◆ When installing the servo motor, make it conform to the centering accuracy
requirement shown in the picture below. If the centering is inadequate, vibration
will occur, and sometimes the bearing and encoder may be damaged. When
installing the coupling, please do not directly impact the motor shaft, otherwise
the encoder installed on the opposite side of the load shaft will be damaged.
The maximum and minimum deviations are less than 0.03mm

(rotated with the coupling) measured at four locations in a circle.
Centering
The maximum and minimum deviations are

less than 0.03mm (rotated with the coupling)
measured at four locations in a circle.
Installation ◆ Servo motor can be installed in horizontal or vertical direction.

direction
12
When using in places where water droplets are dropping, please use it on the
basis of confirming the protection level of servo motor. (except for the
shaft-through part) When oil droplets will drip into the shaft-through part,
please specify the servo motor with oil seal.
Oil and water Conditions for use of servo motors with oil seals:
solutions ◆Make sure the oil level is below the lip of the oil seal when using.
◆Please use the oil seal to keep the splash of oil droplets in good condition.
◆When the servo motor is installed vertically upward, please pay attention not
to oil accumulation on the lip of the oil seal.
◆ Do not "bend" or apply "tension" to the wire, especially the core of the
Stress state of cable signal line is 0.2mm or 0.3mm, very thin, so when wiring (using), do not make
it too tight.
Item Description
Processing of For the connector part, please pay attention to the following items:
Connector Part ◆When connecting the connector, please make sure that there is no foreign
matter such as garbage or metal sheets in the connector.
◆When connecting the connector to the servo motor, it is necessary to connect
the connector from the side of the main circuit cable of the servo motor first, and
the grounding wire of the main cable must be connected reliably. If one side of
the encoder cable is connected first, the encoder may fail due to the potential
difference between PE.
◆When wiring, please make sure that the pins are arranged correctly.
◆Connectors are made of resin. Do not apply shock to avoid damaging the
connector.
◆When carrying out the operation under the condition that the cable remains
connected, it is necessary to grasp the main body of the servo motor. If only the
cable is seized for handling, it may damage the connector or pull the cable off.
◆If bending cable is used, full attention should be paid to the wiring operation
and stress should not be applied to the connector part. If the stress is applied to
the connector part, the connector may be damaged.
13
2.3 Size of servo driver
 DS5E/L-20P1-PTA, DS5E/L-20P2-PTA, DS5E/L-20P4-PTA Unit: mm
33.8 Ø5.5 45.0 175.1
178.0
175.0
164.0
Ø5.5
 DS5E/L-20P7-PTA Unit: mm
Ø5.5 48.8 60.0 181.3
182.9
183.0
172.0
Ø5.5
 DS5E/L-21P5-PTA, DS5E/L-22P3-PTA, DS5E/L-22P6-PTA, DS5E-41P5-PTA Unit:

mm
74.0 85.0
60 193.3
175.0
186
Ø5.5
14
 DS5E-45P5-PTA, DS5E-47P5-PTA Unit: mm
135.0 123.5
4-φ6.0
239.5
251.0
15
2.4 Size of servo motor
 40 series motor installation dimensions Unit: mm
2-
4.
3
46
30h7
8h6
3-0.014
15.5
深
4
0
M3
0 2.5 10
6.2-0.1 25±0.5 LA a40
LA±1
Inertia
Motor model With
Normal level
brake
Low
MS5S-40ST-CS00330□□-20P1-S01/S02 89 129.5
inertia
5
5,
70
4-
2
50h7
14h6
5-0.03
2 20
8
0
深
M5 30±0.5 83 LA a60
0
11-0.1
LA±1
Inertia
Motor model With
Normal level
brake
MS5S-60ST-CS00630□□-20P2-S01/S02 79 114
Low
MS5S-60ST-CS01330□□-20P4-S01/S02 99 134
inertia
MS5S-60ST-CS01330B-20P4-S03/S04 107 142
MS5H-60ST-CS00630□□-20P2-S01/S02 91 126 High
MS5H-60ST-CS01330□□-20P4-S01/S02 111 146 inertia
MS-60ST-T01330-20P4-D01 145 189 -
16
6
90
4-
2
19h6
70h7
2 25
8
深
M5
6-0.02
3 8
0
35±0.5 LA a80
0
15,5-0,1
LA±1 Inertia
Motor model With
Normal level
brake
MS5S-80ST-CS02430□□-20P7-S01/S02 107 144 Low
MS5S-80ST-CS03230□□-21P0-S01/S02 128 165 inertia
MS5H-80ST-CS02430□□-20P7-S01/S02 119 156 High
MS5H-80ST-CS03230□□-21P0-S01/S02 140 177 inertia
MS-80ST-T02430□□-20P7 150 199
-
MS-80ST-T03520□□-20P7 179 219

13
9
0
4-
2
95h7
19h6
6-0.018
2.5 40
25
0
深
M5
0 5 12
15.5-0.1
55±0.5 LA a110
LA±1
Motor model Inertia level
Normal With brake
MS5S-110ST-CS03230□□-21P0-S01 157
MS5S-110ST-CS04830□□-21P5-S01 166 -
MS5S-110ST-CS06430□□-22P0-S01 181 Low inertia
MS5S-110ST-TL03230□□-21P0-S01 157 205
MS5S-110ST-TL04830□□-21P5-S01 166 214
MS-110ST-TL06430□□-22P0-S01 181 229
MS-110ST-T04030B-21P2 189 263 -
MS-110ST-T05030B-21P5 181 229
17
9
14
5
4-
2
110h7
22h6
40
6-0.02
2.5
15
0
深
M6
5 LB
0
18.5-0.1 57±0.5 LA a130
LA±1
Motor model With LB Inertia level
Normal
brake
MS5G--130STE-CS05415□□-20P8-S01 117.5 147.0
MS5G-130STE-CS07220□□-21P5-S01 132.5 162.5
MS5G-130STE-CS11515□□-21P8-S01
159.5 189.5
MS5G-130STE-CS11515□□-21P8-S01
MS5G-130STE-CS14615□□-22P3-S01
180.5 210.5
MS5G-130STE-CS14615□□-42P3-S01
12.5 Middle inertia
MS5G--130STE-TL05415□□-20P8-S01 134.5 164.5
MS5G-130STE-TL07220□□-21P5-S01 149.5 179.5
MS5G-130STE-TL11515□□-21P8-S01
176.5 206.5
MS5G-130STE-TL11515□□-21P8-S01
MS5G-130STE-TL14615□□-22P3-S01
197.5 227.5
MS5G-130STE-TL14615□□-42P3-S01
MS-130ST-T04030B-21P2 164 223
MS-130ST-T06025□□-21P5 179 238
MS-130ST-T10015□□-21P5 205 264
14 -
MS-130STE-T07730□□-22P4 205 264
MS-130ST-T15015G□□-22P3 235 294
MS-130ST-T10025□□-22P6 209 290
18
.5
13
20
4-
0
2
114.3h7
35h6
10-0.03
51
深1
11
0
M12
3 20
0
30-0.1 79±0.5 LA a180
LA±1
Motor model With Inertia level
Normal
brake
MS5G-180ST-TL19015□□-42P9-S01 221 303
Middle inertia
MS5G-180ST-TL28015□□-44P4-S01 247 329
5
13.
20
4-
0
2
114.3h7
42h6
12-0.03
16 3 102
0
6深
M1
3 20
0
37-0.1 a180
113±0.5 LA
LA±1
Motor model With Inertia level
Normal
brake
MS5G-180ST-TL35015□□-45P5-S01 277 359
Middle inertia
MS5G-180ST-TL48015□□-47P5-S01 318 400
19
3 Wiring of servo system
Servo driver interface wiring recommended wire, as shown in the following table:
Power cable UVW power Grould cable
Encoder cable
Servo driver model diameter cable diameter diameter
diameter mm²
mm² mm² mm²
DS5E/L-20P1-PTA 2.0 0.75 0.2（7-core） 2.0
DS5E/L-20P2-PTA 2.0 0.75 0.2（7-core） 2.0
DS5E/L-20P4-PTA 2.0 0.75 0.2（7-core） 2.0
DS5E/L-20P7-PTA 2.0 0.75 0.2（7-core） 2.0
DS5E/L-21P5-PTA 2.0 1.5 0.2（7-core） 2.0
DS5E/L-22P3-PTA 2.0 1.5 0.2（7-core） 2.0
DS5E/L-22P6-PTA 2.0 1.5 0.2（7-core） 2.0
DS5E-41P5-PTA 2.0 1.5 0.2（7-core） 2.0
DS5E-45P5-PTA 6.0 6.0 0.2（7-core） 6.0
DS5E-47P5-PTA 6.0 6.0 0.2（7-core） 6.0
Note:
(1) Please do not cross power wires and signal wires from the same pipeline, nor tie them together.
When wiring, please keep the power wire and signal wire more than 30 cm apart.
(2) For the signal wire and the feedback wire of the encoder (PG), please use the multi-stranded wire
and the multi-core stranded integral shielding wire.
(3) For wiring length, the longest instruction input wire is 3m and the longest PG feedback wire is 20m.
(4) Even if the power supply is off, there may still be a high voltage in the servo unit. Please do not
touch the power terminal temporarily (10 minutes).
(5) Do not turn ON/OFF power frequently. When the ON or OFF power supply needs to be repeatedly
connected, please control it less than once in 2 minutes. Because of the capacitance in the power supply
of the servo driver, a large charging current (charging time of 0.2 seconds) will flow through when the
power supply is ON. Therefore, if the ON/OFF power supply is frequently used, the performance of the
main circuit components in the servo driver will be degraded.
20
3.1 Main circuit wiring
3.1.1 Servo driver terminal arrangement
RS232 port
Power supply CN0: pulse, direction

I/O signal
Motor wiring
CN1:insert module for filedbus function

Regenerative
resistor
CN2: encoder cable of driver
3.1.2 Main circuit terminals and explanations

 DS5E/L-20P1-PTA, DS5E/L-20P2-PTA, DS5E/L-20P4-PTA, DS5E/L-20P7-PTA
L Terminal Function Explanation
N Power supply input of
L/N main circuit Single phase AC 200~240V, 50/60Hz
U ● Vacant terminal -
V Connect the motor
W U, V, W Motor terminals Note: the ground wire is on the cooling
fin, please check it before power on!
P+ Internal regenerative
Short P+ and D, disconnect P+ and C
D resistor
C P+, D, C External regenerative Connect regenerative resistor between
resistor P+ and C, disconnect P+ and D, P0-25=
power value, P0-26= resistor value
21
 DS5E/L-21P5-PTA, DS5E/L-22P3-PTA, DS5E/L-22P6-PTA
R
220V Terminal Function Explanation
S Power supply input of
T R/S/T main circuit 3-phase AC 200~240V, 50/60Hz
● Vacant terminal -
U Connect the motor
V U, V, W Motor terminals Note: the ground wire is on the cooling
W fin, please check it before power on!
P+ Internal regenerative
D resistor
P+, D, C External regenerative Connect regenerative resistor between P+
C resistor and C, disconnect P+ and D, P0-25=
Connect to ground terminal of motor, then
Ground terminal
connect to the ground
 DS5E-41P5-PTA
Terminal Function Explanation
R Power supply input of
380V
S R/S/T main circuit 3-phase AC 340~420V, 50/60Hz

T ● Vacant terminal -
Connect the motor
U U, V, W Motor terminals Note: the ground wire is on the cooling
V fin, please check it before power on!
W Internal regenerative
P+ resistor
D P+, D, C External regenerative Connect regenerative resistor between P+
C resistor and C, disconnect P+ and D, P0-25=
Power supply input of Connect to ground terminal of motor, then
main circuit connect to the ground
 DS5E-45P5-PTA, DS5E-47P5-PTA
R
380V
S Terminal Function Explanation

T Power supply input of
R/S/T main circuit 3-phase AC 340~420V, 50/60Hz
NC
U NC Vacant terminal -
V Connect the motor
W U, V, W Motor terminals Note: the ground wire is on the cooling
NC fin, please check it before power on!
P+
Connect regenerative resistor between P+
PB External regenerative
P+, PB and PB, P0-25= power value, P0-26=
P- resistor
resistor value
Real-time bus voltage can be measured.
P+, P- Bus terminal
Please pay attention to the danger.
22
3.1.3 CN0, CN1, CN2 terminal
3.1.3.1 CN0 terminal
CN0 (below 1.5KW) CN0 (above 1.5KW)
P- P-
P+24V
P+24V D-
D- D+24V
D+24V SI1
SI1 SI2
SI2 SI3
SI3 SI4
+24V +24V
SO1 SO1
SO2 SO2
SO3 SO3
SO4
COM COM
 CN0 terminal description (below 1.5KW, 3 input, 3 output)

Name Description Name Description
P- Pulse input PUL- SI3 Input terminal 3
Open collector
P+24V +24V Input +24V
input
Direction input
D- SO1 Output terminal 1
DIR-
Open collector
D+24V SO2 Output terminal 2
input
SI1 Input terminal 1 SO3 Output terminal 3
Output terminal
SI2 Input terminal 2 COM
ground
 CN0 terminal description (above 1.5KW, 4 input, 4 output)

P- Pulse input PUL- SI4 Input terminal 4
Open collector
P+24V +24V Input +24V
input
Direction input
D- SO1 Output terminal 1
DIR-
Open collector
D+24V SO2 Output terminal 2
input
Output terminal
SI3 Input terminal 3 COM
ground
23
3.1.3.2 CN1 terminal description
DS5E
DS5L
No. Name Description
5 9 1 GND GND-485
2 A1 RS485+
3 B1 RS485-
4 A2 RS485+
5 B2 RS485- No definition
6 GND GND-485
1 6 7 NC Reserved
8 NC Reserved
9 NC Reserved
Note: DS5E supports motion bus function: Bus module should be selected and plugged into driver CN1
port to realize extended bus function. Note that the switch module can not be hot-plugged. It is
suggested that Profibus standard connection cable should be used to achieve the best communication
reliability.
3.1.3.3 CN2 terminal description
The terminals of the CN2 connector are arranged as follows (faced solder plates):
No. Definition
1 5V
2 GND
1 3 5 3 /
2 4 6 4 /
5 485+
6 485-
3.1.4 Communication port

 RS-232 communication
Pin Name Description

5 1 TXD RS232 send
2 RXD RS232 receive
1
3 GND RS232 signal ground
Driver side-5-pin trapezoidal

Note: Please use the dedicated cable provided by XINJE
interface company.
RS232 port default communication parameters: baud rate 19200bps, data bit is 8-bit, stop bit is 1-bit,
even parity.
Modbus station no.
Default
Parameter Function Range Modification Effective
setting
24
P7-10 Modbus station no. 1 1～255 Servo OFF Immediately
 RS-485 communication
5 9 Pin Name
CN1-2 A1
CN1-3 B1
1 6 CN1-4 A2
Driver side - CN1 port (DB9 male port) CN1-5 B2
RS485 port default parameters: baud rate 19200bps, data bit is 8-bit, stop bit is 1-bit, even parity.
Modbus station no. can be set freely, set by P7-00:

Default
Parameter Function setting Range Modification Effective
P7-00 Modbus station no. 1 0～255 Servo OFF Immediately
Note:
(1) Support the standard Modbus RTU protocol, which is used as the slave device of Modbus RTU.
(2) RS232 and RS485 communication ports can be used simultaneously.
25
3.2 Classification and function of signal terminals
3.2.1 Pulse signal

Instruction
Option Meaning P-input signal D-input signal Chapter
form
0 CW/CCW dual-pulse mode CW CCW
P0-10
1 AB phase mode A phase B phase 5.3.2
xxx□
2 Pulse+direction mode pulse direction
The input signal + of open collector (24V voltage) is P+24V/D+24V.
The interface circuit of P+D, CW, CCW:

Open collector (24V voltage)
PLC, CNC and SCM servo driver
Y0 P-
COM0
+24V P+24V
R=3.3KΩ
Y1 D-
COM1
D+24V
Shield layer R=3.3KΩ
0V
Note:
(1) The supply voltage range of P-/P+24V and D-/D+24V is 18V~25V. If it is below 18V, there may be
pulse and direction anomalies.
(2) In order to resist interference, twisted-pair shielding wire must be used.
(3) Servo pulse input port will turn on for 10 mA.
(4) If the controller is XINJE PLC, the rated current of the output port of the pulse is 50mA. According
to this data, theoretically a single pulse can drive at most five servos. No more than three are
recommended.
3.2.2 SI input signal

Please use a relay or an open collector transistor circuit to connect. When using relay connection,
please select the relay for small current. If the relay is not small current, it will cause bad contact.
Input
Type Function Reference chapter
terminal
Digital input SI1~SI4 Multifunctional input signal terminal 5.12
26
Open collector (power supply is 24V) Relay type (power supply is 24V)
Upper device servo driver Upper device servo driver
+24V +24V +24V +24V

+ +
0V SI 0V SI
R=2.2KΩ R=2.2KΩ
Y2 Y2
COM2 COM2
Note:
The maximum allowable voltage and current of the collector open circuit output circuit are as follows:
Voltage: DC 30V (maximum)
Current: DC 50mA (maximum)
3.2.3 SO output signal

Type Output terminal Function Reference chapter
Optocoupler SO1~SO3 (750W and below) Multifunctional output
5.12.7
output SO1~SO4 (above 1.5KW) terminal
Optocoupler type Relay type
Servo driver upper device Servo driver upper device

+24V +24V
SO X3
S0 X3
COM COM
COM COM
0V
0V
Note: The maximum load current is 400 mA (if the brake motor is controlled by SOx, please confirm
the brake current first, and if it is larger than 400 mA, please use the intermediate relay).
3.2.4 Analog input circuit（DS5E/5L not support）
3.2.5 Encoder feedback output signal（DS5E/5L not support）
27
4 Operate panel
4.1 Basic operation
4.1.1 Operating panel description

Button Operation
STA/ESC Short press: state switch, state return
Short Press: The display data increases
INC Long press: The display data increases
continuously
Short Press: The display data decreases
DEC Long press: The display data decreases
STA/ESC INC DEC ENTER
continuously
Short press: shift;
ENTER
Long press: Set and view parameters.
The panel will be self-checked, and all the display digital tubes and five decimal points will be lit for
one second at the same time.
4.1.2 Button operation

By switching the basic state of the panel operator, it can display the running state, set parameters, run
auxiliary functions and alarm state. After pressing the STA/ESC key, the states are switched in the
order shown in the following figure.
State: BB indicates that the servo system is idle; run indicates that the servo system is running; RST
indicates that the servo system needs to be re-energized.
STA/ESC switch
state Parameter Monitor Auxiliary Alarm
idle Function parameter Present speed Alarm clear Alarm code
run Control parameter Alarm code
reset
Communication Power on times Jog

parameter
 Parametric setting Px-xx: The first X represents the group number, and the last two X
represents the parameter serial number under the group.
 Monitor status Ux-xx: The first X represents the group number, and the last two X represents
the parameter number under the group.
 Auxiliary function Fx-xx: The first X denotes the group number, and the last two X denotes
the parameter number under the group.
 Alarm state E-xxx: The first two X denote the alarm category, and the last x denotes the
28
small category under the category.
4.2 Running Display Status Description

 Speed torque control mode
Zero clamp
ZCLAMP
Speed
consistency V-
CMP
Torque limit CLT
Rotate detection
TGON
Speed limit VLT
1. Digit display contents

Digit data Display contents
P5-39 When the actual speed of the motor is the same as the command speed,
Same speed detection turn on the light.
（/V-CMP） Detection Width of Same Speed Signal: P5-04 (Unit: rpm)
When the speed is controlled, when the torque exceeds the set value,
P5-42 turn on the light.
Torque limit（/CLT） Internal Forward Torque Limitation: P3-28
Internal Reverse Torque Limitation of: P3-29
P5-03（单位：rpm）When the motor speed is higher than the rotating
P5-40
speed, turn on the lamp.
Rotate detection（/TGON）
Rotation detection speed: P5-03 (unit: rpm)
P5-31
When the zero clamp signal starts to operate, turn on the light.
Zero clamp（/ZCLAMP）
When the speed exceeds the set value, turn on the light when the torque
P5-43
is controlled.
Speed limit（/VLT）
Forward speed limit in torque control: P3-16; reverse speed limit: P3-17.
2. Short code display content

Short code Display contents
Standby status
Servo OFF status. (The motor is in a non-electrified state)
In operation
Servo enabling state. (The motor is on-line)
Need reset status
Servo needs to be re-energized
Forbidden forward drive state
P-OT ON status. Refer to Section 5.2.4, "Overrun Prevention".
Forbidden reversal drive state
N-OT ON status. Refer to Section 5.2.4, "Overrun Prevention".
29
 Position control mode
Positioning
completion COIN
Positioning near
NEAR
Rotate detection
TGON
1. Digit display contects

Digit data Display contents
P5-38 In position control, when the given position is the same as the actual
Positioning completion position, turn on the light.
（/COIN） Location Completion Width: P5-00 (Unit: Instruction Pulse)
In position control, when the given position is the same as the actual
P5-36
position, turn on the light.
Near （/NEAR）
Near signal width: P5-06
When the motor speed is higher than the rotating speed, turn on the
P5-40
lamp.
Rotate detection（/TGON）
Rotation detection speed: P5-03 (unit: rpm)
2. Short code display contents

Short code Display contents
Standby status
Servo OFF status. (The motor is in a non-electrified state)
In operation
Servo enabling state. (The motor is on-line)
Need reset status
Servo needs to be re-energized
Forbidden forward drive state
P-OT ON status. Refer to Section 5.2.4, "Overrun Prevention".
Forbidden reversal drive state
N-OT ON status. Refer to Section 5.2.4, "Overrun Prevention".
30
4.3 Group U monitor parameters
 U0-21 input signal status
Lighting means that the corresponding

item has signal input.
item has no signal input.
10 9 8 7 6 5 4 3 2 1
 U0-21 input signal 1 distribution

Segment Segment
Description Description
code code
1 /S-ON servo enable 2 /P-CON proportion action instruction
/P-OT prohibition of forward
3 4 /N-OT prohibition of reverse drive
drive
5 /ALM-RST alarm reset 6 /P-CL forward side external torque limit
/N-CL reverse side external
7 8 /SPD-D internal speed selection
torque limit
9 /SPD-A internal speed selection 10 /SPD-B internal speed selection
Note: When reading through communication, the binary numbers read from right to left correspond to
the position of / S-ON, / P-CON, 0 means that the position signal is not input, 1 means that the
position signal has input. Example: 0x0001 means / S-ON has input, 0x0201 means / S-ON and /
SPD-B has input.
 U0-22 input signal status
Lighting means that the

corresponding item has signal input
item has no signal input
20 19 18 17 16 15 14 13 12 11
31
 U0-22 input signal 2 distribution
Segment Segment
code code
11 /C-SEL control mode selection 12/ZCLAMP zero clamp
/INHIBIT instruction pulse
13 14 /G-SEL gain switch
prohibition
15 /CLR pulse clear 16 /CHGSTP change step
17 Reserved 18 Reserved
the position of / C-SEL, / ZCLAMP, 0 means that the position signal is not input, 1 means that the
position signal has input. Example: 0x0001 means / C-SEL has input, 0x0041 means / C-SEL and /
G-SEL have input.
 U0-23 output signal status

item has signal output
item has no signal output
10 9 8 7 6 5 4 3 2 1
 U0-23 output signal 1 distribution

Segment Segment
code code
Positioning completion hold
1 2 Positioning completion（/COIN）
（/COIN_HD）
3 Same speed detection（/V-CMP） 4 Rotate detection（/TGON）
5 Ready （/S-RDY） 6 Torque limit（/CLT）
7 Speed limit detection（/VLT） 8 Break lock（/BK）
9 Warn （/WARN） 10 Output near（/NEAR）
the position of / COIN_HD, / COIN, 0 means that the position signal is not output, 1 means that the
position signal has output. Example: 0x0001 means / COIN_HD has output, 0x0201 means /
COIN_HD and / NEAR has output.
32
 U0-24 output signal status
Lighting means that the

corresponding item has signal output
item has no signal output
20 19 18 17 16 15 14 13 12 11
 U0-24 output signal 2 distribution

Segment Segment
code code
11 Alarm （/ALM） 12 Reserved
15 Speed reach（/V-RDY） 16 Custom output 1
17 Custom output 2 18 Reserved
Note: When reading the state through communication, the binary numbers correspond to /ALM
position in turn from right to left. 0 means that the position signal has no input, and 1 means that
the position signal has input.
33
4.4 Group F Auxiliary Functional Parameters
4.4.1 Group F0
Function Function
code Description code Description
F0-00 Alarm clear F0-07 Panel inertia identification
Panel external instruction
F0-01 Resume to default settings F0-08 auto-tuning
Panel internal instruction
F0-02 Clear the position offset F0-09 auto-tuning
F0-04 Clear up historical alarm records F0-10 Panel vibration suppression 1
F0-11 Panel vibration suppression 2
1. Alarm clear（F0-00）
Setting F0-00=1 can reset the alarm status. When an alarm occurs, please first eliminate the cause of
the alarm, and then clear up the alarm.
2. Resume to default setting（F0-01）
Set F0-01=1 when enabler is shut down, press ENTER to resume to default settings, no need to cut
power.
3. Clear the position offset（F0-02）
Set F0-02=1 to clear the offset.
4. Clear up historical alarm records（F0-04）
Set F0-04=1 can clear up historical alarm records from U1-14 to U1-53.
5. Panel inertia identification （F0-07）
Refer to panel inertia identification operation steps chapter 6.3.4.
6. Panel external instruction auto-tuning（F0-08）
Refer to external instruction auto-tuning chapter 6.5.5.
7. Panel internal instruction auto-tuning（F0-09）
Refer to internal instruction auto-tuning chapter 6.5.4.
8. Panel vibration suppression（F0-10, F0-11）
Refer to vibration suppression chapter 6.7.4.
4.4.2 Group F1
Function Function
code Description code Description
F1-00 Jog run F1-04 Tref（torque analog）zero-correction
(not support)
F1-01 Test run F1-05 Forced enable
F1-02 Current Sampling Zero-correction F1-06 Reset circles of absolute encoder
F1-03 Vref (speed analog) - -
zero-correction (not support)
1. Test run（F1-01）
Before entering the test run mode, please confirm that the motor shaft is not connected to the
machine!
34
When the servo driver is connected to the non-original encoder or power cable, it should first enter
the test run mode to verify that the encoder terminal or power terminal is connected correctly.
Test run mainly checks the power cable and the encoder feedback cable to determine whether the
connection is normal. According to the following operation, the motor can normally achieve forward
and reverse rotation. If the motor shaft shakes or driver alarms, please immediately disconnect the
power supply, and re-check the wiring situation.
DEC
Long press Short press

ENTER ENTER
INC
2. Jog run（F1-00）
Before entering the jog run mode, please confirm that the test run is normal when the motor is
empty, so as to confirm that the servo connection is correct.
Jog run mode requires the driver to be idle in bb status!
Starting with the 3700 firmware version, the jog run function changes from position mode to
speed mode. The acceleration and deceleration time is controlled by P3-09 and P3-10.
DEC

ENTER ENTER
INC
Default Setting
Parameter Meaning Unit Change Effective
setting range
Servo
P3-18 JOG speed 100 1rpm 0～1000 At once
OFF
3. Current sampling zero-correction（F1-02）

When the servo driver is self-renewed or the motor runs unsteadily after a long time, the user is advised
to use the current sampling zero-correction function.
Long press ENTER Short press ENTER
Press STATUS/ESC to exit.
4. Forced enable（F1-05）
Signal
Parameter Setting Meaning Change Effective
name
0 Not enable
1（default） I/O enable /S-ON
Enable Forced enable Servo
P0-03 2 At once
mode (F1-05 or communication) OFF
Fieldbus enable (the model which
3
supports motion bus)
Set P0-03=2
F1-05 = 0: cancel enable, enter bb status.
F1-05 = 1: forced enable, servo is in RUN status.
Note: Forced enable fails after re-energizing.
35
4.5 Fault alarm handling
When a fault occurs, the alarm status is automatically jumped out, and the alarm number is
displayed. When there is no fault, the alarm status is invisible. In the alarm state, the fault can be reset
by writing 1 to F0-00 through panel operation.
If the servo power supply OFF makes the servo alarm, it is not necessary to clear the alarm.
Note: When an alarm occurs, the cause of the alarm should be eliminated first, and then the alarm
should be removed.
4.6 Parameter setting example

An example is given to illustrate the operation steps when the content of parameter P3-09 is changed
from 2000 to 3000.
Step Panel display Used buttons Operations
1 No operation

2 Press STA/ESC
STA/ESC INC DEC ENTER Press INC for three times to show
3
P3-00
4 Press ENTER, the last 0 will flash

5 Press INC for 9 times
STA/ESC INC DEC ENTER Long press ENTER to show the

6
value of P3-09
Press INC, DEC, ENTER to
STA/ESC INC DEC ENTER increase decrease or shift, after
7
changing, long press ENTER to
confirm
8 END
Note: When the setting parameter exceeds the range that can be set, the driver will not accept the
setting value, and the driver will report E-021 (parameter setting exceeds the limit). The parameter
setting overrange usually occurs when the upper computer writes parameters to the driver through
communication.
4.7 Change motor code

A servo driver can be equipped with a variety of motors with similar power levels. Different types of
motors are distinguished by the motor code on the motor nameplate. Before debugging the servo
system, make sure that the motor code P-33 matches the motor nameplate label.
Long press ENTER Short press ENTER Re-power on
Input motor Complete the
confirm
code setting
36
Note: Errors in motor code setting will prompt E-310 (motor code error), which can be set again after
F0-00 clears the alarm.
37
5 Operation of Servo System
5.1 Selection and Switching of Control Mode
5.1.1 Selection of control mode

