BONMET SDL10A, SDL10B User Manual

User Manual

For SD Series

Smart & Accurate

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Preface

Thank you for choosing BONMET‘s DC servo products.
This manual is a user guide that provides the information on how to install, operate and maintain
SD series DC servo drive. The contents of this manual include the following topics:

● Installation of DC servo drives and motors

● Configuration and wiring

● Trial run steps

● Control functions and adjusting methods of DC servo drives

● Parameter settings

● Inspection and maintenance

● Troubleshooting

● Application examples

Before using the product, please read this manual to ensure correct use. Users should thoroughly
understand all safety precautions (DANGERS and WARNINGS) before proceeding with the
installation, wiring and operation. If you still have any problem, please contact with the local
Bonmet sales representative. Place this user manual in a safe location for future reference.

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Safety Precautions

● To prevent electric shock, note the following:

DANGEROUS

· Before wiring or inspection, switch power off and wait for more than 10 minutes. Then,
confirm the voltage is safe with voltage tester. Otherwise, you may get an electric shock.

· Wiring must be carried by electrical engineer.

· Connect the servo drive and servo motor to ground.

· Operate the switches with dry hand to prevent an electric shock.

· The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get an

electric shock.

● To prevent fire, note the following:

CAUTION

· Do not install the servo drive, servo motor and regenerative brake resistor on or near
combustibles. Otherwise a fire may cause.

· When the servo drive has become faulty, switch off the main power. Continuous flow of a
large current may cause a fire.

· When there is a signal faulty as a regenerative brake resistor is used, please switch the main
power off. Otherwise, a regenerative brake transistor fault may overheat the regenerative
brake resistor and cause a fire.

● Wiring Precautions

CAUTION

· Wire the equipment correctly and securely.

· Connect the output terminals (U, V, W) correctly.

· Do not connect AC power directly to the servo motor or servo drive.

● Operation and Adjustment Precautions

CAUTION

· Do not touch the radiator and the regenerative brake resistor as they are overheated.

· Do not set parameter value unduly. If so, system would be instable.

· Do not touch the rotating parts of the servo motor in operation. Doing so may cause injury.

● Others

CAUTION

· Do not attempt to remold the servo drive.

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CONTENTS

Chapter 1

• • • • • •

Model and Specifications

Chapter 2

• • • • • •

Installation

Chapter 3

• • • • • •

Wiring

Chapter 4

• • • • • •

Display and Operation

Chapter 5

• • • • • •

Operation

Chapter 6

• • • • • •

Parameters

Chapter 7

• • • • • •

Communication

Chapter 8

• • • • • •

Protective Functions

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Chapter 1 Model and Specifications

1.1 Unpacking Check

After receiving the DC servo drive, please check for the followings in order to prevent mistake during purchase or
shipment：

● Check the following section about the model explanation of the servo drive and motor to ensure that the

product is what you have ordered.

● Rotate the motor shaft slightly by hand, a smooth rotation will indicate a good motor. However, a servo

motor with holding brake can not be rotated manually unless give power to the holding brake to release
the shaft.

● Inspect the unit to insure it was not damaged during shipment.

If any items are damaged or incorrect, please inform the distributor whom you purchased the product from or your
local BONMET sales representative.

1.2 Model Explanation

● Nameplate Explanation

Figure 1-1 Nameplate explanation

● Model Explanation

SD L 10 A XX 1 2 3 4

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1． Product type: S(SD)- Series DC servo drive;
2． Power supply:48~80VDC
3． Nominal current：10A
4． Type code;
5． Software customized logo.

1.3 Product Features

●

Definition of The Motor Rotation Direction

Positive direction（CCW）

Negative direction（CW）

Definition of the motor rotation direction：facing the motor shaft side, CCW (counterclockwise) direction is
positive direction, CW (clockwise) direction is negative direction.