Servo can combine two control modes and switch between them. By switching freely between mode 1
and mode 2 through the / C-SEL signal, more complex control requirements can be satisfied.
User parameter Control mode Reference
1 Torque control (internal setting) 5.9
3 Speed control (internal setting) 5.6
5 Position control (internal position instruction) 5.4
6 (default
P0-01
setting) Position control (external pulse instruction) 5.3
Submode 1
7 Speed control (pulse frequency instruction) 5.7
8 Fieldbus torque mode 5.10
9 Fieldbus speed mode 5.10
10 Fieldbus position mode 5.10
P0-02 When the/C-SEL signal is valid, the servo system will
submode 2 Ditto switch to the mode chosen by P0-02.
Position control is the control of moving to target position through the pulse instruction input in
servo driver from upper device. The position is controlled by the number of input pulses and the speed
is controlled by the frequency of input pulses, which is used in situations where positioning action is
needed. Position instructions can be combined by external pulse input, total number of internal given
position instructions and speed limitation. Position control mode is mainly used in situations requiring
positioning control, such as manipulators, grinders, engraving machines, CNC machine tools and so on.
Speed control refers to the control of mechanical speed through speed instructions. Through
digital, analog voltage or communication given speed instructions, the servo driver can achieve fast and
accurate control of mechanical speed.
The current of servo motor has a linear relationship with the torque, so the control of the current
can realize the control of the torque. Torque control refers to the control of motor output torque through
the torque instruction. Torque instructions can be given by digital, analog voltage or communication.
Torque control mode is mainly used in devices that have strict requirements for material force, such as
winding and unwinding devices. In some tension control situations, the given value of torque should
ensure that material force is not affected by the change of winding radius.
5.1.2 The switch of control mode

Control mode switching refers to the switching between mode 1 and mode 2 through external
input signals when the servo panel displays run.
1. Control mode switching signal

Default Suitable
Parameter Name Meaning Change Effective
setting mode
To switch the control
P5-30 /C-SEL n.0000 All Anytime At once
mode
Range 0000-0014, can be distributed to other input terminal through P5-30.
38
2. Perform the function
Signal Status Control mode
0: off P0-01: the control mode set by mode 1
/C-SEL
1: on P0-02: the control mode set by mode 2
5.2 Basic function setting

Parameter Name Reference
P0-03 Enable mode
5.2.1
P5-20 Servo ON setting /S-ON terminal
P0-05 Rotate direction switching 5.2.2
P0-27 Servo OFF stop mode
P0-28 motor overrun stop mode
P0-29 alarm stop mode 5.2.3
P0-30 Stop overtime time
P3-32 Break torque
P5-22 forward run prohibition /P-OT
5.2.4
P5-23 Reverse run prohibition /N-OT
P5-44 Power off break /BK 5.2.5
P5-47 Alarm output /ALM 5.2.6
5.2.1 Servo enable

Servo enabling signal effectively represents the electrification of the servo motor. When the servo
enabling signal is invalid, the motor does not operate.
Parameter Name Setting Meaning Change Effective
0 Not enable
1(default) I/O enable /S-ON（set P5-20）
Enable Servo
P0-03 Software enable（F1-05 or enabled by At once
mode 2 OFF
software）
3 Fieldbus enable
Parameter Name Setting Meaning Range

When the SI1 terminal is connected, The range of
n.0001
the servo motor is in run state and can parameters is
(default)
enable be operated. 0001-0014.
P5-20
/S-ON The servo system is always valid, no The parameters P5-20
n.0010 external input signal is needed, and can be assigned to
the servo system is always on. other input terminals.
5.2.2 Rotation direction switching

Users can change the direction of rotation of servo motor through parameter P0-05. It is stipulated that
the "forward rotation" of the motor is "counter-clockwise rotation" and "reverse rotation" is "clockwise
rotation". (All of them are facing the motor shaft)
Mode Forward rotation Reverse rotation
Standard
setting CCW CW
CCW is
forward
rotation
39
Reverse mode CW CCW
CW is forward
rotation
Parameter Setting Meaning

0 (default) Standard setting (CCW is forward rotation)
P0-05
1 Reverse mode (CW is forward rotation)
5.2.3 Stop mode

The stop mode when servo is off or alarm.
Default
Parameter Meaning Unit Range Change Effective
setting
Servo OFF stop Servo
P0-27 0 - 0 or 2 At once
mode OFF
Alarming stop Servo
P0-29 2 - 0 or 2 At once
mode OFF
0: Inertial operation stops and remains in inertial operation after stopping.
2: The deceleration brake stops, and the inertia running state is maintained after the stop.
Default
setting
Servo
P0-30 Stop overtime time 20000 1ms 0～65535 At once
OFF
P3-32 Break torque 300 1% 0～1000 Anytime At once
Note:
(1) When the stop mode is set to 0, the motor starts to stop by inertia when the servo OFF occurs and
the alarm occurs, and then turns to free stop when the speed is less than P5-03 (rotation detection
speed). The servo will time the inertial stop process. In the process of inertial stopping, if the timing
time is longer than P0-30 and the motor speed has not been reduced below P5-03, the servo will stop
freely and give the stop timeout alarming.
(2) When the stopping mode is set to 2, the motor will produce a braking torque of P3-32 after the
occurrence of servo OFF and alarm. The motor will start braking and stop until the speed is less than
P5-03 (rotation detection speed), and then turn to free stop. At the same time, the servo will timing the
braking stop stage. In the process of inertial stopping, if the timing time is longer than P0-30 and the
motor speed has not been reduced below P5-03, the servo will stop freely and give the stop timeout
alarming.
Set the stop mode when overrun.
Default
setting
Servo overrun stop Servo
P0-28 2 - 0～3 At once
mode OFF
Parameter Value Meaning

The deceleration stops 1, the overrun direction moment is 0 after
0
stopping, and receiving instructions.
P0-28 Inertia stops, after stopping, overrun direction moment is 0,
1
receiving instructions.
2 The deceleration stops 2, after stopping, the overrun direction does
40
not receive instructions.
3 Alarm（E-260）
Note:
1) When the deceleration stops, the braking torque is also P3-32, and the stopping overtime time
also plays a role in the overrun process.
2) In position control, there may be position deviation pulse when the motor is stopped by
over-range signal. To remove the position deviation pulse, the clearance signal /CLR must be input. If
the servo unit still receives pulses, these pulses will accumulate until the servo unit alarms.
5.2.4 Overrun prevention (P-OT, N-OT)

1. Use of Overrun Signal
The over-run prevention function of the servo unit refers to the safety function of forcing the servo
motor to stop by inputting the signal of the limit switch when the movable part of the machine exceeds
the designed safe moving range. Be sure to connect the limit switch as shown below.
Motor forward
direction
Limit Limit Servo unit

Servo
switch switch
motor CN1
POT SI3
NOT
SI4
Rotary applications such as round tables and conveyors do not need the function of overrun prevention.
At this time, there is no need to connect the overrun prevention with input signals.
2. Set the overrun signal
Signal
Parameter Setting Meaning Range
name
When the SI3 terminal signal is The parameter range is
n.0003
turned on, the forward rotation of 0000-0014.
(default)
Forward the motor is forbidden. can be assigned to other
P5-22 prohibition Forward rotation of motor is input terminals through
/P-OT prohibited when SI3 has no signal, P5-22.
n.0013
and forward rotation of motor is
allowed when SI3 has signal.
When SI4 terminal signal is turned The parameter range is
n.0004
on, motor reverse rotation is 0000-0014.
(default)
Reverse prohibited. can be assigned to other
P5-23 prohibition When SI4 has no signal, it is input terminals through
/N-OT forbidden to reverse the motor; P5-23.
n.0014
when SI4 has signal, it is allowed
to reverse the motor.
41
5.2.5 Electric loss brake（BK）
When the servo motor controls the vertical load, the purpose of using the “brake servo motor” is:
when the power supply of the system is placed in the "OFF", the movable part will not move under the
action of gravity.
Electric loss
brake
Prevent from
falling due to
self-weight
when power
supply OFF
Mechanical
Motion part
Note: The brake built in the servo motor is a fixed special brake without excitation. It can not be
used for dynamic braking. Please use it only when the servo motor is in a stop state.
1. Connection examples
The ON/OFF circuit of the brake is composed of the sequential output signal of the servo unit
"/BK" and "brake power supply". A typical connection example is shown below.
Servo driver Servo motor
Power L U
supply V M
N W
PE
CN2 PG
SO1 BK-RY
CN0 24V
BK
COM
BK-RY
24V
Note:
(1) The voltage of the power-loss brake is 24V.
(2) In the figure above, the BK signal is output by SO1, and the parameter P5-44 should be set to
n.0001.
42
2. BK signal
Signal
Parameter setting Meaning Range
name
n.0000 Default unallocated output The range of parameters
(default) terminal is 0001-0014.
Brake lock
P5-44 can be assigned to other
/BK Use SO1 terminal output signal to
n.0001 output terminals through
control brake
P5-44.
3. Switching time of BK signal and S-ON signal

Because of the action delay time of brake, the machine moves slightly under the action of gravity and
so on. P5-07 parameter is used to adjust the time. Delay this time to release the brake after enabling or
lock the brake and delay this time when the enable signal is off.
Default
setting
Servo OFF delay Servo
P5-07 500 1ms 0～65535 At once
time OFF
Note: The setting here is the time when the rotation detection TGON is invalid when the motor is
stopped.
When setting the servo motor with brake, the output signal of the control brake "/BK" and the time of
ON/OFF action of the servo SON signal are shown below. That is, before the output /BK signal lock-in
is opened, the servo motor has entered the power-on enabling state; after not output /BK signal and
brake is locked, the servo motor is disconnected from the power-on state.
/S-ON input
Servo OFF before
P5-07 brake locked
/BK output
4. Setting of brake closing parameters

Default
setting
Brake command Servo
P5-08 30 rpm 20～10000 At once
output speed OFF
Brake command Servo
P5-09 500 ms 0～65535 At once
wait time OFF
When the alarm occurs, the motor quickly becomes non-electrified. Because of gravity or inertia
and other reasons before the brake action time, the machine will move. To avoid this situation, the
above parameters need to be set.
The sequence diagram is as follows:
43
/ S-ON input or / S-ON input or Servo
Servo Servo Servo
alarm power off OFF alarm power off OFF
ON ON
P5-08 Deceleration Motor rotation P5-08 Deceleration

Motor rotation stop or free stop or free
speed (Rpm) speed (Rpm) stop
stop
Brake Brake
/BK output /BK output
release Brake locked release Brake locked
P5-09 P5-09
Since the brake of the servo motor is designed to be used as a position holder, it must be activated
at the right time when the motor stops. While observing the action of the machine, adjust the user's
parameters.
The conditions for the conversion of the / BK signal from ON to OFF in motor rotation are as
follows (any of the two conditions takes effect):
1) When the speed of the motor is below the set value of P5-08 after servo OFF;
2) When the servo OFF exceeds the set time of P5-09.
5.2.6 Alarm output signal

Signal
name
When the servo alarm, SO2 and The parameter range is
n.0002
COM are connected, and the alarm 0000-0014, which is
(default)
Alarm signal is output. assigned to the output
P5-47 output interface by parameter
/ALM When the servo alarm, the SO2 and P5-47. When set to 0001,
n.0012
COM are switched off. the signal is output from
the SO1 terminal.
Note:
(1) When an alarm occurs, the servo unit is forced to set OFF, and the motor will move with external
forces (including gravity). If you need to keep the motor in position, please select the motor with power
loss brake (also known as brake) and use / BK signal. Refer to Section 5.2.5.
(2) The output of the functional parameters can not be repeated.
5.2.7 Anti-blocking alarm

Anti-blocking alarm: When the motor speed is lower than P0-75 (unit 1 rpm) and the duration reaches
the set value of P0-74 (unit ms), the current output torque U0-02 is greater than the internal positive
torque limit of P3-28 and the internal reverse torque limit of P3-29, it will show the alarm E-165
blocking overtime (this alarm is not detected when P0-74/75 is set to 0).
Default
Parameter Meaning Unit Setting range Change Effective
setting
Blocking alarm
P0-74 0 1ms 0～65535 Anytime At once
time
Blocking alarm
P0-75 50 rpm 5～9999 Anytime At once
speed
If the alarm occurs during the normal working process of the servo, please confirm:
(1) Monitor the torque of U0-02 and check the reasonableness of setting the limit values of P3-28
and P3-29.
(2) Check the external mechanical structure and installation.
44
5.3 Position control (external pulse instruction)
Basic parameters
P0-01 control mode selection 5.3.1
P0-09 forward direction of pulse instruction
5.3.2
P0-10 pulse instruction form
P0-11 Motor pulse numbers per rotation*1
P0-12 Motor pulse numbers per rotation*10000
P0-13 Electronic gear ratio (numerator)
5.3.3
P0-14 Electronic gear ratio (denominator)
P0-92～P0-93 Electronic gear ratio (numerator) double words
P0-94～P0-95 Electronic gear ratio (denominator) double words
P5-20 Servo ON signal /S-ON 5.2.1
Other optional parameters

Key words Parameter Name Reference
Command P1-24 Position command filter type
5.3.4
filter P1-25 Position command filter time constant
Pulse offset
P5-34 Pulse offset clear /CLR 5.3.5
clear
P5-00 Positioning completion width
P5-01 Positioning completion detection mode
Positioning
P5-02 Positioning completion hold time 5.3.6
completion
P5-37 /COIN-HD Positioning completion hold
P5-38 /COIN Positioning completion signal output
Positioning P5-46 Positioning near output /NEAR
5.3.7
near P5-06 Positioning near output signal width
Pulse
P5-32 Instruction pulse prohibition /INHIBIT 5.3.8
prohibition
Pulse offset
P0-23 Pulse offset limit 5.3.9
limit
5.3.1 Control mode selection

Setting
Paramter Meaning Change Effective
value
Control the position by external pulse instructions Servo
P0-01 6 At once
OFF
5.3.2 Forward direction of pulse instruction and pulse form

1. set the forward direction of pulse instruction
Default
setting
forward direction of Servo
P0-09 0 - 0/1 At once
pulse instruction OFF
P0-09 will change the counting direction of the internal counter in the servo system. The counting
45
direction determines the rotation direction of the motor. Therefore, this parameter can be adjusted if
the actual rotation direction of the motor is different from the expected direction in the position mode.
2. set the pulse instruction form

Parameter Meaning setting Meaning Change Effective
Pulse 0 CW, CCW mode

P0-10 1 AB phase Servo
instruction At once
n.xxx0 OFF
form 2 Pulse+direction(default)
3. Details of pulse instruction
P0-10xxx□ Forward rotation Reverse rotation
CCW OFF CCW

0：
CW/CCW
CW CW OFF
90° 90°
Phase A Phase A
1：AB
Phase B Phase B
pulse pulse
2：P+D
direction ON direction OFF
5.3.3 Electronic gear ratio

Default
setting
Pulse numbers per
P0-11 0 pul 0～9999 Servo OFF At once
rotation *1
Pulse numbers per Servo OFF At once
P0-12 1 pul 0～9999
rotation *10000
Electronic gear Servo OFF At once
P0-13 1 - 0～65535
ratio (numerator)
Electronic gear Servo OFF At once
P0-14 1 - 0～65535
ratio (denominator)
Group 2 Electronic Servo OFF At once
gear ratio
P0-92 1 - 1～9999
(numerator) low
bit*1
P0-93 0 - 1～65535
gear ratio
46
(numerator) high
bit*10000
gear ratio
P0-94 1 - 1～9999
(denominator) low
bit*1
gear ratio
P0-95 0 - 1～65535
(denominator) high
bit*10000
Note: P0-11~P0-14 is all about the parameters of electronic gear ratio, P0-11, P0-12 is group 1, P0-13,
P0-14 is group 2, but the priority of P0-11 and P0-12 is higher than that of P0-13 and P0-14. Only
when P0-11 and P0-12 are set to 0, the ratio of electronic gear P0-13 and P0-14 will take effect. When
P0-11, P0-12, P0-13 and P0-14 are all set to 0, P0-92, P0-93, P0-94 and P0-95 will take effect.
The "electronic gear" function has two main applications: one is to adjust the number of command
pulses required by the motor to rotate one turn to ensure that the motor speed can meet the required
speed. For example, the maximum pulse frequency of the upper computer PLC is 200 KHz. If the
electronic gear ratio is not modified, the motor needs 10,000 pulses to rotate one circle, then the
maximum speed of the motor is 1200 rpm. If the ratio of the electronic gear is 131072:5000, or the
number of pulses per revolution is 5000, then the motor can reach 2400 rpm speed.
Take 17-bit encoder motor as an example: the ratio of electronic gears is 131072:10000 or the
number of pulses per revolution is 10000, and the highest frequency of pulse transmitted by PLC is 200
KHz.
Two circle radius ratio: 2:1

Big circle run one rotation
(need 20000 pulses), small Max speed
circle run two rotations. 600rpm
Electronic gear ratio is 131072:5000 or pulses per rotation is 5000, PLC max output pulse
frequency is 200KHz.
47
Two circle radius ratio: 2:1
Big circle run one rotation
(need 10000 pulses), small Max speed
circle run two rotations. 1200rpm
Set the actual length per command pulse for precise positioning. For example: the object moves 1um
per command pulse. The command pulses of load rotating one circle = 6mm / 1um = 6000. In the case
of deceleration ratio is 1:1, set pulse per rotation P0-11=6000, P0-12=0. Then if the PLC outputs 6000
pulses, the object will move 6mm.
Encoder: 131072（17-bit） ball screw pitch: 6mm
Not use electronic gear ratio Use electronic gear
Without changing the ratio of the By changing the electronic gear ratio,
electronic gear to the motor, the the motor needs 6000 pulses to rotate
rotating cycle is 131072 pulses (P one circle.
0-11=0, P 0-12=0). If the workpiece moves 6 mm in one
If the workpiece is moved 6 mm in turn, the number of pulses needed is 6
one turn, the number of pulses 000. If the workpiece is moved 10 mm,
needed is 131072. If the workpiece is it needs 10/6*6000 = 10000 pulses.
moved 10 mm, it will need When the pulse is sent, the decimal
10/6*131072=218453.333 pulses. number will not be produced and the
When the decimal number is omitted, error will not be produced.
the error will occur.
1. Calculation of Pulse Number per Rotation and Electronic Gear Ratio

Calculate the electronic gear ratio or pulse numbers per rotation using the following steps:
Steps Content Description
1 Confirm the machine Confirm the deceleration ratio, ball screw distance, pulley
specification diameter
2 Confirm the encoder pulse Confirm the servo motor encoder accuracy
3 Set the command unit Set the actual distance or angle corresponding to 1 pulse of
the controller
Calculate the command pulses Calculate the command pulses per rotation f based on the
4
the load shaft rotates 1 circle command unit
Calculate the pulses per For example, the mechanical reduction ratio of motor shaft
5 rotation (P0-11/P0-12) and load shaft is m/n (servo motor run m circles while load
shaft run n circles), P0-11/P0-12=(f×m)/n
6 Calculate the electronic gear For example, the mechanical reduction ratio of motor shaft
48
ratio (P0-13/P0-14) and load shaft is m/n (servo motor run m circles while load
shaft run n circles), P0-13=encoder accuracy×m
P0-14=f×n
Note:
1) The number of pulses per rotation and the ratio of electronic gears can limit the amount of
instructions required for the servo motor to rotate one turn. They are complementary, but the priority of
the number of pulses per turn is higher than the ratio of electronic gears. Only when the number of
pulses per turn is set to zero, the ratio of electronic gears will take effect. This is what users need to pay
attention to. In special cases, if the number of pulses per revolution is decimal, the use of electronic
gear ratio should be considered.
2) When P0-13 and P0-14 exceed the set range, please divide the denominator into integers within the
set range. The approximate score does not affect the use without changing the ratio. If the parameters
are still beyond the range of setting after approximation, please use P0-92~P0-95.
3) The resolution of DS5 series servo motor encoder is 131072 (17 bits) and 8388608 (23 bits).
According to the use of motor.
4) The instruction unit does not represent the processing accuracy. The precision of servo positioning
can be improved by refining the instruction unit on the basis of mechanical accuracy. For example, in
the application of the screw, the accuracy of the machine can reach 0.01mm, so the 0.01mm instruction
unit equivalent is more accurate than the 0.1mm instruction unit equivalent.
2. Example of setting the electronic gear ratio

Step Ball screw Round table Belt + pulley
Load shaft
P πD
Load shaft
P: pitch Load
P shaft 360 °
1rotate = 1 rotate =
command unit command unit D: pulley diameter
1rotate = πD
command unit
Ball screw pitch: 6mm 1-circle rotate angle: 360° Pulley diameter: 100mm
1 Machine deceleration ratio: Deceleration ratio: 3/1 Deceleration ratio: 2/1
1/1
2 Encoder resolution 131072 Encoder resolution 131072 Encoder resolution 131072
3 1 command unit: 0.001mm 1 command unit: 0.1° 1 command unit: 0.02mm
4 6mm/0.001mm =6000 360/0.1=3600 314mm/0.02mm =15700
5 P0-11=6000 P0-11=3600 ×1/3=1200 P0-11=15700 ×1/2=7850
P0-12=0 P0-12=0 P0-12=0
6 B/A=131072/6000 B/A=131072/1200 B/A=131072/7850
P0-13=131072 P0-14=6000 P0-13=131072 P0-13=131072 P0-14=7850
Reduction of the fraction P0-14=1200 Reduction of the fraction
P0-13=8192 P0-14=375 Reduction of the fraction P0-92/93=65536
7
P0-13=8192 P0-14=75 P0-94/95=3925
Here using group 2 electronic
gear ratio
49
5.3.4 Position command filter
Default
setting
First-order
low-pass filtering Servo
P1-24 0 0.1ms 0～65535 At once
time of position OFF
instruction
Position instruction
Servo
P1-25 smoothing filtering 0 0.1ms 0～65535 At once
OFF
time
When set to 0, the filter becomes invalid.

First-order low-pass filter of position
Position instruction smoothing filter
instruction
Command pulse Command pulse Before filtering

Before filtering
frequency frequency
After filtering After filtering
100% 100%
63.2%
36.8%
P1-24 P1-24 T T
P1-25 P1-25
Command pulse
Before filtering
frequency
After filtering
100%
P1-25 P1-25 T
5.3.5 Pulse offset clear（/CLR）

Pulse deviation value refers to the difference between the command pulse of the command controller
(such as PLC) and the feedback pulse of the servo unit in the position mode. Its unit is 1 command unit,
which is related to the command unit determined by the electronic gear ratio.
Signal
name
n.0000 The range of parameters
Default unallocated input terminal
Pulse (default) is 0001-0014.
P5-34 offset clear can be assigned to other
/CLR n.0002 Use SI2 input signal input terminals through
P5-34.
50
5.3.6 Positioning completion signal（/COIN, /COIN_HD）
In position control, the signal indicating the completion of servo motor positioning is used when the
command controller needs to complete positioning confirmation.
Parameter Signal name Setting Meaning Range
Positioning
completion
hold
n.0002 Use SO2 output signal output terminals through
/COIN-HD
P5-37.
When the COIN signal keeps P5-02 time, the COIN-HD signal is output.

When the servo positioning is
n.0001 completed, SO1 and COM are The range of parameters
Positioning (default) connected, and the positioning is 0001-0014.
P5-38 completion signal is output. can be assigned to other
output /COIN When the servo positioning is output terminals through
n.0011 completed, the SO1 and COM P5-38.
are switched off
Default
setting
Positioning Command
P5-00 11 0～65535 Anytime At once
completion width unit
Positioning
P5-01 completion 0 - 0～3 Anytime At once
detection mode
Positioning
P5-02 completion hold 0 ms 0～65535 Anytime At once
time
P5-01 setting Content Diagram
ON
/S-ON
If the absolute signal
deviation is below
0 P5-00, the COIN ｜U0-08｜
signal will be Pulse offset P5-00
output.
/COIN ON ON
signal OFF
51
ON
/S-ON
Signal status
After the
instruction is ｜U0-08｜
Pulse offset P5-00
finished, the
1
deviation is below
P5-00 and COIN ｜ΔU0-12｜
signal is output. Pulse command
/COIN ON ON
Signal status OFF
ON
/S-ON
Signal status
When the
instruction ends
｜U0-08｜
and the motor Pulse offset P5-00
speed is under the
rotation detection
｜ΔU0-12｜
2 speed (P5-03) and
Pulse command
the absolute
deviation is less
than P5-00, the ｜U0-00｜
Actual speed P5-03
COIN signal is
output.
/COIN ON ON
Signal status OFF
ON
/S-ON
Signal status
At the end of
instruction, the
｜U0-08｜
absolute deviation P5-00
Pulse offset
value under P5-00,
3 it outputs COIN
signal. If COIN ｜ΔU0-12｜
Pulse command
maintains P5-02 P5-02
time, COIN-HOLD /COIN ON ON
Signal status OFF P5-02
signal is output.
/COIN-HOLD ON
Signal status OFF
5.3.7 Positioning near signal（/NEAR）

Positioning
near /NEAR
n.0002 Output signal from SO2 terminal output terminals through
P5-46.
52
The signal indicating that the servo motor is located near the positioning completion signal, so that the
equipment can prepare for the next action in advance.
Default
setting
Near signal output Command
width unit
When the pulse deviation of the servo driver is lower than the set value of this parameter, the
positioning near signal (/NEAR) is output. Please set this parameter to be larger than the width of the
positioning completion. The pulse deviation can be monitored by parameter U0-08.
U0-08
Pulse offset
P5-00 P5-06
/NEAR ON ON
signal status
OFF
/COIN ON ON
signal status
OFF
5.3.8 Instruction pulse prohibition（/INHIBIT）

Signal
Parameter Setting Meaning Change
name
n.0000 The range of parameters
Instruction Default unallocated input terminal
(default) is 0001-0014.
pulse
prohibition
n.0002 input signal from SI2 terminal input terminals through
/INHIBIT
P5-32.
Represents the function of stopping instruction pulse input in position control. When the / INHIBIT
signal is ON, the pulse instruction is no longer counted.
5.3.9 Position pulse deviation setting

In position control, when the deviation pulse exceeds a certain limit, an alarm will occur. This threshold
is the deviation pulse limit.
Default
setting
Pulse deviation 0.01
limit rotation
When the deviation pulse limit is 0, the deviation pulse will not be detected.
Alarm E-100
Deviation Normal control P0-23

0
pulse Normal control P0-23
Alarm E-100
53
5.4 Position control (internal instruction)
Basic parameter
User parameter Name Reference
P0-01 control mode selection 5.4.1
P4-03 Internal position mode 5.4.2
P4-10～P4-254 Internal position 1 to 35 parameters 5.4.3
P5-35 Change step signal /CHGSTP 5.4.4
P5-32 Pause present segment signal /INHIBIT 5.4.5
P5-31 Jump present segment signal /Z-CLAMP 5.4.6
P4-04 Effective segment numbers 5.4.3
Other optional parameters

User
Key words Name Reference
parameters
P4-00 Number of Z-phase signal after leaving limit switch
P4-01 Speed of hitting the proximity switch
P4-02 Speed of leaving proximity switch
Find origin P5-27 /SPD-D: define the origin in position mode
5.4.7
point /SPD-A: find reference origin on forward side in
P5-28
position mode
/SPD-B: find reference origin on reverse side in
P5-29
position mode
Pulse offset
P5-34 pulse offset clear 5.3.5
clear
Positioning P5-38 Positioning completion signal output /COIN
5.3.6
completion P5-00 positioning completion width
Positioning P5-46 Positioning near signal output /NEAR
5.3.7
near P5-06 positioning near signal width
Set segment
number
F2-09 35 segments position setting 5.4.8
through
communication

Setting
Parameter Meaning Change Effective
value
Position control by preset values of internal registers Servo
P0-01 5 At once
in servo units OFF
5.4.2 Internal position mode

Default Suitable
Parameter Function Unit modify Effective
setting mode
Internal position Servo
— n.0000 5 At once
P4-03 mode setting OFF
Parameter setting Meaning Default Setting range
54
setting
n.□xxx No meaning
Waiting
n.x□xx 0 0～1
mode
Change
n.xx□x 0 0～4
step mode
Positioning
n.xxx□ 0 0～1
mode
1. waiting mode
n.x□xx Meaning
0 Wait for positioning completion
1 Not wait for positioning completion
Note: Waiting mode refers to whether the driver waits for the motor to be positioned after outputing a
position instruction in internal position mode. It takes effect in all Step-Changing modes.
Waiting mode=0, adjust time =0ms Waiting mode =0, adjust time >0ms
P P
P5-00 P5-00
Pulse Pulse
offset offset
t1 t t1 t
t2
/COIN /COIN
Signal status ON OFF Signal status ON OFF
After the drive output 1-segment position After the drive output 1-segment position
command, it will wait for the completion of command, it will wait for the completion of
motor positioning, and then start the next position motor positioning, and pass the adjust time, then
command at once. T1 is positioning time, which start the next position command. T1 is
means the time from pulse output complete to the positioning time, t2 is adjust time. Refer to
output of positioning completion signal. parameter P4-11.
Wait mode = 1, adjust time = 0ms Wait mode = 1, adjust time > 0ms
P P
t t2 t
After the drive output 1-segment position After the drive output 1-segment position
command, it will not wait for the completion of command, it will not wait for the completion of
motor positioning, and start the next position motor positioning, but pass the adjust time, and
command at once. then start the next position command. T2 is adjust
time. Refer to parameter P4-11.
55
2. change step mode
n.xx□x Description
/CHGSTP ON
Signal status OFF
P t1=P4-11, t2=P4-21
1. If /CHGSTP is ON, servo
0: Change the step will run segment 1 and 2.
when signal is ON, Segment 1
If /CHGSTP is OFF in one
recycling segment, servo will finish this
Segment 2
segment and stop running the
Segment 1 next segment.
t
t1 t2 t1
/CHGSTP ON
Signal status OFF
Suppose there are 2 segments.
P t1=P4-11
1: Change the step In this mode, the adjust time is
at the rising edge ineffective. The servo will run
of the signal, the next command once the
single-step run
current pulse is finished and the
new command is coming.
t
t1
/CHGSTP ON
Signal status OFF
P Suppose there are 2 segments.
2: Start at the t1=P4-11
rising edge of the /CHGSTP signal is ineffective
signal, sequential when one cycle has not been
run all, not
finished, such as the second
recycling
/CHNGSTP signal in the
diagram.
t
t1
3: set segment no.

Servo is ON, set parameter P2-09=0, then set the running segment. The motor
through
will run the setting segment. Refer to chapter 5.4.8.
communication
/CHGSTP ON
Signal status OFF
P
/CHSTP rising edge triggers the

4: /CHSTP double
first segment, the falling edge
edge triggering
triggers the second segment.
t
t1
56
n.xx□x Description
5: /PREFA(P5-57)
/PREFB(P5-58) /PREFC /PREFB /PREFA Segment number
/PREFC(P5-59) 0 0 0 -
Choose the 0 0 1 1 (segment 1 position)
segment through 0 1 0 2 (segment 2 position)
terminal, the range 1 0 0 3 (segment 3 position)
is segment 1~3
The following input signal can switch the segment 1 to 3:

Parameter Signal name Default Suitable Setting range Modify Effective
setting mode
/PREFA n.0000 5 Range 0000-0014, Any At once
P5-57 internal position distribute to input
segment 1 terminal through P5-57
/PREFB internal n.0000 5 Range 0000-0014,
P5-58 position distribute to input
/PREFC internal n.0000 5 Range 0000-0014,
P5-59 position distribute to input
3. Positioning mode
n.xxx□ Meaning
0 Relative positioning
1 Absolute positioning
1: absolute positioning
0: relative positioning (take the reference origin as the absolute
positioning origin)
P P
Segment 2 Segment 2
Segment 1 Segment 1
t t
5.4.3 Position segment 1 to 35 parameter settings

Default
setting
Pulse number -9999～
P4-10+（n-1）*7 0 1 pulse Servo OFF At once
(low bit) 9999
Pulse number 10000 -32767～ Servo OFF At once
P4-11+（n-1）*7 0
(high bit) pulses 32767
P4-12+（n-1）*7 Speed 0 0.1rpm 0～65535 Servo OFF At once
Trapezoid Servo OFF At once
P4-13+（n-1）*7 0 ms 0～65535
acceleration time
P4-14+（n-1）*7 Trapezoid 0 ms 0～65535 Servo OFF At once
57
deceleration time
P4-15+（n-1）*7 Reserved -
P4-16+（n-1）*7 Adjust time 0 ms 0～65535 Servo OFF At once
Notes:
1. Set pulse number = pulse number (high bit) ×10000 + pulse number (low bit).
2. In formula P4-10+(n-1)*7, n is the segment no. of internal position; the range is 1~35. Segment
1~12 can be set through the operate panel, segment 13~35 needs to write in parameters through
communication (RS232 or RS485).
3. If one of the segment speed is zero, servo will skip this segment and run the next segment.
4. In relative positioning mode, if one segment speed is not zero but the pulse number is zero, the
motor will not run, but the wait mode is effective. The servo will run the next segment when the adjust
time is out.
5. In absolute positioning mode, if one segment speed is not zero but the pulse number is zero, the
motor will return to the reference origin with the speed of this segment.
6. In absolute positioning mode, if 2 consecutive segments speed are not zero, but the pulse number is
the same, the servo motor will not run but the wait mode is effective.
The internal position has 35 segments. P4-04 can set the effective segment. For example, P4-04 set to 5
means segment 1~5 are effective.
Parameter Meaning Default setting Range Change Effective
P4-04 Effective segment 0 0～35 Servo OFF At once
5.4.4 Change step signal（/CHGSTP）

Parameter Name Setting Meaning Range
Range: 0000-0014.
Change Defaulted is not distribute to input Distribute to input
P5-35 step signal n.0000 terminal. Refer to chapter 5.4.2. terminal through P5-35.
/CHGSTP When it set to 0001, it
means input from SI1.
5.4.5 Pause the present segment signal（/INHIBIT）

Defaulted is not distribute to input Range: 0000-0014.
Pause the
terminal. Stop the pulse input in Distribute to input
present
P5-32 n.0000 position control mode. When terminal through P5-32.
segment
/INHIBIT is ON, stop counting the When it set to 0001, it
/INHIBIT
pulses. means input from SI1.
5.4.6 Skip the present segment signal（/ZCLAMP）

Parame
Signal name Setting Meaning Range
ter
Skip the Range: 0000-0014. Distribute to
Defaulted is not
present input terminal through P5-31. When
P5-31 n.0000 distribute to input
segment it set to 0001, it means input from
terminal.
/Z-CLAMP SI1.
58
In different Step-Changing modes, the function of skipping the current segment will have different
effects, as follows:
Change step
Skip the present
mode Actions
segment
P4-03 n.xx□x
0 Cancel current segment, execute the next segment at once
Cancel current segment, execute the next segment when the
1
/Z-CLAMP change step signal is ON
2 Cancel current segment, execute the next segment at once
3 Cancel current segment, set the F2-09 again
5.4.7 Reference origin

1. Find the reference origin
To find out the physical origin of working table and make it as the coordinates origin of point position
control. Users can select finding reference origin at forward or reverse side.
Function setting:
Default
setting
P4-00 Servo
Origin function 0 - 0～1 At once
n.xx□x OFF
Note: This function is applicable to position mode 5 and 6; when this parameter is set to 0, the
function of Origin-finding is invalid; when it is set to n.001x, the function of Origin-finding can be
used.
Signal setting
Parameter Signal Default Meaning Modify
Mode 3: internal speed Range: 0000-0014, distributes
selecting signal to input terminal through P5-28.
P5-28 /SPD-A n.0000 When it set to 0001, it means
Mode 5: find origin point at input signal from SI1.
forward direction
Mode 3: internal speed Range: 0000-0014, distributes
selecting signal to input terminal through P5-29.
P5-29 /SPD-B n.0000 When it set to 0001, it means
Mode 5: find origin point at
input signal from SI1.
reverse direction
Related parameter setting:

Default
setting
P4-00 Z phase signal Servo
2 - 0～f At once
n.xxx□ numbers OFF
The speed hitting At once
Servo
P4-01 the proximity 600 rpm 0～65535
OFF
switch
The speed leaving At once
Servo
P4-02 the proximity 100 rpm 0～65535
OFF
switch
59
Find reference origin diagram:
/P-OT /N-OT
Speed P4-01 Speed P4-01

①
Direction CW Direction CCW
Stop mode Stop mode
② P0-28 P0-28
Speed P4-02 Speed P4-02
③ Direction CW
Direction CCW
Z signal quantity Z signal quantity
P4-00 P4-00
Reference origin Reference origin

of forward side of reverse side
Sequential diagram of finding reference origin on forward side:

①
/SPD-A
②
/P-OT
/Z
③
V
P4-01 P4-00
t
P4-02
Steps:
(1). Install limit switch at forward and reverse side. At the rising edge of /SPD-A, motor runs forward
at the speed of P4-01 to find the reference origin on forward side.
(2). After the working table hit the limit switch, the motor stop as the mode set by parameter P0-28
(3). Motor leaves the limit switch at the speed of P4-02. After the working table left the limit switch,
the motor run at the Z phase signal position of No.n optical encoder. This position is considered as the
coordinates origin, n is decided by parameter P4-00.
60
5.4.8 Set the segment number through communication
Default
setting
Set the segment
F2-09 number through 0 - 0～35 Anytime At once
communication
This parameter is set to certain segment, it will execute this segment. No need step change signal. This
parameter can be changed through communication.
For example: execute segment 2. Set F2-09=0, then set F2-09=02.
5.4.9 Motion start signal（/MRUN）

Parame Default
Meaning Meaning Change
ter setting
Defaulted is not distribute to
output terminal. It is only
valid in internal position Range 0000-0014, it can be
Motion mode, similar to positioning distributed to output terminal by
P5-50 start n.0000 complete signal in external P5-50. When it is set to 0001,
/MRUN pulse mode. It will output means output signal from SO1.
when the motor is running,
and will not output when the
motor stop.
5.5 Speed control (analog voltage command) (not support)
61
5.6 Speed control (internal speed)
Basic parameter
P0-01 Control mode selection 5.6.1
P3-05 Internal speed 1
P3-06 Internal speed 2 5.6.2
P3-07 Internal speed 3
P5-27 /SPD-D internal speed direction selection
P5-28 /SPD-A internal speed selection 5.6.4
P5-29 /SPD-B internal speed selection
Other parameters
Key word Parameter Name Reference
Proportion P5-21 Proportion action command /P-CON 5.6.12
action
Zero clamp P5-31 Zero clamp /ZCLAMP
P3-12 Zero clamp mode 5.6.6
P3-13 Zero clamp speed
Same Speed P5-39 /V-CMP speed coincidence checking
checking 5.6.8
P5-04 speed coincidence checking signal width /V-CMP
Torque limit P3-28 Internal forward torque limit
P3-29 Internal reverse torque limit
P3-30 Forward external torque limit
P3-31 Reverse external torque limit 5.6.7
P5-25 Forward external torque limit /P-CL
P5-26 Reverse external torque limit /N-CL
P5-42 Torque up to limit value output /CLT
P3-09 soft start acceleration time
Soft start 5.6.3
P3-10 soft start deceleration time
P1-22 Position command filter mode
Filter 5.6.11
P1-23 Speed command filter time
P5-51 Speed reach output /V-RDY
5.6.9
P5-05 Reach detection speed
62
Parameter Set Meaning Modify Effective
value
P0-01 3 Speed control: internal speed selection Servo Immediat
OFF ely
Function: internal speed selection will set 3 motor speeds and select the speed by external signal. It is
no need to configure external speed generator or pulse generator.
Servo unit
/SPD-D
M
Input /SPD-A
Servo motor
/SPD-B
Speed selection
SPEED1 P3-05
SPEED2 P3-06
No need external speed or SPEED3 P3-07 Run the motor

pulse generator at set speed
User parameter
5.6.2 Internal speed setting

Defaulted
Parameter Meaning Unit Range Modify Effective
setting
P3-05 Internal speed 1 0 rpm -9999～+9999 Anytime At once
5.6.3 Soft start

Defaulted
setting
Soft Start Servo
P3-09 0 ms 0～65535 At once
Acceleration Time OFF
Soft Start Servo
P3-10 0 ms 0～65535 At once
deceleration Time OFF
Soft start acceleration and deceleration time is suitable for mode 3/4/7. Smooth speed control can be
carried out when step speed instruction is input or internal setting speed is selected.
P3-09: Time from stop to rated speed
P3-10: Time from rated speed to stop
63
Rated speed
Target speed
Speed down
Speed up time
time
P3-09 P3-10
5.6.4 Input signal setting

Parameter Signal Default Range Modify Effective
setting
Internal Range: 0000-0014. Distribute to
P5-27 direction n.0000 input terminal through P5-27.
/SPD-D
P5-28 speed n.0000 input terminal through P5-28. Anytime At once
/SPD-A
P5-29 speed n.0000 input terminal through P5-29.
/SPD-B
(1) Function realization

Input signal
Running speed
SPD-D（P5-27） SPD-A（P5-28） SPD-B（P5-29）
0 0 Internal speed is zero
0 1 P3-05：SPEED1
0: forward run
1 1 P3-06：SPEED2
1 0 P3-07：SPEED3
0 0 Internal speed is zero
0 1 P3-05：SPEED1
1: reverse run
1 1 P3-06：SPEED2
1 0 P3-07：SPEED3
Note: The values of SPD-A and SPD-B are 1, indicating that the input level of SI terminal is valid, and
0 is invalid.
64
(2) Running example
Speed 3
+SPEED3 Speed up down is decided by
P3-09, P3-10
Speed 2
+SPEED2
Speed 1
+SPEED1
Stop stop Stop

0
-SPEED1
Speed 1
-SPEED2
Speed 2
-SPEED3
Speed 3
OFF OFF ON ON OFF OFF ON ON OFF

SPD-A
OFF ON ON OFF OFF ON ON OFF OFF

SPD-B
OFF OFF OFF OFF ON ON ON ON ON

SPD-D
5.6.5 Speed command limit

Default
setting
Forward max speed Servo
P3-14 4000 rpm 0～65535 At once
command limit OFF
Reverse max speed Servo
P3-15 4000 rpm 0～65535 At once
command limit OFF
Note: P3-14 and P3-15 are effective in all the modes.
5.6.6 Zero clamp（/ZCLAMP）

(1) Function
This function is used when host controller uses speed command input and the servo system isn’t
configured the position loop. In other words, the function will be used when the motor must stop and
enter lock state even the V-REF input voltage is not zero.
When set ON the zero clamp function, it will configure the position loop inside the servo, the motor
will do zero clamp within ±1 pulse at this position. The motor will return to zero clamp position even it
is run by external force.
The present speed must be smaller than zero clamp speed when using zero clamp function, it can clamp
the motor shaft from moving. The motor will switch from speed mode to position mode when starting
the zero clamp function. At this time, rotate the motor shaft, it will return to the original position. It will
not return to original position in speed mode, because it has no position feedback.
65
(2) Input signal setting
Parame Signal Setting Meaning Range
ter
n.0000 Defaulted is not distribute to input /Z-CLAMP signal is
Zero clamp (default) terminal distributed to input
P5-31 terminal by parameter
/ZCLAMP
n.0002 Input signal from SI2 terminal P5-31, Range:
0000-0014.
(3) Parameter setting

Default
parameter Meaning Unit Range Change Effective
setting
Servo
P3-13 Zero clamp speed 10 rpm 0～300 At once
OFF
Servo
P3-12 Zero clamp mode 0 - 0～3 At once
OFF
P3-12 setting Contents

ZCLAMP input signal is ON, forced speed command is 0, when the speed below
0 P3-13, switch to position mode and the servo lock in this position.
1 ZCLAMP input signal is ON, forced set the speed command to 0.
ZCLAMP input signal is ON, the speed below P3-13, switch to position mode and
2 the servo lock in the position.
Note: after entering zero clamp mode, present setting speed is higher than P3-13,
motor doesn’t run, the ZCLAMP signal must be OFF, then motor will run again.
ZCLAMP signal is ON, the setting speed is less than P3-13, switch to position
3 control mode, and servo is locked at this position. At this time, if setting speed is
over P3-13, the motor will run again.
5.6.7 Torque limit

1. Internal torque limit
Default
setting
Internal Forward
P3-28 300 % 0～300 Anytime At once
torque limit
Internal reverse
torque limit
1. if this parameter value is less than external torque limit value, the final limit value is this parameter.
2. The unit is percent of the motor rated torque; the default value is 300%. The real max output torque
is limited by motor overload times.
2. External torque limit (via input signal)

Parame Default
Meaning Unit Range Modify Effective
ter setting
Forward external
torque limit
Reverse external
torque limit
The unit is the percent of motor rated torque; the default value is 300%.
66
Signal Default Modify Effective
Parameter Meaning Range
name setting
The necessary
condition to use Range 0000-0014, can be
P5-25 /P-CL n.0000 forward distributed to other input Anytime At once
external torque terminals through P5-25.
limit
The necessary Range 0000-0014, can be
P5-26 /N-CL n.0000 condition to use distributed to other input Anytime At once
reverse external
torque limit terminals through P5-26.
3. Relationship
The following are the relationship of internal torque limit, external torque limit, P-CL, /N-CL.
P-CL/N-CL Final forward torque Final reverse torque
0 Decided by P3-28 Decided by P3-29
The smaller one of internal forward The smaller one of internal reverse
1 torque limit and external forward torque torque limit and external reverse
limit torque limit
4. Output torque up to limit value signal

Parame Signal Default Suitable Modify Effective
Meaning
ter name setting mode
Torque Output signal when
P5-42 limit n.0000 All motor output torque up Anytime At once
/CLT to P3-28, P3-29.
No terminals are assigned by default. The parameter range is 0000-0014, which is assigned to the
output interface through parameter P5-42. When set to 0002, the signal is output from the SO2
terminal.
5.6.8 Same speed detection（/V-CMP）

Default Suitable Modify Effective
Parameter Signal Meaning
setting mode
Same speed Anytime At once
P5-39 /V-CMP n.0000 3, 4, 7
detection
Defaulted is not distribute to the terminals. Range: 0000-0014. Distribute to output terminal through
P5-39. When it set to 0002, it means output from SO2.
Default Modify Effective

Parameter Meaning Unit Range
setting
Same speed Anytime At once
P5-04 detection signal 50 rpm 0～10000
width
There is default 10rpm hysteresis loop, please refer to chapter 5-12-3 for hysteresis loop.
5.6.9 Speed reach signal（/V-RDY）

Default Suitable Modify Effective
Parameter Signal Meaning
setting mode
P5-51 /V-RDY n.0000 3, 4, 7 Speed reach signal Anytime At once
67
By default, no terminal is allocated, the parameter range is 0000-0014, which is allocated to the output
interface through parameter P5-29. When set to 0002, the signal is output from the SO2 terminal.

setting
P5-05 Reach speed 50 rpm 0～10000 Anytime At once
5.6.10 Alarm speed

setting
Forward alarm Servo
P3-21 4000 rpm 0～65535 At once
speed OFF
Reverse alarm Servo
P3-22 4000 rpm 0～65535 At once
speed OFF
Note:
1. the parameters P3-21 and P3-22 are effective in all the modes.
2. the default value is 120% of rated speed. for example: rated speed is 1500, max speed is 1800; rated
speed is 3000, max speed is 3600.
3. these parameters are related to E-080. When the motor is out of control or the speed keeps rising
caused by external force and over the alarm speed, servo will show E-080 alarm.
5.6.11 Filter
setting
Speed command filter Servo
P1-22 0 - 0～1 At once
selection OFF
Speed command filter Servo
P1-23 0 0.1ms 0～65535 At once
time OFF
P1-22 Contents
0 First-order Inertial Filter
1 Smooth filter
5.6.12 Proportion action command (/P-CON)

Parameter Signal Type Default State Meaning Modify Effective
Valid Run in P control
P5-21 /P-CON Input n.0000 mode Anytime At once
Invalid Run in PI control
mode
1. /P-CON is the speed control mode signal selected from PI (proportion integral) and P (proportion).
2. If set to P control mode, the motor rotate and micro-vibration caused by speed command input drift
can be decreased. But the servo stiffness will decrease.
3. /P-CON signal can be distributed to input terminal via parameter P5-21.
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5.7 Speed control (pulse frequency command)
Basic parameter
P0-10 Pulse command form 5.3.2
P0-15 Command pulse frequency at rated speed 5.7.2
P0-16 Speed command pulse filter time 5.7.4
Other parameters
Key word Parameter Name Reference
Proportion P5-21 Proportion action command /P-CON 5.6.12
action
Zero clamp P5-31 Zero clamp /ZCLAMP
P3-12 Zero clamp mode 5.6.6
P3-13 Zero clamp speed
Same speed P5-39 /V-CMP speed coincidence checking
detection 5.6.8
P5-04 speed coincidence checking signal width /V-CMP
Torque limit P3-28 Internal forward torque limit
P3-29 Internal reverse torque limit
P3-23 T-REF distribution
P3-30 Forward external torque limit
5.6.7
P3-31 Reverse external torque limit
P5-25 Forward external torque limit /P-CL
P5-26 Reverse external torque limit /N-CL
P5-42 Torque up to limit value output /CLT
Speed reach P5-51 Speed reach output /V-RDY
detection 5.6.9
P5-05 Reach detection speed
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Set
Parameter Meaning Modify Effective
value
Servo
P0-01 7 Speed control: pulse frequency speed command At once
OFF
Function: speed command is decided by external pulse frequency, but not related to pulse quantity.
The wiring is the same as position command. Select CW, CCW mode or direction + pulse mode, AB
phase pulse mode.
5.7.2 Pulse frequency command

Pulse frequency command is the same as external pulse command position control, refer to chapter
5-3-2.
5.7.3 Command pulse frequency at rated speed

Default
setting
command pulse
P0-15 frequency at rated 1000 100Hz 0～10000 Servo
At once
OFF
speed
Note: the unit is 100Hz.
Example: P0-15=300, command pulse frequency at rated speed=30kHz;
P0-15=1000, command pulse frequency at rated speed= 100kHz.
5.7.4 Speed command pulse filter time

Parame Default
Meaning Unit Range Modify Effective
ter setting
speed command pulse Servo
P0-16 100 0.01ms 0～10000 At once
filter time OFF
When the command pulse frequency is low, setting a suitable value for this parameter can decrease
the speed fluctuation.
5.8 Torque control (analog voltage command) (not support)
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5.9 Torque control (internal setting)
Basic parameter
P3-33 Internal torque command 5.9.2
Other parameters
Key words Parameter Name Reference
P3-16 Internal forward speed limit of torque control
5.9.3
P3-17 Internal reverse speed limit of torque control
Speed limit P3-14 Forward max speed limit
5.6.5
P3-15 Reverse max speed limit
P5-43 Speed up to limit value output /VLT 5.9.4
/SPD-D direction Speed direction change
P5-27 5.6.4
selection

Parameter Set value Function Modify Effective
Servo
P0-01 1 Torque control: internal setting Immediately
OFF
Function: Control the torque by internal torque command.
5.9.2 Internal torque command

Default
setting
Internal torque 1% rated
P3-33 0 -1000～+1000 Anytime At once
command torque
The unit of this parameter is 1% of the rated torque.
For example: P3-33=50, motor forward run with 50% of the rated torque;
P3-33= -20, motor reverse run with 20% of the rated torque.
In addition to using the torque to control the direction of servo operation, it can also use / SPD-D to
control the direction.
5.9.3 Internal speed limit for torque control

Default
setting
internal forward Motor
P3-16 speed limit in torque rated rpm 5～65535 Anytime At once
control mode
internal reverse speed Motor
P3-17 limit in torque control rated rpm 5～65535 Anytime At once
mode
Note: Even if the setting speed of this parameter is greater than the speed limit of P3-14, the actual
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effective speed limit is only the MAX speed. (The maximum speed is the smaller value in
P3-14/P3-15 and P3-16/P3-17)
5.9.4 Speed up to limit value output

Signal Default Suitable
Parameter Meaning Modify Effective
name setting mode
P5-43 /VLT n.0000 1, 2 Speed limit detection Anytime At once
By default, no terminal is allocated, the parameter range is 0000-0014, and is allocated to the output
interface through parameter P5-43. When set to 0002, the signal is output from the SO2 terminal.
5.10 Motion bus control

Characteristics of Motion Bus
Motion control is the real-time control and management of the position and speed of mechanical
moving parts, so that they can move according to the expected trajectory and the specified motion
parameters. It used XINJE industrial bus communication protocol, support all the products of XINJE.
XDC series PLC which adopts bus motion control mode replaces the traditional pulse
transmission mode. It uses bus communication and 3M communication baud rate. The system has
faster speed, simple wiring and sharing wiring.
Bus parameters
parameter Function Range Set Default Modify Effective
value value
1: torque (command)
2: torque (analog)(not support)
3: speed (terminal command)
4: speed (analog)(not support) Servo
P0-01 Control mode 5: position (internal) 10 6 At once
OFF
6: position (pulse)
7: speed (pulse)
8: fieldbus torque mode
10: fieldbus position mode
Enable mode 1: IO enable
Servo
P0-03 2: software enable 3 1 At once
OFF
3: fieldbus enable
Servo
P7-00 RS485 station no. 1~20 - 1 At once
OFF
Baud rate:
06：19200
07：38400
08：57600
09：115200
0A：192000
Servo
P7-01 RS485 serial port n.xx□□ 0B：256000 2213 2206 At once
OFF
0C：288000
0D：384000
0E：512000
0F：576000
10：768000
11：1M
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12：2M
13：3M
14：4M
15：5M
16：6M
Stop bit:
n.x□xx
0: 2 bits 2: 1 bit
Parity bit
0: no parity 1: odd
n.□xxx
parity 2: even
parity
RS485
1：Modbus
P7-02 communication 2 1
protocol 2：XNet
Servo
At once
Slave station 1~256 OFF
P7-05 - 10
quantity
P7-06 Repeat times 1~500 - 3
Monitoring parameters
Parameter Explanation Mark
U0-61 Communication error times
U0-62 Synchronization frame receive error
times (overtime or data error)
U0-64 Data frame receive error times (overtime
or data error)
U0-66 CRC error times
U0-67 UART error times UART module error reasons:
1. RS485 noise is too large
2. CPU hasn’t read offset register data in
time caused the data damaged.
U0-68 Communication overtime times If the servo continuous communication error
period ≥P7-06, U0-68 +1, servo XNet state
switches to “initial state”, the priority of
UART decreases, wait the synchronization
frame, servo will not alarm right now.
5.10.1 Bus wiring

XD/XG series bus programmable controller can also be called bus multi-axis motion controller.
Fieldbus technology is used to communicate between bus-type multi-axis motion controller and servo
driver, so it has the advantages of high performance, high reliability, simple maintenance and saving
wiring (wiring sharing).
Servo control system bus connection of X-NET motion bus: XDC/XDE inserts RS485 extended
BD board XD-NE-BD into the BD card slot located on the front of the PLC (double BD board
extension port type selects left port). There are four terminals on the BD board, from left to right: A, B,
SG (signal ground) and FG (shielding ground).
The communication ports A and B of BD board are connected to A1 and B1 terminals of JA-NE-L
module of DS3E series servo driver. SG signal is connected to SG terminal of JA-NE-L module. The
nine-pin port of the JA-NE-L module is inserted into the nine-pin port of the CN1 port of the servo
driver.
Servo Control System Bus Connection of X-NET Motion Bus: XG1
XG1 must use serial port 2 to communicate with the servo. The serial port 2 terminals are SG, B
and A from top to bottom respectively. Communication terminal A and B are connected to A1, B1
terminals of JA-NE-L module of DS3E series servo driver, A1 and A2 of JA-NE-L module are
73
short-connected, B1 and B2 are short-connected. SG signal is connected to SG terminal of JA-NE-L
module. The nine-pin port of the JA-NE-L module is inserted into the nine-pin CN1 port of the servo
driver.
If a PLC is used to control multiple servos, the BD board and JA-NE-L board of the PLC are
equipped with terminal resistance. If the PLC is connected with multiple servos, in order to form a
closed loop and reduce interference, the terminal resistance of the BD board of the PLC and the last
JA-NE-L board of the electrical connection should be ON, and the terminal resistance of the middle
JA-NE-L board should be OFF.
5.10.2 Motion parameters

Default
Address Definition Type Unit Note
value
16-bit ON: servo enable OFF: servo
SM2010+20*(N-1) Servo enable 0
integer not enable
Clear servo System will automatical reset
SM2013+20*(N-1)
alarm after enable
Absolute position, converted by
Present 32-bit Pulse
SD2008+60*(N-1) the number of target position
position integer numbers
feedback pulses
32-bit Pulse
SD2010+60*(N-1) Present speed Calculating by Feedback Value
integer numbers
Public parameters
Connecting 20 axes
Connecting 10 axes
Address Definition (Including more than
(Including less than 10 axes)
10 axes)
Instruction refresh period 3000(default, same to servo
SFD2990 (unit: us) 6000
parameter P7-07)
SFD2991 Slave station number 10(default) 20
SFD2992 Error retry time 3(default) 3
5.10.3 Bus position mode

Default
value
SFD3000 Running 16-bit 0 0: Position control with trajectory
+60*(N-1) mode integer planning
1: Real-time position control without
trajectory planning (position and speed
need to be updated for each motion bus
cycle)
2: Real-time speed control (given update
speed and torque per bus cycle)
SFD3001 Motor type 16-bit 0 0: No configuration
+60*(N-1) integer 1: Incremental Servo
2: Single-loop absolute value servo
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3: Multi-loop absolute value servo
4: Stepping motor
SFD3002 Encoder ppr 32-bit 10000 The feedback counting value of encoder
+60*(N-1) /1 rotation integer rotating one circle, it can change the
encoder ppr through this register.
SFD3004 movement/1 32-bit Pulse 10000 The reference equivalent of motion
+60*(N-1) rotation integer number (screw lead), the unit is pulse number,
which is the movement quantity. The
pulse number motor rotating one circle.
The motor will rotate one circle as the
pulse number set by this register.
SFD3048 positioning 32-bit Pulse 10 positioning completion width initial
+60*(N-1) completion integer number value. PLC has positioning completion
width initial signal in this width, no need to wait for
value the completion of pulse sending.
Note: the details please refer to XNET manual.
5.10.4 Bus torque mode

X-NET bus torque mode is a control system for controlling motor output torque. In practical
application, given a value of torque, the value of torque is related to load and speed.
The coils and registers related to torque mode

Initial Setting
Address Definition Type value value Note
SFD3000 Running 16-bit 0 3 0: position ontrol with motion
+60*(N-1) mode integer planning
3: user-defined motion planning
SFD3029 Upper limit 16-bit 2500 -1 Positive integer: upper limit of

+60*(N-1) of Position integer offset
feedback -1: ignore the offset
offset

SD2006+ Present 32-bit Pulse number The displacement relative to the last
60*(N-1) displacement integer time stop position
SD2008+ Present position 32-bit Pulse number Absolute position, converted by target
60*(N-1) integer position feedback pulse numbers
SD2010+ Present speed 32-bit Pulse Converted by the feedback value
60*(N-1) integer number/second
SD2012+ Instant speed Pulse Speed setting of single control period
60*(N-1) setting number/second
SD2020+ Present torque Floating N.m Servo P7-02=3, SD2029+60*(N-1)
60*(N-1) number set to 1, SD2020+60*(N-1) shows
present torque.
75
SD2024+ Torque setting 32-bit 1/1000 rated Effective mode:
60*(N-1) integer Servo P0-01=8 (Torque Mode) is
always valid.
Servo P0-01 = 9 or 10 (speed mode or
position mode): SD2028 + 60* (N-1)
= 1 is valid.
SD2026+ Reverse torque 32-bit 1/1000 rated In speed mode and position mode, it
60*(N-1) setting integer takes effect when SD2028 = 1. At this
time, the values of servo P3-28 and
P3-29 are invalid.
Torque mode is invalid.
SD2028+ torque control 16-bit Servo P0-01 = 9 or 10 (speed mode or
60*(N-1) mode setting integer position mode): SD2028 + 60* (N-1)
= 1, the values in SD2024 + 60*
(N-1), SD2026 + 60* (N-1) are valid,
and the values of servo P 3-28, P 3-29
are invalid.
SD2029+ Torque feedback 16-bit 0: invalid
60*(N-1) enable bit integer 1: SD2020+60*(N-1) shows the
present torque(servo P7-02 should set
to 3).
SD2032+ Speed control 32-bit Pulse
Note: the details please refer to XNET manual.
5.10.5 Bus speed mode

The speed mode of X-NET bus is a kind of control system which takes speed as the control target and
achieves the action requirement through constant given speed.
Address Definition Type Initial Setting Note

value value
SFD3000 Running mode 16-bit 0 3 0: position ontrol with motion
+60*(N-1) integer planning
SFD3029 Upper limit of 16-bit 2500 -1 3: user-defined
Positive integer:motion planning
upper limit of offset
+60*(N-1) position integer -1: ignore the offset
feedback offset

SD2008+ Present position 32-bit Pulse number Absolute position, converted by target
60*(N-1) integer position feedback pulse numbers
SD2010+ Present speed 32-bit Pulse Converted by the feedback value
SD2012+ Instant speed Pulse Speed setting of single control period
60*(N-1) setting number/second
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SD2032+ Speed control 32-bit Pulse
Note:
(1) Set SFD3029+60*(N-1) to -1, otherwise SD2002+60*(N-1) will report position deviation 20006;
(2) In the speed mode, only the speed curve can be generated by controlling the motor speed with given
SD2032+60* (N-1), which is independent of SD2034+60* (N-1) and SD2036+60* (N-1).
(3) the PLC address details please refer to XNET manual.
77
5.11 Absolute value system
5.11.1 absolute value system setting

In order to save the position data of absolute encoder, the battery unit needs to be installed.
Install the battery on the battery unit of the encoder cable with the battery unit.
If you do not use encoder cable with battery unit, please set P-79 to 1, that is, multi-loop absolute value
encoder is used as single-loop encoder.
Pararmeter Name setting Meaning Range

Normally use absolute encoder and use
0
Absolute battery to memorize position.
encoder battery Use multi-loop absolute encoder as
P0-79 0~1
undervoltage single-loop encoder and no longer remember
1(default)
alarm switch position (use absolute encoder as single-loop
encoder without battery)
5.11.2 Replace the battery

When replacing the battery, please replace the battery while keeping the driver and motor connected
well and the control power is connected. If the battery is replaced when the control power between the
driver and the motor is closed, the data stored in the encoder will be lost.
Note: Absolute Encoder Battery Model (This Battery Can't Charge)

CP-B-BATT
CPT-B-BATT (Special for Tank Chain)
Battery replacement steps

When using encoder cable with battery unit
(1) Only the control power of the servo unit is connected;
(2) Open the cover of the battery cell;
(3) Take out the old battery, install the new one.
78
(4) Close the cover of the battery unit
(5) After replacing the battery, in order to remove the "Encoder Battery Alarm (E-222)" display,
please restore the factory settings and cut off the power supply of the servo unit;
(6) Connect the power supply of the servo unit again;
(7) Make sure the error display disappears and the servo unit can operate normally.
5.11.3 The upper limit of revolving circles

The upper limit of rotating cycles can be used for position control of gyroscopes such as
turntables.
For example, suppose there is a machine whose turntable moves only in one direction, as shown in
the figure below.
79
Because it can only rotate in one direction, after a certain period of time, the number of revolving
cycles will always exceed the upper limit of absolute value encoder.
Resolution Rotating Circle

Servo motor
(single-circle Serial Data Operation of overtime
series
data) Output range
When it is higher than the upper limit value
in the forward direction (+32767*2^ 17):
Rotation serial data = 32767*2^17
CM/T 17
When it is below the lower limit of reversal
direction (-32768*2^ 17):
Rotation Serial Data=-32767*2^17
-32768~32767
When it is higher than the upper limit value
in the forward direction (+32767*2^23):
Rotation serial data = 32767*2^23
TL 23
When it is below the lower limit of reversal
direction (-32768*2^ 23):
Rotation Serial Data=-32767*2^23
5.11.4 Read absolute position through communication

Basic parameters
User Name Use
parameter
U0-10 Absolute value single-loop position, read 0x100A
hexadecimal address through Modbus RTU
encoder feedback value
U0-11 double-word, which is the current encoder single-loop
position;
present circles of multi-loop The hexadecimal address of 0x105F is read by Modbus
U0-91
absolute RTU double word, which is the current encoder position.
U0-57 The hexadecimal address of 0x1039 is read by Modbus
absolute encoder present
RTU double word, which is the current encoder position
U0-58 position feedback low 32-bit
with positive and negative pulses.
U0-59 The hexadecimal address of 0x1041 is read by Modbus
absolute encoder present
RTU double word, which is the high position of the
U0-60 position feedback high 32-bit
current encoder, low bit data is needed.
Write 1 to the hexadecimal address of 0x2106 through
Clear the absolute encoder
F1-06 Modbus RTU to clear the cycles (servo BB status takes
circles
effect, and write 0 to 0x2106 after clearance);
Servo driver transmits position data information of encoder through RS485 port and Modbus RTU
protocol.
 17-bit absolute value encoder has 131072 pulses per cycle.