Model
Input Power

Nominal Output

Serial Number

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Model

SDL10A

SDL10B

Input Power Supply

DC 24V～85V

Environment

Temperature

Operation：0～40℃ Storage：-40℃～50℃

Ambient Humidity

40%～80%( non-condensation)

Atmospheric Pressure

86～106kPa

Control Method

MOSFET

Control Mode

①Position control ②Speed control ③Torque control

Regeneration Brake

None

Speed

Characteristics

Speed Frequency

Response

300Hz or more

Speed Fluctuation Rate

±0.03 or less (Load 0～100%); ±0.02 or less (Power supply -15～+10%)
(Value corresponds to the nominal speed)

Speed Ratio

1:5000

Input Signal

Status Input Signal

Servo enable、Alarm clear

Command Input Signal

Analog torque / speed command input terminals、Pulse command input terminal

Output Signal

Status Output Signal

Servo alarm、Position complete output / speed reach output

Position Output Signal

Differential output for A、B、Z pulse, Open collector output for Z pulse

Position

Control

Maximum Input Pulse

Frequency

500KHz

Input mode

① Differential output ②Open collector output

Command mode

①Command/direction pulse ②CCW/CW pulse ③A/B pulse (set by parameters)

Command Smoothing

Method

Position command filter

Electronic Gear

1～30000/1～300000（Recommended value：50～1/50）

Torque Limit

①Set by parameters（CCW/CW）②16 speed command set by parameters
③Controlled by analog command

Speed

Control

Comma

nd mode

Internal

Command

16 speed command set by parameters,

Analog

Command

0～±10VDC（Default：10VDC corresponds 3000rpm）

Pulse

Command

0～500KHz（Default：500KHz corresponds 3000rpm）

Command Smoothing

① Analog low-pass filter order ②Increase / Decrease time constant ③ Position
command filter

Speed Limit

Set by parameters

Torque

Control

Command mode

0～±10VDC（Default：10VDC corresponds 100% nominal torque）

Command Smoothing

Torque command filter

Speed Limit

Set by parameters

Torque Limit

Set by parameters（CCW/CW）

Communication

RS-232 port、RS-485 port

Bus Control Function

Mod bus

Monitoring Function

The percentage of motor torque, ,Motor speed, Motor accumulated travel pulse,
Torque command value, Speed command value, Accumulative command pulse,
Single-phase current, Absolute position of rotor, Position deviation pulse, Alarm
code, Input and output terminal signal status, etc.

Protective Function

Encoder signal abnormalities, Overload, Over current, Speed tolerance, Over
location etc.

Applicable Load Inertia

Less than five times of motor inertia

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Chapter 2 Installation

2.1 Notes for Installation

● Do not bend or strain the cables between servo drive and motor；

● When mounting the servo drive and servo motor, make sure to tighten all screws to secure the machine

in place；

● Motor shaft must be concentric with the axis of transmission;

● If the cable between drive and motor is longer than 10 meters, the cable must be thicken.

2.2 Installation Environment

● Please install the servo system in the place without oil mist, dust or electrical control cabinet (ensure the

temperature below 50℃, relative humidity below 80%. The long-term safety temperature below 40℃)

● Please install the servo system in the place without radioactive matters and combustibles.

● Take an anti-vibration measure to guarantee that the servo drive is free from vibration impact, ensuring

the vibration under 0.5G (4.9m/s2).

● Please install the servo system in the place without direct sunlight.

● Interferential equipment nearby would take great effects to the power wire and control wire which will

cause miss operation. For normal operation, a noise filter or any other anti-jamming measures is
necessary to be carried out. Leakage current would increase after installing a noise filter, therefore an
isolation transformer can be used to avoid this problem. Possessing a reasonable alignment and inhibit
measures is very important because the control signal wire is easy to be interfered.

2.3 Dimensions（Unit: mm）

Figure 2-1 Dimension drawings

2.4 Installation Direction and Space

● The equipment must be installed in the specified direction. Otherwise, a fault may occur.

● Leave specified clearances between the servo drive and control box inside walls or other equipment.

● Leave a large clearance between the top of the servo drive and the internal surface of the control box,

and install a fan to prevent the internal temperature of the control box from exceeding the environmental

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conditions.

● When using heat generating equipment such as the regenerative brake option, install them with full

consideration of heat generation so that the servo drive is not affected. Install the servo drive on a
perpendicular wall in the correct vertical direction.

Figure 2-2 installation schematic diagram for drives

Chapter 3 Wiring

2.5 Connections

3.1.1 Note

● All terminals and plugs must be screwed well, poor contact or disconnection could lead to accidents.

● In order to prevent error movement caused by noise, please install isolation transformers and noise filter.

● The equipment must be grounded.

● Do not put power lines and signal lines in a same conduit or their binding them together, the distance between

power lines and signal lines should be 30cm at least, otherwise it may cause interference.

● Please use the shielded twisted wire as signal cable.

● Do not switch power supply frequently. The maximum frequency should be no more than once per minute.

2.6 Connection

Control

Card

Power

48~80VDC

Motor

Controler

≥

25

mm ≥ 25

mm ≥ 100

mm

≥

100

mm

Air flow

Air flow

≥

100

mm

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2.7 Terminals

Terminal

Name

Function

+VDC、GND

Drive power terminal

Connect with 48~80VDC

U、V、W

Motor terminal

Connect with motor

CN1

Encoder Connector

Connect with encoder

CN2

I/O Connector

I/O port

COM

Communication Connector

Connect with PC or controller

2.8 Power Terminal

number

Name

Symbol

Description

1

Ground

GND

Connect with OV

2

Power

+VDC

Connect with 48~80V

3

Motor U、V、W terminal

U

Connect with motor power terminal

4

V

5

W

2.9 Encoder Connector CN1

Terminal

number

Name

Function

Symbol

I/O

Description

1

Power supply(5V)

+5V

The power supply and public ground of encoder. It is
necessary to use a parallel multi-cored wire to reduce
the pressure drop of wires.

13

Public ground

0V

7

Encoder CSL input

CSL

Type7
Connect with the electro-optic encoder CSL.

2

Encoder CSH input

CSH

Connect with the electro-optic encoder CSH.

6

Encoder CLKL input

CLKL

Type7
Connect with the electro-optic encoder CLKL.

1

Encoder CLKH input

CLKH

Connect with the electro-optic encoder CLKH.

8

Encoder DOL input

DOL

Type7
Connect with the electro-optic encoder DOL.

3

Encoder DOH input

DOH

Connect with the electro-optic encoder DOH.

4

Encoder A+ input

A＋

Type7
Connect with the electro-optic encoder A＋.

9

Encoder A- input

A－

Connect with the electro-optic encoder A-.

5

Encoder B+ input

B＋

Type7
Connect with the electro-optic encoder B+.

10

Encoder B- input

B－

Connect with the electro-optic encoder B-.

14

Encoder Z+ input

Z＋

Type7
Connect with the electro-optic encoder Z+.

15

Encoder Z- input

Z－

Connect with the electro-optic encoder Z-.

2.10 I/O Connector CN2

1 2 3 4 5

1

2

3

45

10

11

12

13

1415

6

7

8

9

26

20

21

22

2324

25

1

2

3

45

19

6

78

9

17

1618

11

12

13

1415

10

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Control mode: P stands for position control, S stands for speed control, T stands for torque control.

Terminal

number

Name

Terminal symbol

Function

Symbol

I/O

mode

20

Servo enable

ServoEn＋

Type1

Servo enable input terminal.
ServoEn ON: Operation enabled;
ServoEn OFF: Operation disabled.
[Note 1]: Make sure the servo motor is quiescent before
―ServoEn OFF‖ turns to ―ServoEn ON‖
[Note 2]: Please wait for 50 ms before inputting any
command in the State of ―ServoEn ON‖.

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ServoEn－

3

Alarm clear

AlarmClr＋

Type1

Alarm clear input terminal.
AlarmClr ON: Clear the system alarm;
AlarmClr OFF: Maintain the system alarm.

[Note]: As the alarm code is less than 12, please cut off
the power supply and repair the drive.

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AlarmClr－

5

Servo alarm

output

Alarm＋

Type2

Output terminal of servo alarm.
ALM ON: Servo alarm output ON as there is no alarm;
ALM OFF: Servo alarm output OFF as there is any
alarm.

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Alarm－

2

Command pulse

PLUS input

PulseInv＋

Type3

P

External command pulse input terminal.
Note: pulse type is selected by parameter PN52.