First read the U0-60 (0x1041) value
(1) 0 means running in the positive direction. The current position of the encoder is
U0-57*1+U0-58*2^16.
(2) 1 means running in the opposite direction. The current encoder value is: (U0-57-65535)*1+
(U0-58-65535)*2^16.
If the position is read by XINJE HMI and the U0-57 (Modbus address is decimal 4153) double-word is
read, the high-low byte exchange should be selected. If communicating with Xinje PLC, direct
double-word reading is ok.
 23-bit absolute value encoder, one-cycle pulse number is 8388608.
80
First read the U0-60 (0x1041) value
(1) 0 means running in the positive direction. The current encoder value is
U0-57*1+U0-58*2^16+U0-59*2^32.
(2) 1 means running in the opposite direction. The current encoder value is: (U0-57-65535)*1+
(U0-58-65535)*2^16+ (U0-59-65535)*2^32.
Communication parameter description

RS485 default communication parameters: baud rate 19200 bps; data bit 8; stop bit 1; even parity;
Modbus station number 1.
Note: Refer to Appendix 1 (P7-XX) for communication parameter description.
5.12 I/O signal
5.12.1 Servo alarm output （ /ALM ） and alarm reset

（/ALM-RST）
 Servo alarm output /ALM

Default Suitable
Parameter Signal Meaning Modify effective
setting mode
Output normally open signal
P5-47 /ALM n.0002 All anytime At once
from SO2 terminal
When the servo driver is powered on, detecting abnormality will output alarm signal.
 Alarm reset /ALM-RST

Default Suitable
setting mode
/ALM- Input normally open signal
P5-24 n.0002 All anytime At once
RST from SI2 terminal
1. The parameter range is 0000-0014, which is allocated to other input terminals through parameter
P5-24.
2. When an alarm occurs, find out the cause of the alarm and remove it, then clear the alarm by setting
the signal to be effective.
3. /ALM-RST signal can be assigned to other terminals through this parameter, because the alarm signal
is related to the safe operation of the servo, so the /ALM-RST signal can not be set to be always valid
(n.0010).
5.12.2 Warn output（/WARN）

Set the alarm output threshold, when the current speed is higher than the warning speed, output /
WARN.
Default
value
Forward warning Motor Servo
P3-19 rpm 0～65535 At once
speed related OFF
Reverse warning Motor Servo
P3-20 rpm 0～65535 At once
speed related OFF
81
Default Suitable
setting mode
P5-45 /WARN n.0000 All Warning output Anytime At once
1. No terminal output signal is assigned by default. The parameter range is 0000-0014, which is
allocated to other output terminals through parameter P5-45.
2. When a warning occurs, the servo unit only outputs the warning and will not be forced to set OFF.
5.12.3 Rotating detection output（/TGON）
1. signal setting
Default Suitable
setting mode
Rotating detection
P5-40 /TGON n.0000 All Anytime At once
output
It is the output signal indicating that the servo motor is rotating at a speed higher than the set value.
1. No terminal output signal is assigned by default. The parameter range is 0000-0014, which is
allocated to other output terminals through parameter P5-40.
2. When the speed of the servo motor is higher than the set value of P5-03, the signal that the servo is
rotating is considered.
2. related parameters
Default
value
Rotating detection Servo
P5-03 50 rpm 0～10000 At once
speed /TGON OFF
If the speed of the servo motor exceeds the set value of P5-03, it is judged that the servo motor is
rotating and the output of the rotation detection (/TGON) signal.
Note: Rotation detection has a hysteresis of 10 rpm.
3. Hysteresis
Hysteresis is set up to prevent the system from repeatedly acting and oscillating when the parameters
fluctuate up and down in a certain value. Once the hysteresis value is set, there will be a fixed ring
width. Then only when the parameter must be greater than a certain value can the action be taken.
When the parameter is smaller than another value, the action will be released. The ring width
determines the interval time of the action. The action of small ring width is sensitive and frequent, and
the action of large ring width is slow.
It should be noted that the rotation detection speed (P5-03), the same speed detection speed (P5-04), the
arrival detection speed (P5-05), all contain 10 rpm hysteresis. For example, the rotation detection speed
P5-03 is set to 50, and the rotation detection/TGON output port is SO3.
82
rpm
60rpm
Ring
50rpm
width
40rpm
ON
/TGON OFF OFF
5.12.4 Servo ready output（/S-RDY）

Signal
Parameter Setting Meaning 修改范围
name
n.0003 SO3 and COM pass through when The range is 0000-0013. It
Ready (default) servo is ready can distribute to other
P5-41
/S-RDY SO3 and COM cut off when servo output terminal through
n.0013
is ready P5-41.
Note:
(1) S-RDY output condition selection, set by P5-70:
(2) When P5-70 is set to 0, the terminal is turned on after the initialization of the driver is
completed and the servo has no alarm state.
(3) P5-70 is set to 1: This terminal will not be turned on until it is enabled and the servo has no
alarm status.
5.12.5 Encoder Z phase output（/Z）

Default
parameter Meaning Unit Range Modify Effective
setting
P5-48 Z phase output /Z n.0000 - 0000～0014 Anytime At once
Z phase pulse
P5-19 2 ms 2～20 Anytime At once
width
1. /Z signal can be distributed to the output terminal through P5-48.
2. Z phase signal is single pulse output mode, the default pusle width is 2ms, it can set through P5-19,
it is not related to the motor speed.
Encoder Z phase signal
P5-48=n.0011
SO1 output
P5-48=n.0001
SO1 output
2ms
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5.12.6 User-defined output signal
User can define 2 outputs. The defined method is SOx output when A>B or A<B. A is 9 activating
conditions, B is user-defined comparison value.
User-defined output 1:
The trigger condition of user-defined output 1
Default trigger Trigger Unit Suitable mode Change effective
condition condition
setting
P5-10 See below Related to All the modes servo At once
table: optional trigger OFF
0 condition
trigger
condition
The comparison value for the trigger condition of user-defined output 1
Default
P5-11 Unit Range Suitable mode Change Effective
setting
Related to trigger 0 -32768~32767 All the modes Servo At once
condition OFF
When P5-10≥P5-11 or P5-10<P5-11, SOx output
Setting Default Suitable
Function Change Effective
value value mode
0 P5-10≥P5-11, SOx output All the Servo At once
P5-12 1 P5-10＜P5-11, SOx output modes OFF
2 P5-10 absolute value ≥P5-11, SOx 0

output
3 P5-10 absolute value ≤P5-11, SOx
output
User-defined output 1 hysteresis loop
Default
Unit Range Suitable mode Change Effective
P5-13 setting
Related to trigger All the modes Servo At once
0 0~65535 OFF
condition
Output terminal setting of user-defined output 1
Signal name Default Meaning Change
setting
P5-52 User-defined output n.0000 Default setting Range 0000-0014, distribute to the
1 is not output terminal through P5-52.
distribute to
the output
terminal
User-defined output 2:
The trigger condition of user-defined output 2
Trigger
Default trigger Suitable Effecti
condition Unit Change
condition mode ve
P5-14 setting
See below
Related to
0 table: Servo At
trigger All the modes
optional trigger OFF once
condition
condition
The comparison value for the trigger condition of user-defined output 2
Suitable Effecti
P5-15 Unit Default setting Range Change
mode ve
Related to Servo At
0 -9999~9999 All the modes
trigger OFF once
84
condition
When P5-14≥P5-15 or P5-14<P5-15, SOx output
Setting Default Suitable Effecti
Function Change
value setting mode ve
0 P5-14≥P5-15, SOx output
P5-16 1 P5-14＜P5-15, SOx output
2 P5-14 absolute value ≥P5-15, SOx 0 All the Servo At
output modes OFF once
3 P5-14 absolute value ＜ P5-15,
SOx output
User-defined output 2 hysteresis loop
Suitable Effecti
Unit Default setting Range Change
mode ve
P5-17
Related to
trigger 0 -32768~32767 All the modes Servo At
OFF once
condition
Output terminal setting of user-defined output 2
Signal name Default setting Meaning Change
P5-53 Default setting
User-defined is not Range 0000-0014, distribute to the
n.0000
output 2 distribute to the output terminal through P5-53
output terminal
Note: please refer to chapter 5-12-3 for hysteresis loop.
Optional trigger conditions:

Condition no. Meaning Unit
0 - -
203 Current command Rated current %
205 Current feedback Rated current %
301 Speed command rpm
302 Speed feedback rpm
308 Speed deviation rpm
4402 Position command 1 command
4404 Position feedback 1 command
1406 Position deviation 1 command
502 Bus voltage V
503 Drive internal temperature ℃
506 Average output power W
508 Average thermal power W
85
5.12.7 I/O signal distribution
 Input signal distribution

Parameter Parameter Meaning Set value Meaning
n.0000 Not distribute to terminal input
n. 0
Distribute input Input always open signal from SIx
terminal no. n.000x
0: NO signal
P5-20~P5-36 1: NC signal Set the signal to be always valid
n.0010
Basic filter time
Input always close signal from SIx
No meaning n.001x
Note: The basic filtering time refers to chapter 5.12.8.
 Default setting of input terminal

Input terminal SI1 SI2 SI3 SI4
signal /S-ON /ALM-RST /P-OT /N-OT
 Output signal distribution

Parameter Parameter Meaning Set value Meaning
n.0000 Not distribute to terminal input
n. 0
Distribute output Output always open signal from
terminal no. n.000x SOx
P5-37～P5-47 0: NO signal
P5-51～P5-53 1: NC signal Set the signal to be always valid
n.0010
No meaning
output always close signal from
No meaning n.001x SOx
 Default setting of output terminal

Output terminal SO1 SO2 SO3
Signal /COIN /ALM /S-RDY
5.12.8 Input SI filter time

SI input filtering time is determined by IO parameter value and P5-18. Examples are as follows:
Pulse deviation clear set to SI1 terminal, and 30ms Filtering Time
The parameters are set as follows:
P5-34=n. 0 3 0 1
P5-34.0
P5-34.2
P5-34.0=1 input terminal is SI1
P5-34.2=3 basic filtering time is 3ms
P5-18=10 filtering time multiple is 10
So the total filtering time is P5-34.2 * P5-18=3ms*10=30ms
86
Default
setting
IO filtering time
P5-18 1 times 0～10000 Anytime At once
multiple
87
6 Servo gain adjustment
6.1 Overview of servo gain adjustment
6.1.1 Overview and process

Servo drivers need to drive motors as quickly and accurately as possible to track instructions from the
host computer or internal settings. In order to meet this requirement, the servo gain must be adjusted
reasonably.
The output value of servo gain is in adaptive mode, but different machines have different requirements
for servo responsiveness. The following figure is the basic process of gain adjustment. Please adjust
according to the current state and operation conditions of the machine.
Start adjusting
Use adaptive
function
Are you satisfied with YES

responsiveness?
NO
Fast adjusting
Are you satisfied with YES

responsiveness?
NO
Auto-tuning (external or internal instruction)
YES
Are you satisfied with
the adjusting result?
NO
Manual adjustment for gain fine-tuning
(mechanical characteristics analysis in case of
vibration)
NO Are you satisfied with

the adjusting result?
YES
END
88
6.1.2 The Difference of these adjustment modes
Adjustment modes are divided into adaptive and auto-tuning, and their control algorithms and
parameters are independent. Among them, the auto-tuning mode is divided into three functions: fast
adjustment, automatic adjustment and manual adjustment. The three functions are the same in essence
but different in implementation. Refer to the corresponding chapters of each function.
Paramete Responsiven
Mode Type Rigidity Related parameters
rs ess
P2-05 adaptive speed loop gain
P2-10 adaptive speed loop integral
P2-11 adaptive position loop gain
Automatic P2-01.0= P2-07 adaptive inertia ratio
Adaptive middle 150ms
adaptation 1
P2-08 adaptive speed observer gain
P2-12 adaptive stable max inertia
ratio
P0-07 first inertia ratio
Fast
high 10~50ms P1-00 speed loop gain
adjusting
P1-01 speed loop integral
Automatic P2-01.0=
Auto-tuning high 10ms P1-02 position loop gain
adjustment 0
P2-35 Torque instruction filtering
Determined
Manual time constant 1
high by
adjusting P2-49 Model loop gain
parameters
6.1.3 Model loop gain

In the auto-tuning mode, besides the gain of speed loop and position loop, there is also the gain of
model loop, which has a great influence on the servo responsiveness. When the model loop is not open,
the servo responsiveness is determined by the gain of the position loop, and when the model loop is
open, the servo responsiveness is determined by the gain of the model loop. The model loop is
equivalent to feed-forward function in the driver control loop, and its specific function refers to chapter
6.6 manual adjustment.
When the auto-tuning mode is soft, the function of the model loop will automatically turn off; when the
auto-tuning mode is fast positioning or fast positioning (control overshoot), the function of the model
loop will automatically turn on.
Auto-tuning mode
Default
Parameter Meaning Modification Effective
setting
n.□□□1 Soft
P2-02 n.□□□2 Fast positioning n.□□□3 At anytime at once
n.□□□3 fast positioning (control overshoot)
Model loop function

Default
setting
n.□□□0 Model loop turn off
P2-47 n.□□□0 At anytime At once
n.□□□1 Model loop turn on
89
Taking DS5 series servo auto-tuning mode and using 750W servo 5 times load inertia as an example:
 Model loop function turns off (soft mode)
Low Rigidity and Low Response High Rigidity and Medium Response
Speed feedback
Speed
instruction
Load inertia ratio P0-07: 500%

speed loop gain P1-00: 200 speed loop gain P1-00: 800
speed loop integral P1-01: 3300 speed loop integral P1-01: 825
position loop gain P1-02: 200 position loop gain P1-02: 700
Phenomenon: Running jitter, slow response Phenomenon: smooth operation and fast response
 Model loop function turns on (fast positioning or fast position(control overshoot))

Low Rigidity and Low High Rigidity and High
High Rigidity and Low Response
Response Response
Speed feedback
Speed
instruction
Load inertia ratio P0-07: 500%

speed loop gain P1-00: 200 speed loop gain P1-00: 800 speed loop gain P1-00: 800
speed loop integral P1-01: 3300 speed loop integral P1-01: 825 speed loop integral P1-01: 825
position loop gain P1-02: 200 position loop gain P1-02: 700 position loop gain P1-02: 700
Model loop gain P2-49: 300 Model loop gain P2-49: 300 Model loop gain P2-49: 4000
Phenomenon: Running jitter, Phenomenon: smooth operation Phenomenon: smooth operation
slow response and slow response and fast response
Note: The above curves only show the effect of the parameters, not the real running curves.
6.1.4 Torque disturbance observation

Disturbance observer can reduce the influence of external disturbance on servo system and improve the
anti-disturbance ability by detecting and estimating the external disturbance torque of the system and
compensating the torque command.
If the soft mode is selected in the auto-tuning mode, the disturbance observer will be closed
automatically, and the gain of the disturbance observer will not change. If the fast positioning or fast
positioning (control overshoot) is selected, the disturbance observer will be opened automatically, and
the gain of the disturbance observer will be modified to 85. The relevant parameters of this function no
need to be set manually by users.
Default
setting
n.□□□0 Turn-off of disturbance observer
P2-00 n.□□□0 Anytime At once
n.□□□1 Turn-on of disturbance observer
90
Default
Parameter Meaning Unit Setting range Modification Effective
setting
Disturbance
P2-41 99 - 0～100 anytime At once
observer gain
6.2 Adaptive
6.2.1 Overview
Adaptive function means that no matter what kind of machine and load fluctuation, it can obtain stable
response through automatic adjustment. It starts to automatically adjust when servo is ON.
6.2.2 Notes
 When the servo unit is installed on the machine, it may produce instantaneous sound when
the servo is ON. This is the sound when the automatic notch filter is set, not the fault. For the
next time the servo is ON, no sound will be emitted.
 When the inertia of the motor exceeds the allowable load, the motor may produce vibration.
At this time, please modify the adaptive parameters to match the present load inertia.
 In adaptive operation, in order to ensure safety, the adaptive function should be executed at
any time when the servo enablement can be stopped or turned off urgently.
6.2.3 Operation steps

The factory settings are self-adaptive effective without modifying other parameters. The effectiveness
of self-adaptation is controlled by the following parameters.
Parameter Meaning Default setting Modification Effective
n.□□□0 Adaptive shutdown
P2-01 n.□□□1 Servo OFF Re-power on
n.□□□1 Adaptive Opening
6.2.4 Inertia mode

The adaptive default parameter is defined as small inertia mode. If the load inertia far exceeds the
allowable load inertia of the motor (such as 60 times inertia of the 60 motor), the adaptive large inertia
mode can be turned on.
Default
setting
n.0□□□ Adaptive small inertia mode Re-power
P2-03 n.0□□□ Servo OFF
n.1□□□ Adaptive large inertia mode on
Parameter Meaning Default setting Modification Effective

P2-05 Adaptive speed loop gain 400Note1 Servo OFF Re-power on
P2-10 Adaptive speed loop integral 500 Servo OFF Re-power on
P2-11 Adaptive position loop gain 100 Servo OFF Re-power on
P2-07 Adaptive inertia ratio 0 Servo OFF Re-power on
P2-08 Adaptive speed observer gain 60 Servo OFF Re-power on
P2-12 Adaptive stable max inertia ratio 30 Servo OFF Re-power on
P2-16 Adaptive motor rotor inertia coefficient 100 Servo OFF Re-power on
91
P2-19 Adaptive bandwidth 50Note2 Anytime At once
Adaptive large inertia mode speed loop Servo OFF Re-power on
P6-05 200
gain
P6-07 Adaptive large inertia mode inertia ratio 50 Servo OFF Re-power on
Adaptive large inertia mode speed Servo OFF Re-power on
P6-08 40
observer gain
Adaptive large inertia mode max inertia Servo OFF Re-power on
P6-12 50
ratio
Note 1: DS5 series servo 750W and below driver default value is 400; other power section default
value is 200.
Note 2: DS5 series servo 400W and below driver default value is 70; other power section default value
is 50.
6.2.5 Recommended inertia ratio parameters

Under the adaptive default parameters, the load can only run steadily under a certain moment of inertia.
If the load inertia is large, some parameters need to be adjusted. The recommended parameters are as
follows (the parameters are modified under the default parameters).
Motor
Inertia Parameters
flange
Within 20 times
inertia Adaptive small inertia mode (default parameters)
20-30 times
inertia Set P2-08=50, P2-12=40
40~90 30-40 times
inertia Set P2-08=50, P2-12=40, P2-07=10
40-50 times
inertia Set P2-08=50, P2-12=40, P2-07=30
50-80 times Switch to adaptive large inertia mode or set P2-08=40, P2-12=50,
inertia P2-07=50
Within 10 times
10-15 times
110/130
inertia Set P2-08=50, P2-12=40
inertia P2-07=50
Within 5 times
180 and 5-10 times
above inertia Set P2-08=50, P2-12=40
inertia P2-07=50
Note: The large inertia parameters can still drive a smaller inertia load. For example, when the
parameters of 50 times inertia are used in the mechanism of 20 times inertia, only the response will
become worse.
6.2.6 Adaptive parameters effect

Parameter
Default
Small Name Range Effect
value
inertia/large
92
inertia
Reduction can improve the inertia
Adaptive speed capability, but it will reduce the
P2-05/P6-05 400/200 200-400
loop gain responsiveness, which has a greater
impact on the responsiveness.
Increase can greatly improve the inertia
Adaptive load capacity without affecting the
P2-07/P6-07 0/50 0-200
inertia ratio responsiveness. Too large will produce
vibration.
Speed observer Reducing P2-08 and increasing P2-12 can
P2-08/P6-08 60/40 30-60
gain greatly improve the inertia capability, but
Adaptive stable it will reduce the responsiveness, which
P2-12/P6-12 30/50 30-60
max inertia ratio has a great impact on responsiveness.
Adaptive speed Adjust according to need, generally
P2-10 loop integral time 500 200-larger increase
coefficient
Adaptive position Adjust according to the need, increasing
P2-11 loop gain 100 50-200 will make the response fast, reducing will
coefficient make the response slow
Adaptive motor Increasing will improve the servo rigidity
P2-16 rotor inertia 100 100-200 and enhance anti-disturbance ability, can
coefficient solve operation jitter.
Increasing will improve the inertia
Adaptive capacity slightly, and has little effect on
P2-19 50~70 40-80
bandwidth the responsiveness, to be an auxiliary
parameter.
6.2.7 Invalid parameters when adaptive effective

When the adaptive function is effective (P2-01.0=1), the invalid parameters are shown as below:
Item Parameters Descriptions
P1-00 First speed loop gain
P1-05 Second speed loop gain
P1-01 First speed loop integral time constant
P1-06 Second speed loop integral time constant
Gain P1-02 First position loop gain
P1-07 Second position loop gain
P2-49 Model loop gain
P0-07 First inertia ratio
P0-08 Second inertia ratio
P5-33 /G-SEL gain switch
Switch
P5-36 /I-SEL inertia ratio switch
93
6.3 Rotary inertia presumption
6.3.1 Overview
Rotational inertia estimation is the function of automatic operation (forward and reverse) in the driver
and estimate the load inertia in operation.
Rotational inertia ratio (the ratio of load inertia to motor rotor inertia) is a benchmark parameter for
gain adjustment, and it must be set to the correct value as far as possible.
Default
Parameter Meaning Unit Setting range Modification Effective
setting
P0-07 First inertia ratio 200 % 0~50000 Anytime At once
6.3.2 Notes
Occasions where inertia cannot be presumed
 Mechanical systems can only operate in one direction
The occasion where inertia presumption is easy to fail

 Excessive load moment of inertia
 The running range is narrow and the travel is less than 0.5 circles.
 The moment of inertia varies greatly during operation.
 Mechanical rigidity is low and vibration occurs when inertia is presumed.
Notes of Inertia Presumption

 Since both directions are rotatable within the set range of movement, please confirm the
range or direction of movement; and ensure that the load runs in a safe journey.
 If the presumed inertia under default parameters runs jitter, indicating that the present load
inertia is too large, please switch to large inertia mode (P2-03.3=1) and operate again. It is
also possible to set the initial inertia to about twice the current one and execute again under
larger loads.
 Driver inertia ratio recognition upper limit is 200 times (parameter upper limit is 20000). If
the estimated inertia ratio is exactly 20000, it means that the inertia ratio has reached the
upper limit and can not be used, please replace the motor with larger rotor inertia.
Other notes
 At present, the inertia switching function is not supported, and the second inertia ratio is
invalid.
 The inertia ratio upper limit changes t0 500 times for the driver firmware 3700 and higher
version (parameter upper limit value is 50000).
6.3.3 Operation tool

The presumptive tools of load moment of inertia are driver panel and XinjeServo software.
Operation tool Description
Driver panel Driver firmware needs 3700 and higher version
XinjeServo software All versions of software supported
Note: driver firmware version can be checked through U2-07.
94
6.3.4 Operation steps
Estimate the inertia through the driver panel

1. Parameter setting
Default
Parameter Meaning Unit Range Modification Effective
setting
Inertia configured
P2-15 100 0.01 circle 1~3000 Anytime At once
trip
Inertia identification
and internal
P2-17 instruction - rpm 0~65535 Anytime At once
auto-tuning max
speed
Inertia identification
P2-18 500 % 1~20000 Anytime At once
initial inertia ratio
The recommended parameters of P2-17 are 500 rpm or more. Low instruction speed will lead to
inaccurate identification of inertia ratio.
2. Execute the inertia identification

Before inertia identification, please confirm the direction of servo rotation by using F1-00 jog motion
function. Initial direction of servo operation is determined by INC or DEC at the beginning of inertia
identification.
If the servo jitter is under the adaptive default parameters, please switch to the adaptive large inertia
mode (P2-03.3=1) to ensure the basic smooth operation of the servo and then identify the inertia!
Servo entering parameter F0-07 in BB state:
Press ENTER, servo is enabled:
Press INC or DEC to run forward or reverse (select one of them):
or
At this point, start action, under the condition of P-05 = 0 (initial positive direction), if press INC, then
turn forward and then reverse; if press DEC, turn reverse and then forward. If the inertia identification
is successful, the load inertia ratio is prompted and written to P0-07 automatically after several forward
and reverse operations. If the inertia identification error occurs, the error code will be displayed. Press
STA/ESC key to exit the panel inertia identification operation.
 Alarm for inertia identification of panel

Error
Meaning Reasons and solutions Reasons
code
① Initial inertia is too small; in adaptive mode,
Initial inertia too
switch to large inertia mode P2-03.3=1 or the initial
small; Maximum
Motor Torque inertia of inertia identification P2-18 set to 2 times
Err-1 speed too large;
Saturation of the present value.
Torque limit too
② The maximum speed is too high (P2-17), but it is
small
recommended not to be less than 500 rpm. Low
95
instruction speed will lead to inaccurate
identification of inertia ratio.
③ torque limit too small（P3-28/29）
① The maximum speed limit is too small (P2-17),
but it is recommended not to be less than 500 rpm. The maximum
Low instruction speed will lead to inaccurate speed limit is too
value error is too identification of inertia ratio. small; the travel
large when ② The presumed inertia trip is too small. It is is too small; the
Err-2
calculating the suggested that the minimum for P2-15 should no be friction of the
inertia less than 50 (0.5 cycles). If the trip is too small, the mechanism is too
identification of inertia ratio will be inaccurate. large; the overrun
③ mechanism friction too large occurs
④ overshoot
① The presumed inertia trip is too small. It is
Driver internal
suggested that the minimum for P2-15 should no be
Err-3 trip calculation Contact us
less than 50 (0.5 cycles). If the trip is too small, the
error
identification of inertia ratio will be inaccurate.
Unrestrained
Vibration in the Unhandled
Err-5 Unhandled vibration occurs
Process of Inertia vibration occurs
Identification
① Enable have been opened. P5-20 can be set to 0
Will occur when
Driver is not first
enable is turned
Err-6 currently in BB ② When the driver alarms, it will appear. Press
on or driver has
state ESC key to exit the auto-tuning interface to see if
alarm
there is an alarm.
The driver alarms
Driver has alarm, press ESC key to exit the
in the process of
Err-7 auto-tuning interface, check the alarm code, first Driver has alarm
inertia
solve the alarm and then make inertia estimation.
identification
Estimate the inertia through XinJeServo software

1. Click auto-tuning on the main interface of XinJeServo
96
2. select jog setting or manual setting to configure the inertia estimation trip
3. Set the auto-tuning interface
97
4. Click ok to start inertia identification.
Note:
(1) If the auto-tuning interface is closed directly, the driver only configures inertia ratio parameters.
(2) The detailed steps of XinJeServo's presumptive inertia refer to XinJeServo's help document.
98
6.4 Fast adjustment
6.4.1 Overview
Fast adjustment needs to set the moment of inertia of load first, then turn off the adaptive function. If
the inertia does not match, it will cause oscillation alarm. Servo firmware version 3640 and later
versions support this function, and the version is viewed through U2-07. Fast adjustment of gain
parameters belongs to auto-tuning mode.
6.4.2 Fast adjustment steps

1. estimate the load inertia through servo driver panel or XinJeServo software
2. shut down adaptive mode, set P2-01.0 to 0
3. set the rigidity level P0-04
Note: P2-01.0 is the first bit of P2-01
P2-01=n. 0 0 1 0
P2-01.0
6.4.3 Rigidity level corresponding gain parameters

 Rigidity level of firmware 3640
P2-35
P1-00 P1-01 P1-02 P2-49
P0-04 Torque
Speed loop speed loop Position loop Model loop
Rigidity level instruction
gain integral gain gain
filter
1 100 6600 100 100 100
2 200 3300 200 100 300
3 300 2200 300 100 400
4 400 1650 400 100 500
5 450 1467 400 90 600
6 500 1320 450 80 700
7 550 1200 450 70 800
8 600 1100 500 60 900
9 650 1015 550 50 1000
10 700 943 600 40 1100
11 750 880 650 30 1200
12 800 825 700 20 1300
13 850 776 750 10 1400
14 900 733 800 10 1500
15 1000 660 900 10 1600
16 1050 629 950 10 1800
17 1100 600 1000 10 2000
18 1150 574 1050 10 2200
19 1200 550 1100 10 2400
20 1300 508 1100 10 2600
21 1400 471 1200 10 2800
22 1500 440 1300 10 3000
23 1600 413 1400 10 3500
24 1700 388 1500 10 4000
25 1800 367 1600 10 4500
26 1900 347 1700 10 5000
27 2000 330 1800 10 5500
28 2100 314 1900 10 6000
29 2200 300 2000 10 6500
99
30 2300 287 2100 10 7000
31 2400 275 2200 10 7500
 Rigidity level of firmware 3700 and higher versions

P2-35
P1-00 P1-01 P1-02 P2-49
P0-04 Torque
Speed loop speed loop Position loop Model loop
Rigidity level instruction
gain integral gain gain
filter
1 20 31831 20 100 50
2 50 12732 50 100 80
3 70 9094 70 100 90
4 80 7957 80 100 100
5 100 6366 100 100 100
6 120 5305 120 100 150
7 140 4547 140 100 150
8 160 3978 160 100 200
9 180 3536 180 100 250
10 200 3183 200 100 300
11 220 2893 220 100 300
12 240 2652 240 100 350
13 260 2448 260 100 350
14 280 2273 280 100 350
15 300 2122 300 100 400
16 320 1989 320 100 400
17 340 1872 340 100 400
18 360 1768 360 100 450
19 380 1675 380 100 450
20 400 1591 400 100 500
21 450 1414 400 90 600
22 500 1273 450 80 700
23 550 1157 450 70 800
24 600 1061 500 60 900
25 650 979 550 50 1000
26 700 909 600 40 1100
27 750 848 650 30 1200
28 800 795 700 20 1300
29 850 748 750 10 1400
30 900 707 800 10 1500
31 950 670 900 10 1500
32 1000 636 900 10 1600
33 1050 606 950 10 1800
34 1100 578 1000 10 2000
35 1150 553 1050 10 2200
36 1200 530 1100 10 2400
37 1250 509 1100 10 2500
38 1300 489 1100 10 2600
39 1350 471 1200 10 2700
40 1400 454 1200 10 2800
41 1450 439 1250 10 2900
42 1500 424 1300 10 3000
43 1550 410 1350 10 3200
44 1600 397 1400 10 3500
45 1650 385 1450 10 3800
46 1700 374 1500 10 4000
47 1750 363 1750 10 4500
48 1800 353 1800 10 5000
100
49 1850 344 1850 10 5000
50 1900 335 1900 10 5000
51 1950 326 1950 10 5000
52 2000 318 2000 10 5000
53 2050 310 2050 10 6000
54 2100 303 2100 10 6000
55 2150 296 2150 10 6000
56 2200 289 2200 10 6000
57 2250 282 2250 10 6000
58 2300 276 2300 10 6000
59 2350 270 2350 10 6000
60 2400 265 2400 10 6000
61 2450 259 2450 10 6000
62 2500 254 2500 10 6000
63 2600 244 2600 10 6000
The rigidity level should be set according to the actual load. The larger the P-04 value, the greater the
servo gain. If there is vibration in the process of increasing the rigidity level, it is not suitable to
continue to increase. If vibration suppression is used to eliminate vibration, it can try to continue to
increase. The following is the recommended rigidity level of the load, for reference only.
1 20 40 60
Large Load of High Rigid Light-load Ultra-

Flexible Structure Load high Response Load
Flexible structure large load: refers to the type of synchronous belt structure, large load inertia
equipment.
High rigid load: refers to the mechanism of screw rod or direct connection, and equipment with strong
mechanical rigidity.
Ultra-high response load under light load: refers to equipment with very small inertia, strong
mechanical stiffness and high response.
Rigidity level for Rigidity level for

Driver power Default parameters firmware 3640 firmware 3700 and
higher versions
P1-00=200 P1-01=3300
P1-02=200
1.5kw and above 2 10
P2-35=100
P2-49=300
P1-00=300 P1-01=2200
P1-02=300
200w~750w 3 15
P2-35=100
P2-49=400
P1-00=400 P1-01=1650
P1-02=400
100w 4 20
P2-35=100
P2-49=500
101
6.4.4 Notes
 The gain parameters corresponding to the rigidity level can be independently fine-tuned in
the fast adjustment mode.
 In order to ensure stability, the gain of model loops is small at low rigidity level, which can
be added separately when there is high response requirement.
 When vibration occurs in fast adjustment, the torque instruction filter P2-35 can be modified.
If it is ineffective, the mechanical characteristic analysis can be used and the relevant notch
parameters can be set (refer to chapter 6.7 vibration suppression).
 Fast adjustment mode defaults to set a rigidity level. If the gain does not meet the mechanical
requirements, please gradually increase or decrease the settings.
 At present, gain switching function is not supported, that is, the second gain parameters such
as P1-05, P1-06, P1-07 are invalid.
6.5 Auto-tuning
6.5.1 Overview
Auto-tuning is divided into internal instruction auto-tuning and external instruction auto-tuning.
Auto-tuning (internal instruction) refers to the function of automatic operation (forward and reverse
reciprocating motion) of servo unit without instructions from the upper device and adjusting according
to the mechanical characteristics in operation.
Auto-tuning (external instruction) is the function of automatically optimizing the operation according
to the instructions from the upper device.
The automatic adjustments are as follows:
 Load moment of inertia
 Gain parameters (speed loop, position loop, model loop gain)
 Filter (notch filter, torque instruction filter)
6.5.2 Notes
Untunable occasions
 Mechanical systems can only operate in one direction.
Setting occasions that are prone to failure

 Excessive load moment of inertia;
 The moment of inertia varies greatly during operation.
 Low mechanical rigidity, vibration during operation and failure of detection positioning;
 The running distance is less than 0.5 circles.
Preparations before auto-tuning

 Use position mode;
 Driver in BB state;
 Driver without alarm;
 The matching of the number of pulses per rotation and the width of positioning completion
should be reasonable.
102
6.5.3 Operation tools
Internal instruction auto-tuning and external instruction auto-tuning can be executed by driver panel
and XinJeServo software.
Auto-tuning mode Operation tools Limit item
Internal instruction XinJeServo software All the versions support
auto-tuning Driver firmware needs 3700 and higher
external instruction Driver panel versions
auto-tuning
Note: please check the driver firmware version through U2-07.
6.5.4 Internal instruction auto-tuning steps

Driver panel auto-tuning steps
1. The inertia identification is carried out, and the inertia estimation steps please refer to chapter
6.3.4 operation steps.
2. Enter F0-09, panel display is iat-；
3. Press ENTER, panel display is iat--, servo is in enabled status right now;
4. Press INC or DEC, panel display is tune and flashing, enter auto-tuning status;
5. Driver will automatically send pulse instructions, if the auto-tuning is successful, the panel
shows done and flashing.
6. Press STA/ESC to exit internal instruction auto-tuning.

Note: In the process of auto-tuning, press STA/ESC will exit the auto-tuning operation and use the gain
parameters at the exit time. If auto-tuning fails, it is necessary to initialize the driver before auto-tuning
again.
 Panel alarm in auto-tuning process

Error code Meaning Reasons
Too large inertia ratio; too weak rigidity of
Err-1 Failure to search for optimal gain mechanism
Please make sure that there is no overrun
Err-2 Overtrip alarm in auto-tuning process and alarm before auto-tuning.
Driver is not in "bb" state at the time of Please make sure the present status of
Err-6 operation driver
Err-7 Driver alarmed in auto-tuning process The driver alarm occurs
103
XinJeServo software auto-tuning steps
1. click auto-tuning on the XinJeServo software main interface
2. set the auto-tuning trip in jog mode or manually
3. set the auto-tuning interface
104
4. click ok to estimate the inertia.
5. set the auto-tuning parameters
Load type Description

Fit for the adjustment of lower rigidity mechanism such as synchronous
Synchronous belt
belt mechanism.
It is suitable for adjustment of higher rigidity mechanism such as ball
Screw rod screw mechanism. If there is no corresponding mechanism, please choose
this type.
It is suitable for the adjustment of rigid body system and other
Rigid connection
mechanisms with higher rigidity.
Auto-tuning mode Description

Make a soft gain adjustment. Besides gain adjustment, notch filter is
Soft
automatically adjusted.
Make special adjustment for positioning purpose. Besides gain
Fast positioning adjustment, the model loop gain and notch filter are automatically
adjusted.
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In the use of positioning, we should pay attention to adjusting without
Fast positioning
overshoot. Besides gain adjustment, the model loop gain and notch filter
（control overshoot）
are automatically adjusted.
Selection of auto-tuning mode:

(1) Soft (P2-02.0=1):
This method does not open the gain of the model loop and runs softly. It is suitable for the occasion
where the mechanical rigidity is insufficient and the response requirement is not high.
(2) Rapid positioning (P2-02.0=2):
This method has the fastest response for auto-tuning parameters, but has no special suppression to
overshoot.
(3) Rapid positioning (control overshoot) (P2-02.0=3):
This method has quickly response for auto-tuning parameters and suppresses overshoot.
6. Start auto-tuning
7. Wait for the end of the auto-tuning
106
6.5.5 External instruction auto-tuning steps
Driver panel auto-tuning steps
1. The inertia identification is carried out and the step of inertia estimation please refers to the
driver panel inertia estimation (6.3.4 operation step)
2. Shut down adaptive function (P2-01.0 sets to 0), power on again
3. Enter parameter F0-08, it will show Eat-（Exteral Refrence Auto-tuning）
4. Press ENTER, if the enabler is not open, the panel displays Son and flickers, waiting for the
enabler to open, if the enabler has been opened, skip this step;
5. Turn on the servo enabler, the panel displays tune and flickers, enter auto-tuning status.
6. The upper device starts to send pulse, if the auto-tuning is successful, it displays done and
flickers.
7. Press STA/ESC to exit the external instruction auto-tuning.

Note: in the auto-tuning process, press STA/ESC will exit the auto-tuning, and use the gain parameters
at the exit moment.
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 Panel error alarm in auto-tuning process
Err-1 Failure to search for optimal gain
mechanism
①Overrun/alarm occurs during
auto-tuning Please make sure that there is no overrun and
②External instruction alarm before auto-tuning.
Err-2
auto-tuning/Vibration suppression Make sure that the enable is not closed during
mode: servo shut down the enabler auto-tuning
during auto-tuning
Err-3 Current non-position control mode Please auto-tune in position mode
Err-4 Unclosed adaptive function Set P2-01.0 to 0 before auto-tuning
Err-7 Driver alarm during auto-tuning Driver alarmed
Positioning completion signal
Err-8 Short instruction interval
instability
XinJeServo software auto-tuning steps
1. Click auto-tuning on the main interface of XinJeServo software
2. Select jog or manual setting to configure the trip of inertia identification.
3. Set the auto-tuning interface
108
4. Click ok to start the inertia identification.
5. Configure the auto-tuning parameters
109
Auto-tuning mode Description
Make a soft gain adjustment. Besides gain adjustment, notch filter is
Soft
automatically adjusted.
Make special adjustment for positioning purpose. Besides gain adjustment,
Rapid positioning
the model loop gain and notch filter are automatically adjusted.
In the use of positioning, we should pay attention to adjusting without
Rapid positioning
overshoot. Besides gain adjustment, the model loop gain and notch filter
(control overshoot)
are automatically adjusted.
Load type Description
Synchronous belt Adjustment of lower rigidity mechanism such as synchronous belt
It is suitable for adjusting higher rigidity mechanism such as ball screw
Screw mechanism. If there is no corresponding mechanism, please choose this
type.
It is suitable for the adjustment of rigid body system and other mechanisms
Rigid connection
with higher rigidity.
Selection of auto-tuning mode:

(1) Soft (P2-02.0=1):
This method does not open the gain of the model loop and runs softly. It is suitable for the
occasion where mechanical rigidity is insufficient and the responsiveness requirement is not high.
(2) Rapid localization (P2-02.0=2):
This method has the fastest response of tuning parameters, but has no special suppression to
overshoot.
(3) Rapid positioning (control overshoot) (P2-02.0=3):
This method has the faster response of tuning parameters and restrain overshoot.
110
6. Start auto-tune
7. Open the servo enable, then click ok.
8. The upper device starts to send pulses, wait the completion of auto-tuning.
111
9. Auto-tuning is finished, click ok.
6.5.6 Related parameters

The following parameters may be modified during auto-tuning. Do not change them manually during
auto-tuning.
The influence of numerical
Parameter Name Property
value on gain after auto-tuning
P0-07 First inertia ratio
P1-00 First speed loop gain
Integral time constant of the first speed
P1-01
loop
P1-02 First position loop gain
P2-00.0 Disturbance observer switch
P2-01.0 Adaptive mode switch
P2-35 Torque command filter time constant 1
P2-41 Disturbance observer gain Gain
P2-47.0 model loop switch performance Yes
P2-49 model loop gain parameters
P2-55 model speed feedforward gain
P2-60.0 Active vibration suppression switch
P2-61 Active vibration suppression frequency
P2-62 Active vibration suppression gain
P2-63 Active vibration suppression damping
P2-69.0 First notch switch
P2-69.1 Second notch switch
P2-71 First notch frequency
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P2-72 First notch attenuation
P2-73 First notch band width
P2-74 Second notch frequency
P2-75 Second notch attenuation
P2-76 Second notch band width
Inertia identification and internal
P2-17
instruction auto-tuning max speed
P2-86 auto-tuning jog mode
Auto-tuning
P2-87 auto-tuning min limit position
setting No
P2-88 auto-tuning max limit position
parameters
P2-89 auto-tuning max speed
auto-tuning acceleration/deceleration
P2-90
time
Note: P2-60~P2-63 are automatically modified in auto-tuning process. Users are not allowed to modify
them manually. Manual modification may lead to the risk of system runaway.
6.6 Manual adjustment
6.6.1 Overview
Position Speed
control loop control loop
Pulse Speed Servo motor

instruction + Position instruction Speed Torque
error + + Current
loop gain control Kv, instruction M
counter control
- Kp - Ti filter Tf -
Current loop
Speed loop
Position
PG
loop
encoder
Upper device Servo unit
Position control loop diagram (shut down the model loop)
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Pulse instruction
Model
loop
Speed Torque
feedforward feedforward
Position Speed
control loop control loop
Speed
Servo motor
+ Position instruction Speed Torque
Error + + Current
loop gain control Kv, instruction M
counter control
- Kp - Ti filter Tf -
Current loop
Speed loop
Position
PG
loop
encoder
Upper device Servo unit
Position control loop diagram (turn on the model loop)
Servo unit consists of three feedback loops (current loop, speed loop and position loop) from inside to
outside. The more inner loop, the more responsive it is. Failure to comply with this principle will result
in poor response or vibration. Among them, the current loop parameters are fixed values to ensure
adequate responsiveness, and users do not need to adjust.
Please use manual adjustment in the following occasions:
 When the expected effect can not be achieved by fast adjusting the gain
 When the expected effect is not achieved by automatically adjusting the gain
6.6.2 Adjustment steps

In position mode, if the soft mode (P2-02.0=1) is selected by auto-tuning, the function of model loop
will be turned off; in speed mode, the gain of position loop will be invalid.
Increasing response time

1. Reducing the filter time constant of torque instruction (P2-35)
2. Increasing Speed Loop Gain (P1-00)
3. Reducing Integral Time Parameter of Speed Loop (P1-01)
4. Increasing the gain of position loop (P1-02)
5. Improving Model Loop Gain (P2-49)
Reduce response, prevent vibration and overshoot

1. Reducing the Speed Loop Gain (P1-00)
2. Increasing Integral Time Constant of Speed Loop (P1-01)
3. Reducing the gain of position loop (P1-02)
4. Increase the filter time constant of the torque instruction (P2-35)
5. Reducing Model Loop Gain (P2-49)
6.6.3 Gain parameters for adjustment

The gain parameters that need to be adjusted:
P1-00 Speed Loop Gain
P1-01 Integral Time Constant of Speed Loop
P1-02 position loop gain
P2-35 Torque Instruction Filtering Time Constant
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P2-49 Model Loop Gain
 Speed loop gain

Because the response of the speed loop is low, it will become the delay factor of the outer position loop,
so overshoot or vibration of the speed command will occur. Therefore, in the range of no vibration of
mechanical system, the larger the setting value, the more stable the servo system and the better the
responsiveness.
Default
Parameter Name Unit Range Modification Effective
setting
Speed loop
P1-00 200 0.1Hz 10～20000 Anytime At once
gain
 Integral time constant of speed loop

In order to respond to small inputs, the speed loop contains integral elements. Because this integral
factor is a delay factor for servo system, when the time constant is too large, it will overshoot or
prolong the positioning time, which will make the response worse.
The relationship between the gain of the speed loop and the integral time constant of the speed loop is
approximately as follows:
P1-00 ×P1-01 = 636620
Default
Parameter Name Unit Range Modification Effective
setting
integral time
P1-01 constant of speed 3300 0.01ms 15～51200 Anytime At once
loop
 Gain of position loop

When the model loop is invalid (P2-47.0=0), the responsiveness of the position loop of the servo unit is
determined by the gain of the position loop. The higher the position loop gain is, the higher the
responsiveness is and the shorter the positioning time is. Generally speaking, the gain of position loop
cannot be increased beyond the natural vibration number of mechanical system. Therefore, in order to
set the position loop gain to a larger value, it is necessary to improve the rigidity of the machine and
increase the number of inherent vibration of the machine.
Parame Default Modificat
Name Unit Range Effective
ter setting ion
P1-02 Position loop gain 200 0.1/s 10～20000 Anytime At once
 Filter time constant of torque instruction

When machine vibration may be caused by servo drive, it is possible to eliminate vibration by adjusting
the filtering time parameters of the following torque instructions. The smaller the numerical value, the
better the response control can be, but it is restricted by the machine conditions. When vibration occurs,
the parameter is generally reduced, and the adjustment range is suggested to be 10-150.
Param Default Modificat
eter setting ion
P2-35 Filter time constant of 100 0.01ms 0～65535 Anytime At once
torque instruction 1
 Model loop gain

When the model loop is valid (P2-47.0=1), the response of the servo system is determined by the gain
of the model loop. If the gain of the model loop is increased, the responsiveness is increased and the
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positioning time is shortened. At this time, the response of the servo system depends on this parameter,
not P1-02 (position loop gain). The gain of the model loop is only valid in position mode.
Param Default Modificat
eter setting ion
P2-49 Model loop gain 500 0.1Hz 10～20000 Anytime At once
6.7 Vibration suppression
6.7.1 Overview
The mechanical system has a certain resonance frequency. When the servo gain is increased, the
continuous vibration may occur near the resonance frequency of the mechanical system. Generally in
the range of 400Hz to 1000Hz, it caused the gain can not continue to increase. Vibration can be
eliminated by automatically detecting or manually setting the vibration frequency. After the vibration is
eliminated, if the responsiveness needs to be improved, the gain can be further improved.
Note:
(1) Servo responsiveness will change after vibration suppression operation.
(2) Before performing the vibration suppression operation, please set the inertia ratio and gain
parameters correctly, otherwise it can not be controlled properly.
6.7.2 Operation tools

Adjustment
Operation tools Control mode Operation steps Limitation
mode
6.7.4 Vibration
Adaptive XinJeServo Mechanical All versions of PC
Suppression (PC
mode Characteristic Analysis software support
Software)
6.7.3 Vibration Driver firmware
Panel vibration
Position mode Suppression requires version
suppression
Auto-tuning (Panel) 3700 or higher
mode XinJeServo Mechanical 6.7.4 Vibration All versions of PC
Characteristic Analysis Suppression (PC software support
Software)
Note: The firmware version of the drive is viewed through U2-07.
6.7.3 Vibration suppression(panel)

There are two modes of panel vibration suppression, mode 1(vib-1) and mode 2(vib-2).
 Difference between Two Kinds of Vibration Suppression
Mode Display Changed parameters
Mode 1 vib-1 Only the parameters related to vibration suppression will be
changed.
Mode 2 Vib-2 It will change the parameters of vibration suppression and the gain
of speed loop.
The operation steps:

1. Enter F0-10 in auto-tuning mode, the panel shows vib-1 or enter F0-11, the panel shows
vib-2；
or
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2. Press ENTER, panel shows Son and flashes, turn on the enabler by manual;
3. After turn on the enabler, panel shows tune and flickers, enter auto-tuning process;
4. The upper device starts to send pulses, then it will show done and flicker
5. Press STA/ESC to exit

6. Vibration suppression parameters are automatically written into the second and first notches
(the second notches are preferred when there is only one vibration point). The related
parameters are detailed in 6.7.6 notch filter.
 Fault alarm of panel in vibration suppression process

Err-1 Failure to search for optimal gain
mechanism
(1) Overrun/alarm occurs during
auto-tuning Please make sure that there is no overrun and
Err-2 (2) External instruction alarm before auto-tuning.

auto-tuning/Vibration Suppression Make sure that the enabler is not turned off when
Mode: Servo turns off the Enabler auto-tuning
in auto-tuning process
Err-3 Non-position control mode please auto-tune in position mode
Err-4 Not turn off the adaptive function please set P2-01.0 to 0, then auto-tune
Driver alarm in auto-tuning
Err-7 driver alarmed
process
Positioning Completion Signal
Err-8 Short instruction interval
Instability
6.7.4 Vibration suppression (PC software)

1. open XinJeServo software, click mechanical properties;
2. click measure;
3. set the measure conditions, then click execute;

4. select amplitude and phase;
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5. set the filter width (to see resonance frequencies clearly), find the resonance frequency;
6. Notch parameters need to be set manually. Refer to 6.7.6 notch filter for details.
As an example, through the analysis of mechanical characteristics, the resonance frequency is 328
Hz, and the third notch filter can be used. The parameters are as follows:
P2-69 = n.1000 P2-77 = 328
Note: In both adaptive and auto-tuning modes, if mechanical characteristic analysis is used, the notch
can be set manually. If there are multiple resonance points, the third to fifth notch can be configured in
turn.
6.7.5 Vibration suppression (manual setting)

If the resonance frequency of the mechanical system is known, the vibration can be eliminated by
setting the vibration frequency manually. Please configure the third to fifth notches. The related
parameters are detailed in 6.7.6 notch filter.
6.7.6 Notch filter

Notch filter can suppress mechanical resonance by reducing the gain at a specific frequency. After the
notch filter is set correctly, the vibration can be effectively suppressed and the servo gain can be
continuously increased.
The principle diagram of notch filter is as follows:
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mechanical system
Amplitude frequency
characteristic
Mechanical resonance
frequency
frequency
Notch
characteristics
Notch
width
Notch
depth
frequency
Principle diagram of notch filter
The servo driver has five sets of notch filters, each with three parameters, notch frequency, notch
attenuation and notch bandwidth. The first and second notches are set automatically, and the third,
fourth and fifth are set manually.
The torque instruction filter and notch filter are in series in the system. As shown in the figure below,
the switch of the notch filter is controlled by P2-69 and P2-70.
P2-69 P2-70
control control
Torque First Second Third Fourth Fifth Torque

instruction Torque notch notch notch notch notch instruction
before command filter filter filter filter filter after filter
filter filter P2-71 P2-74 P2-77 P2-80 P2-83
P2-35 P2-72 P2-75 P2-78 P2-81 P2-84
P2-73 P2-76 P2-79 P2-82 P2-85
Default
Parameter Meaning Change Effective
setting
n.□□□0 First notch off
n.□□□0 Anytime At once
n.□□□1 First notch on
n.□□0□ Second notch off Anytime At once
P2-69 n.□□0□
n.□□1□ Second notch on
n.0□□□ Third notch off Anytime At once
n.0□□□
n.1□□□ Third notch on
n.□□□0 Fourth notch off Anytime At once
n.□□□0
n.□□□1 Fourth notch on
P2-70
n.□□0□ Fifth notch off Anytime At once
n.□□0□
n.□□1□ Fifth notch on
119
Default
setting
P2-71 First notch frequency 5000 Hz 50～5000 Anytime At once
P2-72 First notch attenuation 70 0.1dB 50～1000 Anytime At once
P2-73 First notch bandwidth 0 Hz 0～1000 Anytime At once
P2-74 Second notch frequency 5000 Hz 50～5000 Anytime At once
P2-75 Second notch attenuation 70 0.1dB 50～1000 Anytime At once
P2-76 Second notch bandwidth 0 Hz 0～1000 Anytime At once
P2-77 Third notch frequency 5000 Hz 50～5000 Anytime At once
P2-78 Third notch attenuation 70 0.1dB 50～1000 Anytime At once
P2-79 Third notch bandwidth 0 Hz 0～1000 Anytime At once
P2-80 Fourth notch frequency 5000 Hz 50～5000 Anytime At once
P2-81 Fourth notch attenuation 70 0.1dB 50～1000 Anytime At once
P2-82 Fourth notch bandwidth 0 Hz 0～1000 Anytime At once
P2-83 Fifth notch frequency 5000 Hz 50～5000 Anytime At once
P2-84 Fifth notch attenuation 70 0.1dB 50～1000 Anytime At once
P2-85 Fifth notch bandwidth 0 Hz 0～1000 Anytime At once
Note:
1. In the adaptive mode, if the vibration is detected, the second notch filter will be automatically
configured.
2. In the auto-tuning mode, the second and first notches will be automatically configured if the
vibration is detected (the second notches will be preferentially opened when there is only one vibration
point).
3. Whether in self-adaptive or auto-tuning mode, if the mechanical characteristic analysis is sued, it
belongs to manual setting of notches, please configure the third to fifth notches.
6.8 Gain adjustment correlation
6.8.1 Load shaking

The following causes cause load wobble:
1. The instruction is not smooth enough when the load inertia is too large.
Countermeasure:
(1) Use position instruction smoothing filter P1-25;
(2) Optimizing the instructions of the upper device to reduce the acceleration of the instructions;
(3) Replace the motor with greater inertia.
2. Servo gain is too small, resulting in insufficient rigidity

Countermeasure:
(1) Increase the gain parameters and rigidity to enhance the anti-disturbance ability.
3. Insufficient rigidity of mechanism and equipment sloshing

Countermeasure:
(1) Reducing gain parameters;
(2) Optimize the instructions of the upper device and reduce the acceleration of the instructions.
120
6.8.2 Vibration
The following causes cause machine vibration:
(1) Vibration due to inappropriate servo gain
Countermeasure: Reduce gain
(2) Mechanical resonance point
Countermeasure: Setting notch parameters manually or through mechanical characteristic analysis
6.8.3 Noise
In adaptive mode:
(1) Inappropriate servo gain
Countermeasure: Reduce the adaptive control bandwidth (P2-19).
In auto-tuning mode:
(1) Inappropriate servo gain
Countermeasure: Under the mode of rapid adjustment, reduce the rigidity level.
Automatic Adjustment Mode: Reducing Model Loop Gain P2-49

(1) Noise due to mechanical resonance
Countermeasure: Refer to 6.8.2 vibration.
7 Alarm
7.1 Alarm code list