①PN52=0, command pulse+ signal mode(default state);
②PN52=1, CCW/CW command pulse mode;
③PN52=2, 2-phase command pulse mode.

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PulseInv－

1

Command pulse

SIGN input

SignInv＋

Type3

P

10

SignInv－

24

Analog command

input

ASPEED＋/

ATORQUE＋

Type4

S、T

Command input terminal for external analog
torque/speed (difference mode), the impedance is 10kΩ,
the voltage is -10V~+10V.

25

ASPEED－/

ATORQUE－

26

Analog ground

AGND

The grounding line of analog input.

7

Encoder

Phase-A signal

PhaseA＋

Type5

1. Encoder signal A, B, Z for difference drive output

(output through 26LS31, corresponding to RS422 );

2. Non-isolative output (non-insulation).

16

PhaseA－

8

Encoder

phase-B signal

PhaseB＋

Type5

17

PhaseB－

9

Encoder phase- Z

signal

PhaseZ＋

Type5

18

PhaseZ－

3.6.1 Wiring of Digital Input

Wiring of the relay circuit

Wiring of the open collector circuit

(1) Connect to contacts of switches and relays, or open collector output transistors.
(2) The power is provided by the user as the voltage range is DC12～24V and the current is more than 100mA.

Note: the internal circuit will be damaged if the power polarity is wrongly connected.

4.7K

VCCOM

ServoEn,etc

DC 12~24V

Servo drive

4.7K

VCCOM

ServoEn,etc

DC 12~24V

Servo drive

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3.6.2 Wiring of Digital Output

Wiring of the relay circuit

Wiring of the Optocoupler circuit

Note: it is possible to connect a freewheeling diode in the wiring of relay circuit.
(1) The output circuit is composed of open collector transistor outputs in the Darlington connection, and connect

to relays or photo-couplers.

(2) The power is provided by the user as the voltage range is DC5 ~ 24V and the current is more than 50mA.

Note: the internal circuit will be damaged if the power polarity is wrongly connected.

(3) As driving the inductive load such as relay, you must connect a freewheeling diode in parallel.

Note: It would damage the serve drive as if the freewheeling is wrongly connected.

(4) There exists collector to emitter voltage, VCE (SAT) of approx. 1V at transistor-ON, due to the Darlington

connection of the output or. Note that normal TTL IC cannot be directly connected since it does not meet
VIL.

3.6.3 Wiring of Pulse Input

There are two kinds of pulse inputs, line drive input and open-collector input. The max. input pulse frequency is
500kpps.
BONMET servo drive support three kind of pulse mode (Set by Pn-52): ① Pulse + Direction; ② CW+CCW pulse;
③ A/B phase pulse

● Line drive input

● Open-collector input

There are two kind of open-collector input: NPN type (like Mitsubishi, Omron, Panasonic) and PNP type (like
Siemens). The wiring of open-collector as below:

Wiring of NPN type pulse input

Wiring of PNP type pulse input

⑴ Check the pulse input kind and make the wiring according to the drawing, otherwise it may cause the damage.

DC 12~24V

Servo drive

Relay

50mA as MAX.

output

Host controller

Servo drive

PULS＋

PULS－

SIGN＋

SIGN－

Servo drive

PULS＋

PULS－

SIGN＋

SIGN－

Host controller

R

R

VCC

Servo drive

PULS＋

PULS－

SIGN＋

SIGN－

Host controller

R

R

VCC

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⑵ The Optocoupler supports max. to 15mA current. We need to add a current-limiting resistance as using
open-collector input.

Voltage of open-collector input

Value of current-limiting resistance

5V

Not need

12V

400

24V

1k

⑶ The cable of pulse input should be twisted-paired and shielded to prevent from signal interference caused by
noise.

⑷

The max. input pulse frequency is 500kpps, the relationship between pulse frequency and speed is a

proportional relationship as 500 kHz corresponds to 3000rpm.