Effective time: “√” means record the historical alarm, “empty” means not record,
“○” means can clear the alarm, “empty” means power-off clear the alarm.
Alarm Servo
Property
code status
Code Description
Historical Can be when
type
records cleared alarming
1 EEEE1
EEE 2 EEEE2 Communication error between
E 3 EEEE3 panel and CPU
4 EEEE4
0 E-010 Firmware version mismatch
2 E-012 System Loading Error
3 E-013 FPGA Loading Error
4 E-014 FPGA Access error
01 5 E-015 Program running error
6 E-016 Processor Running Error
7 E-017 Processor Running Timeout
8 E-018 FPGA running timeout
9 E-019 System password error
121
0 E-020 Parameter loading error
1 E-021 Parameter range beyond limit ○
2 E-022 Parameter conflict √ ○
02 3 E-023 Sampling channel setting error
4 E-024 parameter lost √ ○
5 E-025 Erase FLASH error √ ○
6 E-026 Initialization FLASH error √ ○
There are two
possibilities of
bus
undervoltage: (1)
Bus voltage U0-05 is higher than
the low voltage
the actual preset threshold, and
of power grid,
lasts for P0-83 setting time to
(2) the
alarm.
03 0 E-030 undervoltage of ○ Servo OFF
220V Power Supply Machine
bus voltage
(U0-05≥390V)
caused by power
380V Power Supply Machine
failure of driver.
(U0-05≥50V)
The former can
be remembered,
while the latter
can not.
Bus voltage U0-05 is lower than
the actual preset threshold.
220V power supply machine
0 E-040 √ ○
(U0-05 ≤ 150V)
04
380V power supply machine
(U0-05 ≤ 350V)
1 E-041 Driver power down ○
3 E-043 Bus Voltage Charging Failure √ Servo OFF
Module temperature is too high
06 0 E-060 (Module temperature U-06 ≥ 90℃ √ ○
alarm, U-06 ≥ 70℃ Warning)
Overspeed (actual speed ≥
P3-21/P3-22)
08 0 E-080 The maximum forward speed is √ ○
P3-21 and the maximum reverse
speed is P3-22.
Analog Tref Zero-Calibration
2 E-092 √ ○
Over limit
09
Analog Vref Zero-Calibration
3 E-093 √ ○
Over limit
10 0 E-100 Excessive position deviation √ ○
External UVW Short Circuit
11 0 E-110 √ ○ Servo OFF
Discovered in Self-Inspection
0 E-120 Abnormal Current Sensor √ ○ Servo OFF
Abnormal Zero Value of U Phase
1 E-121 √ ○ Servo OFF
12 Current Sampling
Abnormal Zero Value of V Phase
Current Sampling
13 0 E-150 Power cable disconnection √ ○ Servo OFF
1 E-161 Driver thermal power overload √ ○
Anti-blocking alarm
Judging that the current motor
16 output torque is greater than
5 E-165 √ ○
P3-28/P3-29 (internal
forward/reverse torque limit), and
the time reaches P0-74 (unit ms),
122
and the speed is lower than P0-75
(unit 1 rpm).
20 0 E-200 Regenerative resistance overload √ ○
Communication error of absolute
servo encoder
Absolute value servo encoder
2 E-222 battery low voltage alarm (can √ ○ Servo OFF
22 shield this alarm)
Absolute value servo encoder data
access alarm
Absolute Servo Encoder Value
Overflow
0 E-260 Over range alarm √ ○
26 1 E-261 Overrun signal connection error √ ○
2 E-262 Control stop timeout √ ○ Servo OFF
4 E-264 Excessive vibration √ ○
read motor code inside encoder
28 0 E-280 √ ○ Servo OFF
error
0 E-310 motor code error √ Servo OFF
1 E-311 motor code lost √ ○ Servo OFF
31
The motor code does not match
the software version
7.2 Analysis of alarm types
DS5 alarm code format is E-XX□, “XX” means main type, “□” means sub-type.
Type Code Description Reasons Solutions
1 EEEE1 (1) Voltage (1) Stable power supply to
2 EEEE2 fluctuation of power ensure the stability of power
3 EEEE3 Communication supply is large, and supply voltage.
EE
error between low voltage leads to (2) after repower on the driver, if
EE
panel and CPU failure of panel the alarm cannot be removed,
4 EEEE4
refresh; (2) Damage of please contact the agent or the
panel program manufacturer.
Firmware version Downloaded firmware please contact the agent or the
0 E-010
mismatch version error manufacturer
System Loading please contact the agent or the
2 E-012 Program damage
Error manufacturer
FPGA Loading (1) Program damage please contact the agent or the
3 E-013
Error (2) Device damage manufacturer
(1) Program damage please contact the agent or the
FPGA Access (2) Device damage manufacturer
4 E-014
error (3) serious external
interference
01
Program running please contact the agent or the
5 E-015 Program damage
error manufacturer
Processor Running please contact the agent or the
6 E-016 Hardware damage
Error manufacturer
Processor Running Program damage please contact the agent or the
7 E-017
Timeout manufacturer
FPGA running Program damage please contact the agent or the
8 E-018
timeout manufacturer
System password Program damage please contact the agent or the
9 E-019
error manufacturer
02 0 E-020 Parameter loading Failure of parameter Re-energizing can restore default
123
error self-checking parameters, if there are repeated
problems, please contact the
agent or manufacturer.
Setting values are not
Parameter range
1 E-021 within the prescribed Check parameters and reset them
beyond limit
range
Conflict of TREF or
P0-01=4, P3-00 set to 1 will
2 E-022 Parameter conflict VREF Function
alarm
Settings
Error setting of custom
Sampling channel output trigger channel
3 E-023 Check that the settings are correct
setting error or data monitoring
channel
(1) If it is single-phase 220V
power supply, please connect L1
Low voltage of power and L3.
4 E-024 parameter lost
grid (2) show E-024 immediately after
power failure
(3) Resetting parameters
E-025 Erase FLASH Abnormal parameter please contact the agent or the
5 error preservation during manufacturer
power failure
E-026 Initialization FLASH Power supply please contact the agent or the
6 error instability of FLASH manufacturer
chip
Check the fluctuation of power
grid, 220V driver normal voltage
range 200V ~ 240V, 380V driver
High voltage of power normal voltage range 360V ~
grid 420V. If the voltage fluctuation is
large, it is recommended to use
the correct voltage source and
regulator.
(1) connect external regenerative
resistor, (220V: bus voltage
U0-05 = 380 discharge starts,
Bus voltage U0-05 U-05 = 350 discharge ends;
is higher than the 380V: U-05 = 700 discharge
Excessive load
actual preset starts, U-05 = 660 discharge
moment of inertia
threshold, and ends;)
(insufficient
lasts for P0-83 (2) Increasing Acceleration and
regeneration capacity)
setting time to Deceleration Time
03 0 E-030 alarm. (3) Reducing load inertia
220V Power (4) Reduce start-stop frequency
Supply Machine (5) Replacement of larger power
(U0-05≥390V) drivers and motors
380V Power Check the regenerative resistor
Supply Machine Brake resistance and replace the external resistor
(U0-05≥50V) damage or excessive with the appropriate resistance
resistance value value. See chapter 1.4.1 for the
selection of the external resistor.
Acceleration and
Extending Acceleration and
deceleration time is
Deceleration Time
too short
The AC gear of the multimeter
measures the input value of the
Hardware Fault of
servo LN (R/S/T), which is 220V
Driver Internal
±10% of the normal value. If the
Sampling Circuit
power supply voltage is more
than 220V+10% (380V+10%),
124
check the power supply voltage;
if the power supply voltage is
normal, then the servo BB state,
monitor U0-05, the voltage
measured by the multimeter *
1.414 < U0-05 (within 10V
error), then the servo driver is
faulty and needs to be sent back
for repair.
(1) Check the fluctuation of
power grid. The normal voltage
range of 220V driver is
low voltage of power
200V~240V. If the voltage
grid when normal
fluctuation is large, the voltage
power on
regulator is recommended.
(2) Replacement of larger
Bus voltage U0-05
capacity transformers
is lower than the
Instantaneous power Re-energize after voltage
actual preset
failure stabilization
threshold.
220V power
0 E-040 measures the input value of the
supply machine
servo LN (R/S/T), which is 220V
(U0-05 ≤ 150V)
± 10% of the normal value. If <
380V power
220V + 10% (380V + 10%), then
supply machine
04 Hardware Fault of check the supply voltage; if the
(U0-05 ≤ 350V)
Driver Internal supply voltage is normal, then
Sampling Circuit servo BB state, monitoring
U0-05, multimeter measurement
voltage * 1.414 > U0-05 (error
within 10V), then the servo driver
is faulty and needs to be sent
back for repair.
Driver power
1 E-041 Driver power off Check the power supply
down
low voltage of power
low voltage of power grid when
grid when normal
normal power on
Bus Voltage power on
3 E-043
Charging Failure When the driver is on, please pay
Hardware damage attention to whether there is relay
actuation sound.
Re-consider the capacity of the
motor, monitor the U0-02 torque
Running under during operation, whether it is in the
Module heavy load for a value of more than 100 for a long
temperature is too long time time, if yes, please chose the
high large-capacity motor or load
(Module reduction.
6 0 E-060
temperature U-06 (1) Enhance ventilation measures to
≥ 90℃ alarm, reduce ambient temperature;
U-06 ≥ 70℃ Excessive ambient (2) Check whether the fan rotates
Warning) temperature when the servo is enabled; when the
module temperature U-06 ≥45℃,
the fan opens.
Fan damage Replace the fan
Overspeed (actual Check if the driver P0-33 is
speed ≥ identical with the motor code of the
P3-21/P3-22) Motor code not motor label (the number after
08 0 E-080
The maximum match MOTOR CODE), if not, please
forward speed is change to the same one, then power
P3-21 and the on again.
125
maximum reverse Inspection of motor UVW wiring,
speed is P3-22. UVW wiring error need to be connected in phase
sequence.
(1) The maximum speed limit value
P3-21/P3-22 was reduced.
(2) To confirm whether the external
Motor speed too fast force makes the motor rotate too
fast, whether the pulse input
frequency is too high, and whether
the electronic gear ratio is too large.
(1) Check the encoder cable or
change a new one
(2) Set the servo driver to BB state
and the driver to U-10. Rotate the
Encoder fault motor shaft slowly by hand to see if
the value of U-10 changes
normally, increasing in one
direction and decreasing in one
direction (0-9999 cycle display).
When the actual speed is greater
Parameter setting than the value of P3-21/P3-22, the
alarm will be given.
E-092 Analog Tref Analog Zero
Please correct zero without analog
Zero-Calibration Calibration
voltage
Over limit Operation Error
E-093 Analog Vref Analog Zero
Please correct zero without analog
Zero-Calibration Calibration
voltage
Over limit Operation Error
In position control,
(1) Observe whether the motor is
the difference
blocked or not.
between the given
Position offset too (2) Reducing the given speed of
10 0 E-100 position and the
large position;
actual position
(3) Increase the deviation pulse
exceeds the limit
limit P0-23.
value.
Check if the driver P0-33 is
identical with the motor code of the
Not match the motor motor label (the number after
code MOTOR CODE), if not, please
change to the same one, then power
on again.
Inspection of motor UVW wiring,
UVW wiring error need to be in phase sequence
(brown U, black V, blue W)
(1) Measure whether the UVW
phase resistance of the motor is
External UVW
balanced. If the phase resistance is
Short Circuit
11 0 E-110 unbalanced, replace the motor.
Discovered in
(2) Measure whether there is short
Self-Inspection
circuit between UVW and PE of the
Driver UVW Output motor. If there is short circuit,
Short Circuit or replace the motor.
Motor Failure (3) Measure the driver side UVW
output through multimeter (diode
gear), black pen P+, red pen to
measure UVW; red pen P-, black
pen to measure UVW; if anyone is
0 in 6 groups of value, replace the
driver.
Load part is blocked It is suggested that the motor should
126
be operated on an empty shaft to
eliminate the load problem.
High-speed
Increasing Acceleration and
start-stop
Deceleration Time
instantaneous alarm
(1) Check the encoder cable or
change a new one
(2) Set the servo driver to BB state
and the driver to U-10. Rotate the
Encoder problem motor shaft slowly by hand to see if
the value of U-10 changes
normally, increasing in one
direction and decreasing in one
direction (0-9999 cycle display).
Current Sensor Check whether grounding is normal
Abnormal Current Damage or External or not. If alarm cannot be ruled out,
0 E-120
Sensor Interference too please contact the agent or
serious manufacturer.
Abnormal Zero
Damage or External or not. If alarm cannot be ruled out,
12 1 E-121 Value of U Phase
Interference too please contact the agent or
Current Sampling
Abnormal Zero
Damage or External or not. If alarm cannot be ruled out,
2 E-122 Value of V Phase
Interference too please contact the agent or
Current Sampling
Disconnect the power supply of the
driver and check the connection of
Any phase in UVW the power cable. It is suggested that
Power cable
13 0 E-150 of driver, cable or the multimeter be used to test the
disconnection
motor broken condition. After eliminating the
errors, the driver should be
re-energized.
Check if the driver P0-33 is
identical with the motor code of the
Not match the motor label (the number after
motor code MOTOR CODE), if not, please
change to the same one, then power
on again.
Overload, the actual
operating torque
exceeds the rated
torque, and
continuous
operation for a long
time. (Monitor
Driver thermal Increase the capacity of drivers and
16 1 E-161 U0-02 to check the
power overload motors. Extend the acceleration and
actual operating
deceleration time and reduce the
torque. If the motor
load. Monitor the U-00, whether it
is in normal
is running over speed.
operation, it will
not jam or jitter. If
the U0-02 is longer
than 100, it will be
considered
improper selection
of the motor.)
Mechanisms are
Eliminate mechanical distortion.
impacted, suddenly
Reduce load
weighted and
127
distorted.
Measure the voltage of the brake
terminal and decide to open the
brake.
Motor action when
It is suggested to use servo BK
motor brake is not
signal to control the brake lock. If it
opened
is not servo control, attention must
be paid to the timing of brake
opening and motor action.
Check the UVW connection of
power cable to see if there is any
Wrong wiring of
phase sequence error.
encoder cable,
The multimeter is used to measure
power cable or
whether all the encoder cable are
broken wire or
on. Check whether the plug is loose,
loose pin of
for machine vibration, whether the
connector plug
plug has shrinkage pin, virtual
welding, damage.
In multiple
mechanical wirings,
Detection of servo wiring, the
incorrect
motor cable, encoder cable are
connection of motor
correctly connected to the
cable to other shafts
corresponding shaft.
leads to incorrect
wiring.
Poor gain
adjustment results
in motor vibration,
Readjustment of gain parameters
back and forth
swing and abnormal
noise.
There are servo cross test or motor
empty shaft on site, F1-01 trial
operation, F1-00 jog run can not
Driver or motor
rotate uniformly;
hardware failure;
Replace the new driver or motor
and send the malfunction machine
back to the manufacturer for repair.
Anti-blocking
alarm (1) Eliminate the factors of
Judging that the mechanical distortion. Reduce load
current motor (1) Machinery is
(2) Measure the voltage of the brake
impacted, suddenly
output torque is terminal and determine the opening
becomes heavier
greater than of the brake;
and distorted;
P3-28/P3-29 It is suggested to use servo BK
(2) When the brake
brake signal to control the brake
5 E-165 (internal of the motor is not
lock. If it is not servo control,
forward/reverse opened, the motor
attention must be paid to the timing
torque limit), and moves;
of brake opening and motor action.
(3) The parameter
the time reaches (3) Monitor the actual output torque
setting is
P0-74 (unit ms), range of U0-02 and check whether
unreasonable.
and the speed is the setting of P3-28/29 torque limit
is reasonable.
lower than P0-75
(unit 1 rpm).
High Voltage
Fluctuation in Stable the input voltage
Regenerative
20 0 E-200 Power Grid
resistance overload
Selection of Replacement of higher power
regenerative regenerative resistors (refer to
128
resistance is too chapter 1.4.1)
small
Acceleration and
Extending Acceleration and
deceleration time is
Deceleration Time
too short
measures the input value of the
servo LN (R/S/T), which is 220V ±
10% of the normal value. If the
power supply voltage is more than
220V+10% (380V+10%), check the
Hardware damage power supply voltage; if the power
supply voltage is normal, then in
servo BB state, monitor U0-05, the
voltage measured by the multimeter
* 1.414 < U0-05 (within 10V error),
then the servo driver is faulty and
needs to be sent back for repair.
Motor matching Check if the motor matches
error correctly
Disconnect the power supply of the
driver, check the connection of the
Communication encoder cable, if there is cable
error of absolute loosening, it is recommended to use
Unconnected
servo encoder the multimeter to test the
encoder cable or
Absolute value conduction condition; after
poor contact
servo encoder eliminating errors, power on again
0 E-220 battery low voltage Hot plugging is strictly prohibited,
alarm (can shield and special cables are required for
this alarm) tank chains.
Absolute value Received encoder Encoder wire and strong power do
servo encoder data data errors, and the not have the same pipeline wiring;
access alarm number of errors install filter on servo driver power
exceeds the number input side; encoder wire sleeves
of error retries of magnetic ring; shut down welding
encoder registers machine type of equipment with
P0-56 large interference
Please replace the battery while
keeping the power supply ON of the
22 Battery Voltage in
servo driver in order to avoid the
Battery Box of
error of encoder position
Encoder cable is
information. Battery specification:
less than 2.75V
No.5 battery, 3.6V (model
CP-B-BATT, CPT-B-BATT)
(1) When the absolute value motor
is powered off, the memory position
Absolute Servo
depends on the battery on the
Encoder Value
encoder cable. Once the encoder
Overflow
2 E-222 cable and the motor are
Communication
disconnected, the power supply can
error of absolute
not be carried out, which will lead
servo encoder
Power on alarm for to the loss of the current position of
new machine the motor, it will alarm 222.
Please set F0-00=1 to clear the
alarm, it can be used normally.
(2) The alarm can be shielded by
using F0-79. When P0-79 is set to
1, it will be used as a single-loop
absolute value motor, and the
current position will not be
129
remembered when power off.
Usually the
Absolute value
problem of the
servo encoder In the absence of batteries, this
encoder itself, or
3 E-223 battery low voltage alarm may occur when the encoder
the power supply of
alarm (can shield cable is disconnected.
the encoder is
this alarm)
unstable.
Motor continues to
(1) F1-06=1 is used to clear cycles
Absolute value run in one direction,
of the absolute value encoder
8 E-228 servo encoder data encoder data value
(2) The alarm can be shielded by
access alarm is too large,
P0-79=1.
overflow
Overrun signal was
If you do not want to alarm
detected and the
immediately when the overrun
0 E-260 Over range alarm overrun processing
occurs, you can change the overrun
mode was
signal processing mode.
configured to alarm
(1) When the motor
is in forward
rotation, it
encounters reverse
Overrun signal overrun signal. Check over-run signal connection
1 E-261
connection error (2) When the motor and over-run terminal allocation.
is in reverse
rotation, it
encounters forward
overrun signal.
(1) Excessive
inertia (1) Reduce inertia or use brake
(2) Stop timeouts motor;
Control stop
2 E-262 too short (2) Increase the stop timeout time
timeout
(3) The setting of P0-30;
braking torque is (3) Increase braking torque P3-32.
26
too small.
(1) Check the source of external
force to see if there are any
problems in mechanical installation;
(2) Increase the servo gain to
improve the anti-disturbance ability;
(1) Oscillation
(3) Acquisition speed curve
caused by external
analysis; When the first three peaks
forces
are convergenced after pulse
(2) Load inertia is
instruction completed (0.8* | first
large and the setting
peak | > | second peak | and 0.8* |
4 E-264 Excessive vibration of load inertia ratio
second peak | > | third peak |), the
is wrong or the gain
driver should not alarm, which can
is too small, which
adjust the relevant threshold.
leads to the
When the first three peaks speed are
oscillation of
not less than 300 rpm for three
positioning.
consecutive times after the
completion of the pulse instruction,
the driver will alarm.
(4) Contact manufacturers for
technical support
read motor code
Encoder cable
28 0 E-280 inside encoder Check the encoder cable
disconnected
error
Motion bus
30 0 E-300 motor code error communication Check the motion bus wiring
abnormal
130
Set correct motor code and power
0 E-310 motor code lost Motor code is error
on again
The motor code
1 E-311 does not match the Not set motor code Set the motor code in P0-33
31 software version
Update the motor
parameters or
4 E-314 Over range alarm Contact the manufacturers
software version
8 Appendix
Appendix 1. PX-XX parameters list

Modification and effective:
“○” means modifying when servo OFF and take effect at once.
“√” means modifying anytime and take effect at once.
“●” means modifying when servo OFF and take effect when power on again.
“△” means modifying anytime and take effect when the motor doesn’t rotate.
For parameters set in hexadecimal system, the prefix "n." is added to the setting value to indicate that
the current setting value is hexadecimal number.
Composition of parameters:
PX-XX=n. x x x x
PX-XX.0
PX-XX.1
PX-XX.2
PX-XX.3
P0-XX：
Reference
Parameter Function Unit Default value Range Effective Suitable mode
chapter
Control mode 1
1-Internal Torque
Mode
2-External Analog
Torque Mode
3-Internal speed
P0-01 - 6 1~10 ○ 1|2|3|4|5|6|7|10 5.1
Model
4-External Analog
speed Mode
5-Internal
Location Mode
6-External Pulse
131
Position Mode
7-External Pulse
speed Mode
8-XNET Bus
Torque Mode
9-XNET Bus
Speed Mode
10-XNET Bus
Location Mode
Control mode 2 5.1
P0-02 - 6 1~10 ○ 1|2|3|4|5|6|7|10
(ditto)
Enabling mode
0-not enabled
1-IO enable
P0-03 2-Software - 1 0~3 ○ 1|2|3|4|5|6|7|10 5.2.1
Enablation
3-XNET Bus
Enablation
20P1：0
20P2/20P4/20P
P0-04 Rigidity grade - 0~63 △ 1|2|3|4|5|6|7|10 6.4
7：15
>=21P5：10
Definition of
P0-05 rotation direction - 0 0~1 ● 1|2|3|4|5|6|7|10 5.2.2
0- positive mode
1- negative mode
20P1：800
P0-07 First inertia ratio 1% 0~50000 √ 1|2|3|4|5|6|7|10 -
>20P1：200
Forward Direction
of Input Pulse
Instruction
P0-09 0-Forward Pulse - 0 0~1 ○ 6|7 5.3.2
Counting
1-Reverse Pulse
Counting
0-CW/CCW
P0-10.0 1-AB - 2 0~2 ○ 6|7 5.3.2
2-P+D
Number of
instruction pulses
per cycle
P0-11～ 0: Electronic gear 0~9999999
ratio 1 pul 10000 ○ 5|6 5.3.3
P0-12 9
Non-0: Number of
command pulses
required for motor
rotation
Electronic Gear ○
P0-13 - 1 0~65535 5|6 5.3.3
Numerator
Denominator of ○
P0-14 - 1 0~65535 5|6 5.3.3
Electronic Gear
P0-15 pulse frequency 100Hz 1000 1~10000 ○ 7 5.7.3
132
corresponding to
rated speed
speed command
P0-16 0.01ms 100 0~10000 ○ 7 5.7.4
pulse filter time
0.01
P0-23 pulse offset limit 2000 0~65535 √ 5|6|10 5.3.9
circles
Version 3640 and
before this
parameter is the
choice of
discharge
resistance type
0: built in
1: external
P0-24 Version 3700 and - 0 0~1 ○ 1|2|3|4|5|6|7|10 1.4.1
later this
parameter is
invalid, the
software
automatically
determines the
built-in and
external
20P7：50
Power Value of
Others：100
P0-25 Discharge W 1~65535 ○ 1|2|3|4|5|6|7|10 1.4.1
80(set as driver
Resistance
model)
Discharge 50(set as driver
P0-26 Ω 1~500 ○ 1|2|3|4|5|6|7|10 1.4.1
resistance value model)
Servo shutdown
the enable stop
P0-27 mode - 0 0~5 ○ 1|2|3|4|5|6|7|10 5.2.3
0-Inertial
Operation Stop
2-deceleration stop
Servo Overrun
Stop Mode
0-deceleration stop
P0-28 1 - 2 0~3 ○ 1|2|3|4|5|6|7|10 5.2.3
1-Inertial Stop
2-deceleration stop
2
3-Alarm Stop
Servo Alarm Stop
Mode
P0-29 0-Inertial - 2 0~2 ○ 1|2|3|4|5|6|7|10 5.2.3
Operation Stop
2-deceleration stop
P0-30 stop timeout time 1ms 20000 0~65535 ○ 1|2|3|4|5|6|7|10 5.2.3
Deceleration stop
P0-31 1ms 25 0~5000 ○ 1|2|3|4|5|6|7|10 5.2.3
time
133
P0-33 Set the motor code - 0 0~ffff ● 1|2|3|4|5|6|7|10 4.7
Fan switch
Turn on the fan
when the
temperature
greater than 45℃
and turn off the
P0-69 fan when less than - 1 0~1 √ 1|2|3|4|5|6|7|10 -
42℃ (hysteresis
3℃)
1 - Turn on the fan
after enabling, turn
off the fan when
not enabling
Blocking alarm
P0-74 ms 0 0~65535 √ 1|2|3|4|5|6|7|10 5.2.7
time
Blocking alarm
P0-75 rpm 50 5~9999 √ 1|2|3|4|5|6|7|10 5.2.7
speed
Absolute Encoder
Battery
Undervoltage
Alarm Switch
(firmware version
20160304 and
P0-79 later) - 1 0~1 ● 1|2|3|4|5|6|7|10 5.11.1
0-Battery
Undervoltage
Alarm Effective
1-Shielded Battery
Undervoltage
Alarm
Thermal Power
Protection of
Motor
0-current
P0-80 protection - 2 0~2 ● 1|2|3|4|5|6|7|10 -
1-Average
Thermal Power
Protection
2-Analog Thermal
Power Protection
32-bit electronic
gear ratio 1~9999
numerator.
P0-92～
take effect when - 1 ○ 5|6 5.3.3
P0-93
P0-11～P0-14 is 1~65535
0. P0-92*1 +
P0-93 *10000
P0-94～ 32-bit electronic
- 1 1~9999 ○ 5|6 5.3.3
P0-95 gear ratio
134
denominator.
take effect when
P0-11～P0-14 is 1~65535
0. P0-94*1 +
P0-95 *10000
P1-XX：
Reference
Parameter Function Unit Default value Range Effective Suitable mode
chapter
20P1：400
P1-00 First speed loop gain 0.1Hz 10~20000 √ 1|2|3|4|5|6|7|10 6.1
Others：200
Integral Time
20P1：1650
P1-01 Constant of the First 0.01ms 15~51200 √ 1|2|3|4|5|6|7|10 6.1
Others：3300
Speed Loop
First position loop 20P1：400
P1-02 0.1/s 10~20000 √ 1|2|3|4|5|6|7|10 6.1
gain Others：200
Speed feedforward
P1-10 1% 0 0~300 √ 5|6|7|10 6.1
gain
Speed feedforward
P1-11 0.01ms 50 0~10000 √ 5|6|7|10 6.1
filter time
Speed Instruction
Filter Selection
P1-22 0-first order low pass - 0 0~1 ○ 3|4|7 5.6
filter
1-Smooth Average
Filter
speed instruction filter
P1-23 0.1ms 0 0~65535 ○ 3|4|7 5.6
time
position instruction
P1-24 first order low pass 0.1ms 0 0~65535 △ 5|6|10 5.3
filter time
position instruction
P1-25 0.1ms 0 0~65535 △ 5|6|10 5.3
smooth filter time
P2-XX：
Default Reference
Parameter Function Unit Range Effective Suitable mode
value chapter
Disturbance observer
P2-00.0 switch - 0 0~1 ○ 1|2|3|4|5|6|7|10 6.1
0- OFF
1- ON
Adaptive mode
switch 20P1：0
P2-01.0 - 0~1 ● 1|2|3|4|5|6|7|10 6.1
0-OFF Others：1
1-ON
20P2/20P4/
Adaptive level
P2-01.1 0-high response - 20P7/21P5：1 0~1 ● 1|2|3|4|5|6|7|10 -
1-low noise Others：0
P2-02.0 Auto-tuning mode - 3 1~3 √ 1|2|3|4|5|6|7|10 6.5

1-soft
135
2-fast positioning
3-fast positioning,
control the overshoot
Load type (valid only
during auto-tuning)
P2-02.2 1- synchronous belt - 2 1~3 √ 1|2|3|4|5|6|7|10 6.5.4
2- screw rod
3-Rigid Connection
Adaptive load type
P2-03.3 0-Small Inertia Mode - 0 0~1 ● 1|2|3|4|5|6|7|10 6.3
1-Large Inertia Mode
20P1/20P2/
Adaptive mode speed 20P4/20P7：
P2-05 0.1Hz 1~65535 ○ 1|2|3|4|5|6|7|10 6.1
loop gain (standard) 400
>=21P5：200
Adaptive mode
P2-07 inertia ratio % 0 0~10000 ○ 1|2|3|4|5|6|7|10 6.1
(standard)
20P1/20P2/
Gain of adaptive
20P4/20P7：
P2-08 mode speed observer Hz 10~1000 ○ 1|2|3|4|5|6|7|10 6.1
60
(standard)
>=21P5：40
Maximum Inertia
P2-12 Ratio of Adaptive - 30 1~10000 ○ 1|2|3|4|5|6|7|10 6.1
Mode (Standard)
Inertia Identification
and Internal
P2-15 Instruction 0.01r 100 1~3000 √ 1|2|3|4|5|6|7|10 6.3
Auto-tuning
Maximum Travel
Maximum Speed of
Inertia Identification
P2-17 and Internal - 0 0~65535 √ 1|2|3|4|5|6|7|10 6.3
Instruction
Auto-tuning
Initial Inertia Ratio
P2-18 of Inertia % 500 1~20000 √ 1|2|3|4|5|6|7|10 6.3
Identification
20P1：100
Adaptive mode 20P2，20P4：
P2-19 % 1~100 ○ 1|2|3|4|5|6|7|10 6.2
bandwidth 70
>=20P7：50
Torque Instruction
P2-35 Filtering Time 0.01ms 100 0~65535 √ 1|2|3|4|5|6|7|10 6.1
Constant 1
Torque Instruction
P2-36 Filtering Time 0.01ms 100 0~65535 √ 1|2|3|4|5|6|7|10 -
Constant 2
136
Disturbance Torque
Compensation
P2-41 Coefficient % 99 0~100 √ 1|2|3|4|5|6|7|10 6.1
(Non-adaptive Mode
Effective)
Model Loop Switch
P2-47.0 0-OFF - 0 0~f √ 3|4|5|6|7|10 6.1
1-ON
P2-49 Model loop gain 0.1Hz 500 10~20000 √ 3|4|5|6|7|10 6.1
Active Vibration
P2-60.0 Suppression Switch - 0 0~1 √ 3|4|5|6|7|10 6.5
0-OFF
1-ON
Active Suppression
Auto-tuning Switch
0-Active Vibration
Suppression is not
P2-60.1 Configured in - 1 0~1 √ 3|4|5|6|7|10 6.5
auto-tuning
1- configure the
Active Vibration
Suppression when
auto-tuning
Active Vibration
P2-61 Suppression 0.1Hz 10000 10~20000 √ 1|2|3|4|5|6|7|10 6.5
frequency
Active Vibration
P2-62 % 100 1~1000 √ 1|2|3|4|5|6|7|10 6.5
Suppression gain
Active Vibration
P2-63 % 100 0~300 √ 1|2|3|4|5|6|7|10 6.5
Suppression damping
Active Vibration
P2-64 Suppression - 0 -10000~10000 √ 1|2|3|4|5|6|7|10 -
frequency 1
Active Vibration
P2-65 Suppression - 0 -10000~10000 √ 1|2|3|4|5|6|7|10 -
frequency 2
P2-69.0 Notch filter 1 switch - 0 0~1 √ 1|2|3|4|5|6|7|10 6.5
P2-69.1 Notch filter 2 switch - 0 0~1 √ 1|2|3|4|5|6|7|10 6.5
P2-69.3 Notch filter 3 switch - 0 0~1 √ 1|2|3|4|5|6|7|10 -
P2-71 First notch frequency Hz 5000 50~5000 √ 1|2|3|4|5|6|7|10 6.5
First notch
P2-72 0.1dB 70 50~1000 √ 1|2|3|4|5|6|7|10 6.5
attenuation
First notch band
P2-73 Hz 0 0~1000 √ 1|2|3|4|5|6|7|10 6.5
width
Second notch
P2-74 Hz 5000 50~5000 √ 1|2|3|4|5|6|7|10 6.5
frequency
Second notch
P2-75 0.1dB 70 50~1000 √ 1|2|3|4|5|6|7|10 6.5
attenuation
P2-76 Second notch band Hz 0 0~1000 √ 1|2|3|4|5|6|7|10 6.5
137
width
Third notch
P2-77 Hz 5000 50~5000 √ 1|2|3|4|5|6|7|10 6.7
frequency
Third notch
P2-78 0.1dB 70 50~1000 √ 1|2|3|4|5|6|7|10 6.7
attenuation
Third notch band
P2-79 Hz 0 0~1000 √ 1|2|3|4|5|6|7|10 6.7
width
Fourth notch
P2-80 Hz 5000 50~5000 √ 1|2|3|4|5|6|7|10 6.7
frequency
Fourth notch
P2-81 0.1dB 70 50~1000 √ 1|2|3|4|5|6|7|10 6.7
attenuation
Fourth notch band
P2-82 Hz 0 0~1000 √ 1|2|3|4|5|6|7|10 6.7
width
P2-83 Fifth notch frequency Hz 5000 50~5000 √ 1|2|3|4|5|6|7|10 6.7
Fifth notch
P2-84 0.1dB 70 50~1000 √ 1|2|3|4|5|6|7|10 6.7
attenuation
Fifth notch band
P2-85 Hz 0 0~1000 √ 1|2|3|4|5|6|7|10 6.7
width
P3-XX：
Default Reference
value chapter
V-REF Function
Allocation
0-V-REF as Speed
Instruction Input
1-V-REF will be used
as input reference
P3-00 value of external - 0 0~2 ○ 1|2|4 5.5
speed limit. The actual
speed limit depends on
the speed limit of
external analog
quantity.
2-Speed Feedforward
Analog voltage
corresponding to rated
P3-01 0.001V 10000 1500~30000 ○ 1|2|4 5.5
speed (5E/5L not
support)
Analog voltage speed
P3-02 filter (5E/5L not 0.01ms 0 0~10000 √ 1|2|4 5.5
support)
Speed instruction
input dead zone
P3-03 0.001v 0 0~500 √ 1|2|4 5.5
voltage (5E/5L not
support)
V-REF analog speed
P3-04 - 0 0~1 √ 1|2|4 5.5
direction(5E/5L not
138
support)
P3-05 Preset speed 1 rpm 0 -9999~9999 √ 3 5.6.2
P3-09 Acceleration time ms 0 0~65535 ○ 3|4|7 5.6.3
P3-10 Deceleration time ms 0 0~65535 ○ 3|4|7 5.6.3
Zero-speed clamping
P3-12 - 0 0~3 ○ 3|4|7 5.6.6
mode
Zero-speed clamping
P3-13 rpm 10 0~300 ○ 3|4|7 5.6.6
speed
Forward Maximum
P3-14 Speed Instruction rpm 4000 0~10000 ○ 1|2|3|4|5|6|7|10 5.6.5
Limit
Reverse Maximum
P3-15 Speed Instruction rpm 4000 0~10000 ○ 1|2|3|4|5|6|7|10 5.6.5
Limit
Internal Forward
P3-16 Speed Limitation in rpm 2000 5~10000 √ 1|2 5.9.3
Torque Control
Internal Reverse
P3-17 Speed Limitation in rpm 2000 5~10000 √ 1|2 5.9.3
Torque Control
P3-18 Jogging speed rpm 100 0~1000 ○ 1|2|3|4|5|6|7|10 4.4.2
P3-19 forward warning speed rpm 3000 0~10000 ○ 1|2|3|4|5|6|7|10 5.12.2
P3-20 reverse warning speed rpm 3000 0~10000 ○ 1|2|3|4|5|6|7|10 5.12.2
forward alarming
P3-21 rpm 4000 0~10000 ○ 1|2|3|4|5|6|7|10 5.6.10
speed
P3-22 reverse alarming speed rpm 4000 0~10000 ○ 1|2|3|4|5|6|7|10 5.6.10
T-REF Function
Allocation
0 - Input as Torque
Instruction
1 - As a necessary
P3-23 condition for limiting - 0 0~2 ○ 2|3|4|5|6|7|10 5.5/5.8
input of external
torque, the minimum
value is valid
compared with
P3-28/P3-29.
2-Torque Feedforward
analog value
corresponding to rated
P3-24 0.001V 10000 1500~30000 ○ 2|3|4|5|6|7|10 5.8
torque (5E/5L not
support)
Analog Voltage
P3-25 Torque Filtering 0.01ms 0 0~10000 √ 2|3|4|5|6|7|10 5.8
Time(5E/5L not
139
support)
Torque instruction
input dead-zone
P3-26 0.001V 0 0~500 √ 2|3|4|5|6|7|10 5.8
voltage (5E/5L not
support)
Analog Torque
Forward Direction
P3-27 (5E/5L not support) - 0 0~1 ○ 2|3|4|5|6|7|10 -
0-forward
1-reverse
Internal forward
P3-28 % 300 0~1000 √ 1|2|3|4|5|6|7|10 5.6.7
torque limit
Internal reverse torque
P3-29 % 300 0~1000 √ 1|2|3|4|5|6|7|10 5.6.7
limit
external forward
P3-30 % 300 0~1000 √ 1|2|3|4|5|6|7|10 5.6.7
torque limit
external reverse torque
P3-31 % 300 0~1000 √ 1|2|3|4|5|6|7|10 5.6.7
limit
P3-32 Brake torque 1% 300 0~1000 √ 1|2|3|4|5|6|7|10 5.2.3
P3-33 Preset torque % 0 -1000~1000 √ 1 5.9.2
Torque mode -
P3-45 ms 40 0~9999 √ 1|2
switching delay
P4-XX：
Defau Suitab Referen
Effecti
Parameter Function Unit lt Range le ce
ve
value mode chapter
Z phase signal numbers
The Z phase signal numbers after
P4-00.0 pcs 2 0~f ○ 5|6|10 5.4.7
leaving the limit switch (note: stop when
N+1 Z phase signal reached)
Search the origin function
P4-00.1 0-OFF - 0 0~1 ○ 5|6|10 5.4.7
1-ON
return to zero overrun prohibition
P4-00.2 0-not prohibit - 0 0~1 ○ 5|6|10 5.4.7
1-prohibit
P4-01 Speed of hitting the proximity switch rpm 600 0~65535 ○ 5|6|10 5.4.7
P4-02 Speed of leaving proximity switch rpm 100 0~65535 ○ 5|6|10 5.4.7
Internal Location Given Mode Sets
Location Mode
P4-03.0 - 0 0~1 ○ 5 5.4.2
0-relative positioning
1-Absolute positioning
Internal Position-Given Mode Sets Step
Change Mode
P4-03.1 0-step-changing when signal is ON, - 0 0~5 ○ 5 5.4.2
recyclable
1-change step at signal rising edge,
140
single step execution
2-starting at Signal rising edge,
sequential execution of all, no cycle
3-set segment no. through
communication
4-/CHSTP dual edge triggerring
5-choose segment no. through the
terminal
PREFA(P5-57)/PREFB(P5-58)/PREFC(
P5-59), can choose 3 segments
Internal position mode sets waiting
mode
P4-03.2 - 0 0~1 ○ 5 5.4.2
0-wait positioning completion
1-not wait positioning completion
P4-04 Valid segment number - 0 0~35 ○ 5 5.4.3
-32768999
P4-10～
First segment pulse 1pul 0 9~ √ 5 5.4.3
P4-11
327679999
0.1rp
P4-12 First segment speed 0 0~65535 √ 5 5.4.3
m
P4-13 First segment acceleration time 1ms 0 0~65535 √ 5 5.4.3
P4-14 First segment deceleration time 1ms 0 0~65535 √ 5 5.4.3
P4-16 Adjusting time 1ms 0 0~65535 √ 5 5.4.3
P4-10+(n-1)
*7 ~ segment 1 to 35 pulse parameters (n is
- - - √ 5 5.4.3
P4-16+(n-1) segment number)
*7
P5-XX：
Paramete Default Reference
Function Unit Range Effective Suitable mode
r value chapter
Positioning
Comman
P5-00 completion 11 1~65535 √ 5|6|10 5.3.6
d unit
width/COIN
Location Completion
P5-01 - 0 0~3 √ 5|6|10 5.3.6
Detection Mode
Location completion
P5-02 ms 0 0~65535 √ 5|6|10 5.3.6
retention time
Rotation Detection
P5-03 rpm 50 0~10000 √ 1|2|3|4|5|6|7|10 5.12.3
Speed
Same speed detection
P5-04 rpm 50 0~10000 √ 1|2|3|4|5|6|7|10 5.6.8
speed
Reached detection
P5-05 rpm 1000 0~10000 √ 1|2|3|4|5|6|7|10 5.6.9
speed
Positioning near Comman
P5-06 50 0~65535 √ 5|6|10 5.3.7
output width d unit
P5-07 Servo OFF delay time ms 500 0~65535 ○ 1|2|3|4|5|6|7|10 5.2.5
P5-08 Brake instruction rpm 30 20~10000 ○ 1|2|3|4|5|6|7|10 5.2.5
141
output speed
Brake instruction
P5-09 ms 500 0~65535 ○ 1|2|3|4|5|6|7|10 5.2.5
waiting time
user-defined output 1
P5-10 - 0 0~ffff √ 1|2|3|4|5|6|7|10 5.12.6
trigger condition
Set a value that
Relating
compares with the
P5-11 to trigger 0 -9999~9999 √ 1|2|3|4|5|6|7|10 5.12.6
trigger condition of
condition
custom output 1
Select custom output 1
P5-12 - 0 0~3 √ 1|2|3|4|5|6|7|10 5.12.6
mode
Relating
Setting custom output
P5-13 to trigger 0 0~65535 √ 1|2|3|4|5|6|7|10 5.12.6
1 hysteresis
condition
Custom Output 2
P5-14 - 0 0~ffff √ 1|2|3|4|5|6|7|10 5.12.6
Trigger Condition
Set a value that
Relating
compares with the
P5-15 to trigger 0 -9999~9999 √ 1|2|3|4|5|6|7|10 5.12.6
trigger condition of
condition
custom output 2
Select custom output 2
P5-16 - 0 0~3 √ 1|2|3|4|5|6|7|10 5.12.6
mode
Relating
Setting custom output
P5-17 to trigger 0 0~65535 √ 1|2|3|4|5|6|7|10 5.12.6
2 hysteresis
condition
IO Filtering time
P5-18 - 1 0~10000 √ 1|2|3|4|5|6|7|10 5.12.8
multiple
Z phase output
P5-19 ms 2 1~65535 √ 1|2|3|4|5|6|7|10 5.12.5
maintain time
/S-ON: servo signal
00: Set the signal to be
invalid all the time.
01: Input positive
signal from SI1
terminal.
02: Input positive
signal from SI2
terminal.
03: Input positive
signal from SI3
P5-20.0~
terminal. - 01 0~ff √ 1|2|3|4|5|6|7|10 5.2.1
1
04: Input positive
signal from SI4
terminal.
10: Set the signal to
always be "valid".
11: Inverse signal is
input from SI1
terminal.
input from SI2
terminal.
142
input from SI3
terminal.
input from SI4
terminal.
SI terminal filtering
P5-20.2 ms 0 0~f √ 1|2|3|4|5|6|7|10 -
time
P5-21.0~ /P-CON proportion
- 00 0~ff √ 1|2|3|4|5|6|7|10 5.6.12
1 action instruction
P5-21.2 ms 0 0~f √ 1|2|3|4|5|6|7|10 -
time
P5-22.0~ /P-OT: Forbidden
- 03 0~ff √ 1|2|3|4|5|6|7|10 5.2.4
1 forward driving
P5-22.2 ms 0 0~f √ 1|2|3|4|5|6|7|10 -
time
P5-23.0~ /N-OT: forbidden
- 04 0~ff √ 1|2|3|4|5|6|7|10 5.2.4
1 reverse driving
P5-23.2 ms 0 0~f √ 1|2|3|4|5|6|7|10 -
time
P5-24.0~ /ALM-RST: alarm
- 02 0~ff √ 1|2|3|4|5|6|7|10 5.12.1
1 clear
P5-24.2 ms 0 0~f √ 1|2|3|4|5|6|7|10 -
time
/P-CL：External
P5-25.0~
Torque Limitation at - 00 0~ff √ 1|2|3|4|5|6|7|10 5.6.7
1
Forward Rotation Side
P5-25.2 ms 0 0~f √ 1|2|3|4|5|6|7|10 -
time
/N-CL：External
P5-26.0~
Torque Limitation at - 00 0~ff √ 1|2|3|4|5|6|7|10 5.6.7
1
Reverse Rotation Side
P5-26.2 ms 0 0~f √ 1|2|3|4|5|6|7|10 -
time
/SPD-D: Internal
P5-27.0~
Speed Direction - 00 0~ff √ 1|2|3|4|7 5.6.4
1
Selection
P5-27.2 ms 0 0~f √ 1|2|3|4|7 -
time
/SPD-A: Internal
P5-28.0~
Setting Speed - 00 0~ff √ 3|5 5.6.4
1
Selection
P5-28.2 ms 0 0~f √ 3|5 -
time
/SPD-B: Internal
P5-29.0~
Setting Speed - 00 0~ff √ 3|5 5.6.4
1
Selection
P5-29.2 ms 0 0~f √ 3|5 -
time
P5-30.0~ /C-SEL: control mode
- 00 0~ff √ 1|2|3|4|5|6|7|10 5.1.2
1 selection
P5-30.2 ms 0 0~f √ 1|2|3|4|5|6|7|10 -
time
P5-31.0~ /ZCLAMP: zero
- 00 0~ff √ 3|4|7 5.6.6
1 position clamping
143
P5-31.2 ms 0 0~f √ 3|4|7 -
time
P5-32.0~ /INHIBIT: Instruction
- 00 0~ff √ 5|6|7 5.3.8
1 pulse prohibition
P5-32.2 ms 0 0~f √ 5|6|7 -
time
P5-33.0~ /G-SEL: gain
- 00 0~ff √ 1|2|3|4|5|6|7|10 6.2.7
1 switching
P5-33.2 ms 0 0~f √ 1|2|3|4|5|6|7|10 -
time
P5-34.0~ /CLR: pulse offset
- 00 0~ff √ 5|6|10 5.3.5
1 clear
P5-34.2 ms 0 0~f √ 5|6|10 -
time
/CHGSTP: internal
P5-35.0~
position mode change - 00 0~ff √ 5 5.4.4
1
step signal
P5-35.2 ms 0 0~f √ 5 -
time
P5-36.0~ /I-SEL: inertia ratio
- 00 0~ff √ 1|2|3|4|5|6|7|10 6.2.7
1 switching
P5-36.2 ms 0 0~f √ 1|2|3|4|5|6|7|10 -
time
/COIN_HD: Location
Completion
Maintenance
00: No output to
terminal
01: Output positive
signal from SO1
terminal
02: Output positive
signal from SO2
terminal
P5-37 03: Output positive - 0000 0~ffff √ 5|6|10 5.3.6
signal from SO3
terminal
11: Output reverse
signal from SO1
terminal
12: Output reverse
signal from SO2
terminal.
13: Output reverse
Signal from SO3
terminal
/COIN: positioning
P5-38 - 0001 0~ffff √ 5|6|10 5.3.6
completion
/V-CMP: same speed
P5-39 - 0000 0~ffff √ 3|4|7 5.6.8
detection
/TGON: rotation
P5-40 - 0000 0~ffff √ 1|2|3|4|5|6|7|10 5.12.3
detection
P5-41 /S-RDY: ready - 0000 0~ffff √ 1|2|3|4|5|6|7|10 5.12.4
P5-42 /CLT: torque limit - 0000 0~ffff √ 1|2|3|4|5|6|7|10 5.6.7
/VLT: speed limit
P5-43 - 0000 0~ffff √ 1|2 5.9.4
detection
P5-44 /BK: brake locking - 0000 0~ffff ○ 1|2|3|4|5|6|7|10 5.2.5
144
P5-45 /WARN: warning - 0000 0~ffff √ 1|2|3|4|5|6|7|10 5.12.2
P5-46 /NEAR: near - 0000 0~ffff √ 5|6|10 5.3.7
P5-47 /ALM: alarm - 0002 0~ffff √ 1|2|3|4|5|6|7|10 5.2.6
/Z: encoder Z phase
P5-48 - 0000 0~ffff √ 1|2|3|4|5|6|7|10 5.12.5
signal output
/XNETERR: Xnet
P5-49 - 0 0~ffff √ 10 -
error signal
/MRUN: internal
5.4.9
P5-50 position mode motion - 0000 0~ffff √ 5
starting signal
/V-RDY: speed
P5-51 - 0000 0~ffff √ 3|4|7 5.6.9
reached
/USER1: user-defined
P5-52 - 0000 0~ffff √ 1|2|3|4|5|6|7|10 5.12.6
output 1
/USER2: user-defined
P5-53 - 0000 0~ffff √ 1|2|3|4|5|6|7|10 5.12.6
output 2
/PREFA: intenral
P5-57.0~
position selection - 00 0~ff √ 5 5.4.2
1
signal A
P5-57.2 ms 0 0~f √ 5 -
time
/PREFB: intenral
P5-58.0~
1
signal B
P5-58.2 ms 0 0~f √ 5 -
time
/PREFC: internal
P5-59.0~
1
signal C
P5-59.2 ms 0 f~f √ 5 -
time
/SYNC：(Modbus
P5-60.0~
analog motion bus) - 00 0~ff √ 5 -
1
update instruction
P5-60.2 ms 0 0~f √ 5 -
time
/TRAJ-START:
P5-61.0~
Motion start trigger - 00 0~ff √ 5 -
1
signal
P5-61.2 ms 0 0~f √ 5 -
time
/SRDY: Output
Conditions Selection
0: This terminal is
turned on after
P5-70 initialization of the - 0 0~1 √ 1|2|3|4|5|6|7|10 5.12.4
driver is completed
1: This terminal will
not turn on until
enabled.
Function Selection of -
P5-71 Directional Terminal - 0 0~1 √ 7
of Pulse Speed Mode
145
P6-XX：
Default Reference
value chapter
Adaptive Mode Speed
P6-05 Loop Gain (Large 0.1Hz 200 1~65535 ○ 1|2|3|4|5|6|7|10 6.2.4
Inertia)
Adaptive mode inertia
P6-07 % 50 0~10000 ○ 1|2|3|4|5|6|7|10 6.2.4
ratio (Large inertia)
Gain of adaptive mode
P6-08 speed observer (large Hz 40 10~1000 ○ 1|2|3|4|5|6|7|10 6.2.4
inertia)
Maximum Inertia Ratio
P6-12 of Adaptive Mode - 50 1~10000 ○ 1|2|3|4|5|6|7|10 6.2.4
(Large Inertia)
P7-XX：
Default Reference
value chapter
P7-00 RS485 station no. - 1 0~100 ○ 1|2|3|4|5|6|7|10 3.1.4
RS485 baud rate
00：300
01：600
02：1200
03：2400
04：4800
05：9600
06：19200
07：38400
08：57600
09：115200
0A：192000 Baud
P7-01.0~1 06 0~16 ○ 1|2|3|4|5|6|7|10 -
0B：256000 rate
0C：288000
0D：384000
0E：512000
0F：576000
10：768000
11：1M
12：2M
13：3M
14：4M
15：5M
16：6M
RS485 stop bit
Stop
P7-01.2 0：2 bits 2 0~2 ○ 1|2|3|4|5|6|7|10 -
bit
2：1 bit
146
RS485 parity bit
0-no parity Parity
P7-01.3 2 0~2 ○ 1|2|3|4|5|6|7|10 -
1-odd parity bit
2-even parity
RS485
communication
protocol
1-Modbus Rtu
P7-02 - 1 1~255 ○ 1|2|3|4|5|6|7|10 5.10
protocol
2-Xnet bus protocol
3-read Xnet bus
torque
Xnet Synchronized
P7-03 1ms 9 1~500 ○ 10 5.10
sampling time
P7-04 Xnet slave station data - 15 1~500 ○ 10 5.10
Xnet slave station
P7-05 - 10 1~20 ○ 10 5.10
numbers
Number of
P7-06 communication times 10 1~500 ○ 10 5.10
overtime retries
Bus instruction refresh
P7-07 1us 3000 1~65535 ○ 10 5.10
cycle
Compensation
P7-08 Threshold of Position - 0 0~0 ○ 10 5.10
Deviation
Compensation times
P7-09 - 0 0~0 ○ 10 5.10
for Position Deviation
P7-10 RS232 station no. - 1 0~100 ○ 1|2|3|4|5|6|7|10 -
RS232 baud rate
00：300
01：600
02：1200
03：2400
04：4800
05：9600
06：19200
07：38400 Baud
P7-11.0~1 06 0~16 ○ 1|2|3|4|5|6|7|10 -
08：57600 rate
09：115200
0A：192000
0B：256000
0C：288000
0D：384000
0E：512000
0F：576000
10：768000
147
11：1M
12：2M
13：3M
14：4M
15：5M
16：6M
RS232 stop bit Stop
P7-11.2 0：2-bit 2 0~2 ○ 1|2|3|4|5|6|7|10 -
bit
2：1 bit
RS232 parity bit
Parity
P7-11.3 0-no parity 2 0~2 ○ 1|2|3|4|5|6|7|10 -
1-odd parity bit
2-even parity
Return to zero
P7-20 - 1 -9999~99999 ○ 10 5.10
direction (bus)
Filtering time after ScanA
P7-21 400 1~65535 ○ 10 5.10
return to zero(bus) Cycle
Appendix 2. UX-XX monitoring parameters

U0-XX：
Code Contents Unit
U0-00 servo motor speed Rpm
U0-01 Input speed instruction Rpm
U0-02 Torque instruction % rated
U0-03 Mechanical angle 1°
U0-04 Electric angle 1°
U0-05 Bus voltage V
U0-06 IPM temperature ℃
U0-07 Torque feedback % rated
U0-08 (0000～9999)*1 Instruction
pulse offset
U0-09 (0000～65535)*10000 pulse
U0-10 (0000～9999)*1
Encoder feedback Encoder pulse
U0-11 (0000～65535)*10000
U0-12 (0000～9999)*1 Instruction
input instruction pulse numbers pulse
U0-13 (0000～65535)*10000
U0-14 (0000～9999)*1 Instruction
position feedback pulse
U0-15 (0000～65535)*10000
U0-16 (0000～9999)*1
encoder accumulated position Encoder pulse
U0-17 (0000～65535)*10000
U0-18 Torque current 0.01A
U0-19 Analog input V-REF value 0.01V
U0-20 Analog input T-REF value 0.01V
148
U0-21 Input signal status 1
U0-22 Input signal status 2
U0-23 output signal status 1
U0-24 ouput signal status 2
U0-25 (0000～9999)*1
Input pulse frequency 1Hz
U0-26 (0000～9999)*10000
U0-37 VREF AD Raw value
U0-38 TREF AD Raw value
U0-41 Instantaneous output power 1W
U0-42 Average output power 1W
U0-43 Instantaneous thermal power 1W
U0-44 average thermal power 1W
1 command
U0-49 position feedforward
unit
U0-50 speed feedforward rpm
U0-51 torque feedforward % rated
U0-52 Instantaneous Bus Capacitor Power 1W
U0-53 Average Bus Capacitor Power 1W
U0-55 Discharge power of instantaneous regenerative braking 1W
U0-56 Average regenerative brake discharge power 1W
U0-57 Absolute encoder present position (0000～65536)*1 Encoder pulse
U0-58 feedback low 32-bit (0000～65536)*10000
U0-59 Absolute encoder present position (0000～65536)*1 Encoder pulse
U0-60 feedback high 32-bit (0000～65536)*10000
U0-61 Xnet communication error amounts
U0-62 Xnet Communication Waiting Synchronization Frame State Interference
Xnet Communication Waiting for Synchronization Frame State
U0-63
Receiving Data Frame
U0-64 Xnet Communication Waiting Data Frame State Interference
Xnet Communication Waiting for Data Frame Status Receive
U0-65
Synchronized Frame
U0-66 Xnet communication CRC parity error
U0-67 Xnet communication UART error
U0-68 Xnet communication timeout counting
U0-69 communication encoder timeout counting
U0-89 Real-time speed feedback (displaying range -99.99~99.99rpm) 0.01rpm
U0-91 Multi-circle absolute motor circles
U1-XX：
Code Contents Unit
U1-00 present alarm code
U1-01 present warning code
U1-02 U phase current when alarming 0.01A
U1-03 V phase current when alarming 0.01A
U1-04 bus voltage when alarming V
U1-05 IGBT temperature when alarming ℃
U1-06 torque current when alarming 0.01A
U1-07 excitation current when alarming A
149
Instruction
U1-08 position offset when alarming
pulse
U1-09 speed when alarming rpm
Seconds(low 16-bit) when alarming, cumulated seconds from the first
U1-10 s
time power-on
Seconds(high 16-bit) when alarming, cumulated seconds from the first
U1-11 s
time power-on
U1-12 this time running error numbers, counting after power on this time
U1-13 this time operation warning numbers, counting after power on this time
U1-14 historical alarm amounts
U1-15 historical warning amounts
U1-16 Recent 2nd alarm code
U1-17 Recent 3rd alarm code
U1-18 Recent 4th alarm code
U1-21 Recent 2nd warning code
U1-22 Recent 3rd warning code
U1-23 Recent 4th warning code
U2-XX：
Code Contents Unit
U2-00 Power on times
U2-01 series
U2-02 Model (low 16-bit)
U2-03 Model (high 16-bit)
U2-04 out of factory date: year
U2-05 out of factory date: month
U2-06 out of factory date: day
U2-07 Firmware version
U2-08 Hardware version
U2-09 Total running time (from the first time power on) hour
U2-10 Total running time (from the first time power on) minute
U2-11 Total running time (from the first time power on) second
U2-12 This time running time (from this time power on) hour
U2-13 This time running time (from this time power on) minute
U2-14 This time running time (from this time power on) second
Average output power (from the first time enabled, average power in
U2-15 1W
the process of enabling)
Average thermal power (from the first time enabled, average power in
U2-16 1W
the process of enabling)
Average bus capacitor filter power (from the first time power on,
U2-17 1W
average power in the process of power on)
U2-20 Device serial no.: low 16-bit
U2-21 Device serial no.: high 16-bit
U2-22 Firmware generation date: year
U2-23 Firmware generation date:month/day
150
U2-24 Firmware generation date: hour/minute
Appendix 3. FX-XX auxiliary function parameters

Code Contents Effective Refrence chapter
F0-00 Clear the alarm Servo OFF 4.4.1
F0-01 Restore to out of factory settings Servo OFF 4.4.1
F0-02 clear the position offset Servo OFF 4.4.1
F1-00 Jog run Servo OFF 4.4.2
F1-01 Test run Servo OFF 4.4.2
F1-02 Current Sampling Zero-correction Servo OFF 4.4.2
F1-03 Vref (speed analog) zero-correction Servo OFF 4.4.2
F1-04 Tref (torque analog) zero-correction Servo OFF 4.4.2
F1-05 software enable Servo OFF 4.4.2
F1-06 Clear multi-loop data, clear alarm Servo OFF 5.11.4
Appendix 4. Modbus address list

Parameter Modbus address Notes
Modbus address is added 1 in turn from 0x0000, for
P0-00~P0-xx 0x0000~0x0021
example, Modbus address of P0-23 is 0x0017
P1-00~P1-xx 0x0100~0x011C
example, Modbus address of P1-10 is 0x010A
Modbus address is added 1 in turn from 0x020F, for
P2-15~P2-xx 0x020F~0x0224
P3-00~P3-xx 0x0300~0x0324
example, Modbus address of P3-13 is 0x030D
P4-00~P4-xx 0x0400~0x041F
P5-00~P5-xx 0x0500~0x0535
P6-00~P6-xx 0x0600~0x06xx
P7-00~P7-xx 0x0700~0x070F
example, Modbus address of P7-11 is 0x070B
U0-00~U0-xx 0x1000~0x1035
example, Modbus address of U0-05 is 0x1005
U1-00~U1-xx 0x1100~0x1119
example, Modbus address of U1-14 is 0x110E
U2-00~U2-xx 0x1200~0x1214
example, Modbus address of U2-08 is 0x1208
F0-00~F0-xx 0x2000~0x2002
example, Modbus address of F0-01 is 0x2001
F1-00~F1-xx 0x2100~0x2105
example, Modbus address of F1-03 is 0x2103
151
 Group P parameters
Modbus address Modbus address
parameter Parameter
Hex Decimal Hex Decimal
P0-00 0x0000 0 P0-17 0x0011 17
P0-01 0x0001 1 P0-18 0x0012 18
P0-02 0x0002 2 P0-19 0x0013 19
P0-03 0x0003 3 P0-20 0x0014 20
P0-04 0x0004 4 P0-21 0x0015 21
P0-05 0x0005 5 P0-22 0x0016 22
P0-06 0x0006 6 P0-23 0x0017 23
P0-07 0x0007 7 P0-24 0x0018 24
P0-08 0x0008 8 P0-25 0x0019 25
P0-09 0x0009 9 P0-26 0x001A 26
P0-10 0x000A 10 P0-27 0x001B 27
P0-11 0x000B 11 P0-28 0x001C 28
P0-12 0x000C 12 P0-29 0x001D 29
P0-13 0x000D 13 P0-30 0x001E 30
P0-14 0x000E 14 P0-31 0x001F 31
P0-15 0x000F 15 P0-32 0x0020 32
P0-16 0x0010 16 P0-33 0x0021 33

Parameter Parameter
P1-00 0x0100 256 P1-15 0x010F 271
P1-01 0x0101 257 P1-16 0x0110 272
P1-02 0x0102 258 P1-17 0x0111 273
P1-03 0x0103 259 P1-18 0x0112 274
P1-04 0x0104 260 P1-19 0x0113 275
P1-05 0x0105 261 P1-20 0x0114 276
P1-06 0x0106 262 P1-21 0x0115 277
P1-07 0x0107 263 P1-22 0x0116 278
P1-08 0x0108 264 P1-23 0x0117 279
P1-09 0x0109 265 P1-24 0x0118 280
P1-10 0x010A 266 P1-25 0x0119 281
P1-11 0x010B 267 P1-26 0x011A 282
P1-12 0x010C 268 P1-27 0x011B 283
P1-13 0x010D 269 P1-28 0x011C 284
P1-14 0x010E 270

Parameter Parameter
P2-00 0x0200 512 P2-15 0x20F 527
P2-01 0x0201 513 P2-16 0x210 528

Parameter Parameter
P3-00 0x0300 768 P3-19 0x0313 787
P3-01 0x0301 769 P3-20 0x0314 788
P3-02 0x0302 770 P3-21 0x0315 789
152
P3-03 0x0303 771 P3-22 0x0316 790
P3-04 0x0304 772 P3-23 0x0317 791
P3-05 0x0305 773 P3-24 0x0318 792
P3-06 0x0306 774 P3-25 0x0319 793
P3-07 0x0307 775 P3-26 0x031A 794
P3-08 0x0308 776 P3-27 0x031B 795
P3-09 0x0309 777 P3-28 0x031C 796
P3-10 0x030A 778 P3-29 0x031D 797
P3-11 0x030B 779 P3-30 0x031E 798
P3-12 0x030C 780 P3-31 0x031F 799
P3-13 0x030D 781 P3-32 0x0320 800
P3-14 0x030E 782 P3-33 0x0321 801
P3-15 0x030F 783 P3-34 0x0322 802
P3-16 0x0310 784 P3-35 0x0323 803
P3-17 0x0311 785 P3-36 0x0324 804
P3-18 0x0312 786

Parameter Parameter
P4-00 0x0400 1024 P4-15 0x040F 1039
P4-01 0x0401 1025 P4-16 0x0410 1040

Parameter Parameter
P5-00 0x0500 1280 P5-27 0x051B 1307
P5-01 0x0501 1281 P5-28 0x051C 1308
P5-02 0x0502 1282 P5-29 0x051D 1309
P5-03 0x0503 1283 P5-30 0x051E 1310
P5-04 0x0504 1284 P5-31 0x051F 1311
P5-05 0x0505 1285 P5-32 0x0520 1312
P5-06 0x0506 1286 P5-33 0x0521 1313
P5-07 0x0507 1287 P5-34 0x0522 1314
P5-08 0x0508 1288 P5-35 0x0523 1315
P5-09 0x0509 1289 P5-36 0x0524 1316
P5-10 0x050A 1290 P5-37 0x0525 1317
P5-11 0x050B 1291 P5-38 0x0526 1318
P5-12 0x050C 1292 P5-39 0x0527 1319
P5-13 0x050D 1293 P5-40 0x0528 1320
P5-14 0x050E 1294 P5-41 0x0529 1321
P5-15 0x050F 1295 P5-42 0x052A 1322
P5-16 0x0510 1296 P5-43 0x052B 1323
P5-17 0x0511 1297 P5-44 0x052C 1324
P5-18 0x0512 1298 P5-45 0x052D 1325
P5-19 0x0513 1299 P5-46 0x052E 1326
P5-20 0x0514 1300 P5-47 0x052F 1327
P5-21 0x0515 1301 P5-48 0x0530 1328
P5-22 0x0516 1302 P5-49 0x0531 1329
P5-23 0x0517 1303 P5-50 0x0532 1330
P5-24 0x0518 1304 P5-51 0x0533 1331
153
P5-25 0x0519 1305 P5-52 0x0534 1332
P5-26 0x051A 1306 P5-53 0x0535 1333

Parameter Parameter
P6-00 0x0600 1536 P6-10 0x060A 1546
P6-01 0x0601 1537 P6-11 0x060B 1547

Parameter Parameter
P7-00 0x0700 1792 P7-10 0x070A 1802
P7-01 0x0701 1793
 Group U monitoring parameters

Parameter Parameter
U0-00 0x1000 4096 U0-28 0x101C 4124
U0-01 0x1001 4097 U0-29 0x101D 4125
U0-02 0x1002 4098 U0-30 0x101E 4126
U0-03 0x1003 4099 U0-31 0x101F 4127
U0-04 0x1004 4100 U0-32 0x1020 4128
U0-05 0x1005 4101 U0-33 0x1021 4129
U0-06 0x1006 4102 U0-34 0x1022 4130
U0-07 0x1007 4103 U0-35 0x1023 4131
U0-08 0x1008 4104 U0-36 0x1024 4132
U0-09 0x1009 4105 U0-37 0x1025 4133
U0-10 0x100A 4106 U0-38 0x1026 4134
U0-11 0x100B 4107 U0-39 0x1027 4135
U0-12 0x100C 4108 U0-40 0x1028 4136
U0-13 0x100D 4109 U0-41 0x1029 4137
U0-14 0x100E 4110 U0-42 0x102A 4138
U0-15 0x100F 4111 U0-43 0x102B 4139
U0-16 0x1010 4112 U0-44 0x102C 4140
U0-17 0x1011 4113 U0-45 0x102D 4141
U0-18 0x1012 4114 U0-46 0x102E 4142
U0-19 0x1013 4115 U0-47 0x102F 4143
U0-20 0x1014 4116 U0-48 0x1030 4144
U0-21 0x1015 4117 U0-49 0x1031 4145
U0-22 0x1016 4118 U0-50 0x1032 4146
U0-23 0x1017 4119 U0-51 0x1033 4147
U0-24 0x1018 4120 U0-52 0x1034 4148
U0-25 0x1019 4121 U0-53 0x1035 4149
U0-26 0x101A 4122 U0-57 0x1039 4153
U0-27 0x101B 4123 U0-58 0x103A 4154
154
Parameter Parameter
U1-00 0x1100 4352 U2-00 0x1200 4608
U1-01 0x1101 4353 U2-01 0x1201 4609
U1-02 0x1102 4354 U2-02 0x1202 4610
U1-03 0x1103 4355 U2-03 0x1203 4611
U1-04 0x1104 4356 U2-04 0x1204 4612
U1-05 0x1105 4357 U2-05 0x1205 4613
U1-06 0x1106 4358 U2-06 0x1206 4614
U1-07 0x1107 4359 U2-07 0x1207 4615
U1-08 0x1108 4360 U2-08 0x1208 4616
U1-09 0x1109 4361 U2-09 0x1209 4617
U1-10 0x110A 4362 U2-10 0x120A 4618
U1-11 0x110B 4363 U2-11 0x120B 4619
U1-12 0x110C 4364 U2-12 0x120C 4620
U1-13 0x110D 4365 U2-13 0x120D 4621
U1-14 0x110E 4366 U2-14 0x120E 4622
U1-15 0x110F 4367 U2-15 0x120F 4623
U1-16 0x1110 4368 U2-16 0x1210 4624
U1-17 0x1111 4369 U2-17 0x1211 4625
U1-18 0x1112 4370 U2-20 0x1214 4628
U1-19 0x1113 4371
U1-20 0x1114 4372
U1-21 0x1115 4373
U1-22 0x1116 4374
U1-23 0x1117 4375
U1-24 0x1118 4376
U1-25 0x1119 4377

Parameter Parameter
F0-00 0x2000 8192 F1-00 0x2100 8448
F0-01 0x2001 8193 F1-01 0x2101 8449
F0-02 0x2002 8194 F1-02 0x2102 8450
F2-09 0x2209 8713 F1-03 0x2103 8451
F1-04 0x2104 8452
F1-05 0x2105 8453
F1-06 0x2106 8454
155
Appendix 5. Q&A
Q1: What is BB and run on the panel?
1. BB standby state, without enabling, the motor is in the state of power failure.
2. Run running state, with enabling, the motor is in the power on state.
Q2: How to check and set the parameters?

Refer to chapter 4.6
Q3: How to change the parameters in enabled status?

P5-20=0000, enabling is invalid, P5-20=0010, enabling when power on, no need to power on again.
The default value is 0001, which means input signal from SI1, SI1 connects to low voltage, +24V
connects to high voltage (refer to chapter 3.2.2)
Q4: How to restore out of factory settings?

P5-20=0000 enabling is invalid, F0-01=1.
Q5: Which model supports bus mode?

DS3E series supports XNET communication (max 20-axis)
DS5C series supports EtherCAT communication (max 32-axis)
Q6: How to wiring for brake motor? How to modify parameters for slight slip of brake motor after
power failure?
P-
P+5V OMRON
P+24V MY2NJ
24VDC
D-
1 4
D+5V
D+24V Brake terminal 24V
5 8
SI1
9 12
SI2 Brake terminal 0V
SI3
SI4
13 14
+24V 0V
SO1 24
SO2 V
COM
24V
Power supply Power supply
0V
1. P5-44 defines the terminal of the brake output signal. As shown in the figure above, the SO1 controls
brake, that is, P5-44 = 0001.
2. Extend the delay time of servo OFF P5-07 (default 500ms), and the waiting time of braking
instruction P5-09 is set to 0, which can be responded.
Q7: The initial direction is not what I want. How can I change it through a servo driver?
Change the initial direction by modifying P0-05, set the value to 0 or 1, and take effect after
re-energizing. (For mode 2, 4, 6, 7 only). If the internal speed mode (mode 3) is used, the positive and
negative values of the speed setting can be changed.
Q8: How do the two modes switch to each other?

Both P0-01 main mode and P0-02 sub-mode set the required mode. P5-30=0002 and SI2 are defined as
mode switching terminals. When the SI2 terminal has no signal, it runs according to the set mode in the
main mode P0-01. When the SI2 terminal has signal input, it runs according to the set mode in the
sub-mode P0-02.
Note: SI2 terminal signal can be switched only if it is a constant ON signal.
156
Q9: What is the connection mode between PLC and servo?
1. NPN low-level output PLC: Y0 pulse connects P-, Y1 direction connects D-, +24V connects P+24,
D+24. (Xinje PLC as an example)
PNP high-level output PLC: Q0.0 pulse connects P+24, Q0.2 direction connects D+24, 0V connects P-,
D-. (Siemens PLC as an example) as follows:
Q10: What is the external connection method and parameter setting of regenerative resistance?
There are P+, D, C terminals on the servo interface. There are short connectors between P+ and C
(using built-in resistor). When the built-in resistor specifications are insufficient, the external resistor
should be replaced. The specifications of the external regenerative resistor please refer to chapter 1.4.1.
(1) P+, D, C interface model: Remove the short joint between P+, D, and connect the external
regenerative resistance to P+, C.
(2) P+, PB interface model: connect external regenerative resistance to P+, PB.
(3) Version number parameter U2-07 < 3700, set P0-24 = 1, P0-25 = power value, P0-26 = resistance
value.
(4) Version number parameter U2-07 ≥ 3700, P0-24 need not be set, P0-25 = power value, P0-26 =
resistance value.
Note: Before 3700 version, P0-24 should be set. Value 0 is for built-in resistance and value 1 is for
external resistance.
Q11: The service life of tank chain?

The bending resistance is 5 million times and the bending radius is 50 mm.
Q12: How to connect bus control BD board and JA-NE-L?

A-A1, B-B1, SG-SG when one axis running; the PLC BD board and the terminal resistor of the last
JA-NE-L board of electrical connection should be ON when multi-axis running; and the terminal
resistance of JA-NE-L board in the middle should be OFF.
157
Appendix 6. General debugging steps
1. Motor empty shaft, preliminary debugging
A. Connect the cable correctly. Pay attention to the one-to-one connection of U, V, W and PE terminals,
and the phase sequence can not be crossed.
B. Open-loop test run: The test run mainly checks the power cable and the encoder feedback cable to
determine whether the connection is normal. According to the following operation, the motor can
normally achieve positive and negative rotation. If the motor shaft shakes or prompts the alarm, it
needs to cut off the power supply immediately, and re-check the wiring situation.
Press DEC

ENTER ENTER Press INC
C. jog run: Enter F1-00.

Short press ENTER to enable the motor. In the enabled status, press INC for run forward, press DEC to
run reverse. Press STATUS/ESC to exit.
Four status when jog running:
status Panel display status Panel display
Idle Forward run
enabled Reverse run
2. Debug the motor with the machine

A. Observe the operating direction of the machine head. If it is contrary to the actual need, after
the servo OFF, set the parameter P0-05 to 1, and then re-energize to make the change effective.
B. During the operation, observe the stability and responsiveness of the operation, and adjust the
servo control parameters appropriately.
158
Appendix 7. Application examples
Mode 6: Pulse instruction position mode
A B
C G E 3 1 2 F H D
Equipment introduction:
This is a welder. Workpiece 1, 2, 3 are the object to be operated. 2 and 3 is fixed on B and A
individually. A and B can whole move and be pushed by ball screw E and F. The screw pitch is 5mm.
C and D is servo motor. G and H is reducer. The deceleration ratio is 40.
It needs to adjust the machine with standard dimension workpiece and find the origin of A and B.
Workpiece 1 lies on the worktable and moves left and right. Its dimension is positive tolerance, cannot
shorter than standard workpiece. The process to put the workpiece is random. It requires that the left
and right soldering is symmetrical.
A and B move toward 1 with 3 and 2 at the same speed. Whatever the position of 1, 2 or 3 will touch 1
at first and push 1 to another side until 2 and 3 all touch 1. The result is the motor torque will increase.
At this time, 1 will at the symmetrical position.
A and B will return to the origin position after soldering is finished.
Analysis
1. Make sure the work mode: 6
2. It needs to judge whether 2 and 3 touch 1 when finding the symmetrical point first time. The sign is
servo output torque will increase. It needs to use torque limit (P3-28, P3-29) and torque limit output
signal /CLT.
3. As the dimension of workpiece 1 is larger than standard, offset pulse will remain in servo when the
symmetrical point is found. /CLR signal can clear the pulse. The servo motor running distance is
different from PLC pulse number. If it needs to know the actual distance, servo encoder feedback
/A+, /A-, /B+, /B- and AB phase count are needed.
4. The machine motion direction of A and B.
Signal and terminal

/COIN positioning finished signal: SO1
/CLT torque up to upper limit output: SO2
/CLR pulse offset clear input: SI1
Encoder feedback signal /A+, /A-, /B+, /B-
Calculate the electronic gear ratio

Step Explanation Ball screw
Load shaft
P
P: pitch
P
1 rotation =
Command unit
Confirm the mechanical specification Ball screw pitch: 5mm
1
Reduction ratio: 40/1
2 Confirm the encoder pulse number 131072
3 Decide the command unit 1 command unit: 0.001mm
4 Calculate the motion value of load 5mm/0.001mm=5000
shaft rotate 1 circle
Calculate the electronic gear ratio B 217 16384
5  
A 5000 625
6 Set the user parameters P0-13=16384 P0-14=625
159
Parameter setting
Running mode: P0-01=6
Pulse command state: P0-10=2
Electronic gear ratio: P0-11=0 P0-12=0 P0-13=16384 P0-14=625
Forward torque limit: P3-28=150
Reverse torque limit: P3-29=150
Positioning finished width: P5-00=7
/S-ON: P5-20=0010
/CLR: P5-34=0001
/COIN: P5-38=0001
/CLT: P5-42=0002
Appendix 8. Model list

Power Inertia Suitable servo Voltage
Motor model Encoder cable Power cable
(KW) level driver level
MS5S-40ST□-CS00330B-20P1- CP(T)-SP-M- CM(T)-P07-M
S01 length -length
MS5S-40ST□-CM00330B-20P1- CP(T)-SP-BM CM(T)-P07-M
Low S01 DS5E/L-20P1 -length -length
0.1
inertia MS5S-40ST□-CS00330BZ-20P1 -PTA CP(T)-SP-M-l CM(T)-P07-M
-S01 ength -length
MS5S-40ST□-CM00330BZ-20P CP(T)-SP-BM CM(T)-P07-M
1-S01 -length -length
MS5S-60ST□-CS00630B-20P2- CP(T)-SP-M-l CM(T)-P07-M
S01 ength -length
Low S01 -length -length
inertia MS5S-60ST□-CS00630BZ-20P2 CP(T)-SP-M-l CM(T)-P07-M
-S01 ength -length
2-S01 DS5E/L-20P2 -length -length
0.2
MS5H-60ST□-CS0O630B-20P2 -PTA CP(T)-SP-M-l CM(T)-P07-M
-S01 Single- ength -length
phase
MS5H-60ST□-CM0O630B-20P 220V CP(T)-SP-BM CM(T)-P07-M
High 2-S01 -length -length
inertia MS5H-60ST□-CS00630BZ-20P CP(T)-SP-M-l CM(T)-P07-M
2-S01 ength -length
MS5H-60ST□-CM00630BZ-20P CP(T)-SP-BM CM(T)-P07-M
S01 ength -length
Low S01 -length -length
-S01 DS5E/L-20P4 ength -length
0.4
MS5S-60ST□-CM01330BZ-20P -PTA CP(T)-SP-BM CM(T)-P07-M
MS5H-60ST□-CS01330B-20P4- CP(T)-SP-M-l CM(T)-P07-M
High S01 ength -length
inertia MS5H-60ST□-CM01330B-20P4 CP(T)-SP-BM CM(T)-P07-M
-S01 -length -length
160
MS5H-60ST□-CS01330BZ-20P CP(T)-SP-M-l CM(T)-P07-M
4-S01 ength -length
MS-60ST□-T01330B□-20P4-D0 CP(T)-SP-B-le CM(T)-P07-le
1 ngth ngth
Power Inertia Suitable servo Voltage

Motor model Encoder cable Power cable
(KW) level driver level
S01 ength -length
low S01 -length -length
-S01 ength -length
MS5H-80ST□-CS02430B-20P7- CP(T)-SP-M-l CM(T)-P07-M
S01 ength -length
0.75
MS5H-80ST□-CM02430B-20P7- CP(T)-SP-BM CM(T)-P07-M
High S01 -length -length
inertia MS5H-80ST□-CS02430BZ-20P7 CP(T)-SP-M-l CM(T)-P07-M
-S01 ength -length
CP(T)-SP-B-0 CM(T)-P07-le
MS-80ST□-T02430B□-20P7 Single- 3
DS5E/L-20P7 ngth
phase
-PTA
MS-80ST□-T03520B□-20P7 220V CP(T)-SP-B-0 CM(T)-P07-le
3 ngth
MS5G-130STE-CS05415B-20P8 CP(T)-SC-M-l CM(T)-L15A-l
-S01 ength ength
MS5G-130STE-CS05415BZ-20P CP(T)-SC-M-l CMB(T)-L15A
Middle 8-S01 ength -length
0.85
inertia MS5G-130STE-TL05415B-20P8 CP(T)-SC-B-l CM(T)-L15A-l
-S01 ength ength
MS5G-130STE-TL05415BZ-20P CP(T)-SC-B-l CMB(T)-L15A
8-S01 ength -length
MS5S-80ST□-CS03230B□-21P0 CP(T)-SP-M-l CM(T)-P07-M
-S01 ength -length
MS5S-80ST□-CM03230B□-21P CP(T)-SP-BM CM(T)-P07-M
MS5H-80ST□-CS03230B□-21P0 CP(T)-SP-M-l CM(T)-P07-M
-S01 ength -length
MS5H-80ST□-CM03230B□-21P CP(T)-SP-BM CM(T)-P07-M
low 0-S01 -length -length
1.0
inertia MS5S-110STE-CS03230B□-21P
CP(T)-SL-M-l CM(T)-L15-le
0-S01 Note: Magnetic encoder
ength ngth
cannot support brake
MS5S-110STE-CM03230B□-21 Single CP(T)-SL-B-l CM(T)-L15-le
P0-S01 Note: Magnetic DS5E/L-21P5 phase/3 ength ngth
encoder cannot support brake -PTA -phase
MS5S-110STE-TL03230B□-21P 220V CP(T)-SL-B-l CM(T)-L15-le
0 ength ngth
CP(T)-SL-B-l CM(T)-L15-le
1.2 MS-110ST□-T04030B□-21P2
ength ngth
161
Power Inertia Suitable servo Voltage Encoder
Motor model Power cable
(KW) level driver level cable
CP(T)-SL-B- CM(T)-L15-l
MS-110ST□-T05030B□-21P5
length ength
MS5S-110STE-CS04830B□-21P
CP(T)-SL-M- CM(T)-L15-l
5 Note: Magnetic encoder
length ength
low MS5S-110STE-CM04830B□-21P
inertia 5 Note: Magnetic encoder
length ength
MS5S-110STE-TL04830B□-21P CP(T)-SL-B- CM(T)-L15-l
5 length ength
DS5E/L-21P5 CP(T)-SL-B- CM(T)-L15-l
1.5 MS-130ST-T06025B□-21P5
-PTA length ength
MS-130ST-T10015B□-21P5
length ength
MS5G-130STE-CS07220B-21P5 CP(T)-SC-M CM(T)-L15-l
-S01 -length ength
MS5G-130STE-CS07220BZ-21P CP(T)-SC-M CMB(T)-L15
Middle 5-S01 Single -length -length
inertia MS5G-130STE-TL07220B-21P5 phase/3- CP(T)-SC-B- CM(T)-L15-l
-S01 phase length ength
MS5G-130STE-TL07220BZ-21P 220V CP(T)-SC-B- CMB(T)-L15
5-S01 length -length
-S01 -length ength
Middle 8-S01 -length -length
1.8
inertia MS5G-130STE-TL11515B-21P8 CP(T)-SC-B- CM(T)-L15-l
-S01 length ength
MS5G-130STE-TL11515BZ-21P CP(T)-SC-B- CMB(T)-L15
8-S01 DS5E/L-22P3 length -length
MS5S-110STE-TL06430B□-22P -PTA CP(T)-SL-B- CM(T)-L15-l
0 length ength
MS5S-110STE-CS06430B□-22P
CP(T)-SL-M- CM(T)-L15-l
low 0 Note: Magnetic encoder
2.0 length ength
inertia cannot support brake
MS5S-110STE-CM06430B□-22P
0 Note: Magnetic encoder
length ength
-S01 -length ength
Middle 3-S01 -length -length
inertia MS5G-130STE-TL14615B-22P3 CP(T)-SC-B- CM(T)-L15-l
-S01 Single length ength
MS5G-130STE-TL14615BZ-22P DS5E/L-22P3 phase/3- CP(T)-SC-B- CMB(T)-L15
2.3
3-S01 -PTA phase length -length
220V CP(T)-SL-B- CM(T)-L15-l
MS-130ST-T15015GB□-22P3
length ength
MS-130ST-TL15015GB-22P3
length ength
MS-130ST-TL15015GB-22P3-F
length ength
162
DS5E/L-22P3 CP(T)-SL-B- CM(T)-L15-l
MS-130STE-T07730B□-22P4
-PTA Single length ength
2.4
phase/3- CP(T)-SL-B- CM(T)-L15-l
MS-130STE-T07730B□-22P4
DS5E/L-22P6 phase length ength
-PTA 220V CP(T)-SL-B- CM(T)-L15-l
2.6 MS-130ST-TL10025B□-22P6
length ength
-S01 -length ength
Middle 8-S01 DS5E-41P5-P 3-phase -length -length
1.5
inertia MS5G-130STE-TL11515B-41P8 TA 380V CP(T)-SC-B- CM(T)-L15-l
-S01 length ength
MS5G-130STE-TL11515BZ-41P CP(T)-SC-B- CMB(T)-L15
8-S01 length -length
Suffix S02 Series

MS5S-40ST□-CS00330B-20P1-S0 CPT-SW-M- CMT-W07-M
2 length -length
MS5S-40ST□-CM00330B-20P1-S CPT-SW-B CMT-W07-M
low 02 DS5E/L-20P1 M-length -length
0.1
inertia MS5S-40ST□-CS00330BZ-20P1- -PTA CPT-SW-M- CMBT-W07-
S02 length M-length
MS5S-40ST□-CM00330BZ-20P1- CPT-SW-B CMBT-W07-
S02 M-length M-length
2 length -length
02 Single M-length -length
low
phase
inertia MS5S-60ST□-CS00630BZ-20P2- 220V CPT-SW-M- CMBT-W07-
S02 length M-length
S02 DS5E/L-20P2 M-length M-length
0.2
MS5H-60ST□-CS00630B-20P2-S -PTA CPT-SW-M- CMT-W07-M
02 length -length
MS5H-60ST□-CM00630B-20P2-S CPT-SW-B CMT-W07-M
High 02 M-length -length
inertia MS5H-60ST□-CS0O630BZ-20P2- CPT-SW-M- CMBT-W07-
S02 length M-length
MS5H-60ST□-CM0O630BZ-20P2 CPT-SW-B CMBT-W07-
-S02 M-length M-length
2 length -length
02 Single M-length -length
low DS5E/L-20P4
0.4 phase
inertia MS5S-60ST□-CS01330BZ-20P4- -PTA
220V CPT-SW-M- CMBT-W07-
S02 length M-length
S02 M-length M-length
163
MS5H-60ST□-CS01330B-20P4- CPT-SW-M- CMT-W07-M
S02 length -length
MS5H-60ST□-CM01330B-20P4- CPT-SW-B CMT-W07-M
High S02 DS5E/L-20P4 M-length -length
0.4
inertia MS5H-60ST□-CS01330BZ-20P4 -PTA CPT-SW-M- CMBT-W07-
-S02 length M-length
MS5H-60ST□-CM01330BZ-20P CPT-SW-B CMBT-W07-
4-S02 M-length M-length
MS5S-80ST□-CS02430B-20P7-S CPT-SW-M- CMT-W07-M
02 length -length
MS5S-80ST□-CM02430B-20P7- CPT-SW-B CMT-W07-M
low S02 M-length -length
inertia MS5S-80ST□-CS02430BZ-20P7- CPT-SW-M- CMBT-W07-
S02 length M-length
MS5S-80ST□-CM02430BZ-20P7 CPT-SW-B CMBT-W07-
-S02 Single M-length M-length
0.7 phase
MS5H-80ST□-CS02430B-20P7- 220V CPT-SW-M- CMT-W07-M
S02 length -length
MS5H-80ST□-CM02430B-20P7- CPT-SW-B CMT-W07-M
High S02 DS5E/L-20P7 M-length -length
inertia MS5H-80ST□-CS02430BZ-20P7 -PTA CPT-SW-M- CMBT-W07-
-S02 length M-length
MS5H-80ST□-CM02430BZ-20P CPT-SW-B CMBT-W07-
7-S02 M-length M-length
MS5S-80ST(E)-CS03230B(Z)-21 CPT-SW-M- CM(B)T-W0
low P0-S02 length 7-M-length
inertia MS5S-80ST(E)-CM03230B(Z)-2 CPT-SW-B CM(B)T-W0
1P0-S02 M-length 7-M-length
1.0
MS5H-80ST(E)-CS03230B(Z)-2 CPT-SW-M- CM(B)T-W0
High 1P0-S02 length 7-M-length
inertia MS5H-80ST(E)-CM03230B(Z)-2 CPT-SW-B CM(B)T-W0
1P0-S02 M-length 7-M-length
4 pole-pairs long-body magnetic encoder motor -S03/S04

CP(T)-SP-M CM(T)-P07-
MS5S-60ST-CS01330B-20P4-S03
-length M-length
MS5S-60STE-CS01330B-20P4-S CP(T)-SP-M CM(T)-P07-
low 03 DS5E/L-20P4 -length M-length
0.4
inertia -PTA CPT-SW-M- CMT-W07-M
MS5S-60ST-CS01330B-20P4-S04
length -length
MS5S-60STE-CS01330B-20P4-S CPT-SW-M- CMT-W07-M
04 length -length
164
165
WUXI XINJE ELECTRIC CO., LTD.
4th Floor Building 7,Originality Industry
park, Liyuan Development Zone, Wuxi
City, Jiangsu Province
214072
Tel: (510) 85134136
Fax: (510) 85111290
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DS5EDS5L Servo Manual

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DS5EDS5L Servo Manual

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DS5E/DS5L series servo drive

WUXI XINJE ELECTRIC CO., LTD.

Data No. SC5 04 20190108 1.1

Attention to Product Confirmation

Cautions for wiring

Maintenance and inspection

►► Confirmation on product arrival ....................................................................................................... 1

If any of the above is faulty or incorrect, contact Xinje or an authorized distributor.

1.1 Selection of servo drive

Name Rated output power

1.1.2 Description of each part

CN0: pulse, direction

CN1: Used for Extending Bus Function

1.2.1 Model name

Name Inertia Name Design number

Name Product name

1.2.2 Description of each part

Output Shaft (Drive Shaft)

1.3.1 Model name

Name Plug type

 Power cable model

 Brake cable model

4 485+ 110 and above flange

(2) Power cable connection on motor side

1.4.1 Selection of regenerative resistance

The servo motor driven by regenerative (generator) mode is as follows:

Servo driver model Regenerative resistance connection terminals

2.1 Servo driver installation

2.1.1 Installation site

2.1.2 Environment condition

2.1.3 Installation standard

2.2.1 Installation environment

2.2.2 Environment condition

Through part of the shaft

The maximum and minimum deviations are less than 0.03mm

The maximum and minimum deviations are

Installation ◆ Servo motor can be installed in horizontal or vertical direction.

33.8 Ø5.5 45.0 175.1

Ø5.5 48.8 60.0 181.3

 DS5E/L-21P5-PTA, DS5E/L-22P3-PTA, DS5E/L-22P6-PTA, DS5E-41P5-PTA Unit:

 60 series motor installation dimensions Unit: mm

 110 series motor installation dimensions Unit: mm

DS5E/L-20P2-PTA 2.0 0.75 0.2（7-core） 2.0

DS5E/L-20P4-PTA 2.0 0.75 0.2（7-core） 2.0

DS5E/L-20P7-PTA 2.0 0.75 0.2（7-core） 2.0

DS5E/L-21P5-PTA 2.0 1.5 0.2（7-core） 2.0

DS5E/L-22P3-PTA 2.0 1.5 0.2（7-core） 2.0

DS5E/L-22P6-PTA 2.0 1.5 0.2（7-core） 2.0

DS5E-41P5-PTA 2.0 1.5 0.2（7-core） 2.0

DS5E-45P5-PTA 6.0 6.0 0.2（7-core） 6.0

DS5E-47P5-PTA 6.0 6.0 0.2（7-core） 6.0

3.1.1 Servo driver terminal arrangement

Power supply CN0: pulse, direction

CN1:insert module for filedbus function

3.1.2 Main circuit terminals and explanations

S R/S/T main circuit 3-phase AC 340~420V, 50/60Hz

S Terminal Function Explanation

3.1.3.1 CN0 terminal

CN0 (below 1.5KW) CN0 (above 1.5KW)