Parameters

Differential drive input

Single-ended drive input

tck

>2μS

>5μS

th

>1μS

>2.5μS

tl

>1μS

>2.5μS

trh

<0.2μS

<0.3μS

trl

<0.2μS

<0.3μS

ts

>1μS

>2.5μS

t

qck

>8μS

>10μS

tqh

>4μS

>5μS

tql

>4μS

>5μS

t

qrh

<0.2μS

<0.3μS

t

qrl

<0.2μS

<0.3μS

tqs

>1μS

>2.5μS

Sequence chart for pulse + direction

Sequence chart for CW+CCW pulse

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Sequence chart for A/B phase pulse

3.6.4 Wiring of Analog Input

Analog voltage input

Potentiometer input

Note："AO" means analog command.

(1) AGND must be connected to the ground (0V) of analog command;
(2) Max. permissible input voltage to each input is ±10V;
(3)

It is suggested that using Shielded twisted pair as the analog input cable;

(4) Analog input drift is normal, you can use analog input drift compensation function to deal with it..

3.6.5 Wiring of Encoder Differential Output

Wiring of line receiver

Wiring of optocoupler

(1) Feeds out the divided encoder outputs (A, B and Z-phase) in differential through each line driver.
(2) Customer can use a line receiver (like AM26LV32). Install a terminal resistor (approx. 330Ω) between line

receiver inputs without fail. And connect ―EGND‖ to the ground (0V) of the receiver.

(3) Customer can use a optocoupler to receive the signals.
(4) These outputs are not insulated.

3.4

Servo drive

AO＋

AO－

Host controler

＋

－

＋

－

AGND

10KΩ

AO＋

AO－

Adjust voltage

by potentiometer

＋

－

AGND

10KΩ

2KΩ(1/2W)

200Ω(1/2W)

200Ω(1/2W)

10V

10V

Servo drive

Servo drive

PhaseA＋

PhaseA－

PhaseB＋

PhaseB－

Host controler

PhaseZ＋

PhaseZ－

Pin_1

Pin_2

Pin_3

Pin_4

Pin_5

Pin_6

R

EGNDPin_9

AM26LS31

AM26LV32 or other line receiver

R

R

Servo drive

PhaseA＋

PhaseA－

PhaseB＋

PhaseB－

Host controler

PhaseZ＋

PhaseZ－

Pin_1

Pin_2

Pin_3

Pin_4

Pin_5

Pin_6

220Ω(1/2W)

220Ω(1/2W)

220Ω(1/2W)

EGNDPin_9

AM26LS31

Optocoupler

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3.5 Communication Connector(CN3)

Serial-line terminal plug CN3

■ RS-232

Termina

l

number

Name

Function

Symbol

Description

3

Receive data

RXD

Receive data signal.

5

Transmit data

TXD

Transmit data signal.

1

GND

GND

Inhibit signal earth.

■ RS-485

Termina

l

number

Name

Function

Symbol

Description

7

Difference signal Data+

Data+

Data+ terminal

4

Difference signal Data-

Data-

Data- terminal

8

GND

GND

Inhibit signal earth.

Chapter 4 Operation

4.1 Operation steps

Item

Content

Reference

Installation

Please keep the motor shaft in a non-connection state, do not connect the motor
with mechanical system for servo action confirmation at first.

Chapter 2

↓

Wiring

Connect servo drive with power and peripheral device

Chapter 3

↓

Preparation before

operation

Please confirm all the necessary items before turn on the power. And check if
there is any alarm.

Chapter 4

↓

Action confirmation

Operate in speed mode to test the servo drive and servo motor without any load

on the shaft.

Chapter 4

↓

Parameters settings

Set parameters according to terms of use.

Chapter 5

↓

Trial operation

Connect motor with mechanical systems, turn on the power, and check whether
protective functions (such as emergency stop and stroke limit) are working.
Check operation at both low speed and high speed.

—

31 2

4 5 6

7

8

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↓

Gain adjustment

Adjust the gain to get a good performance.

Chapter 4

↓

Normal operation

You can carry out normal operation now. If any faulty happens, please refer to
"Chapter 7 Protection."

Chapter 7

Preparing For Operation

Turning Power ON and Checking Indicators

■ Checking Power Supply Voltage

· Check to be sure that the power supply voltage is 24~85VDC

■ Checking Terminal Block Wiring

· The power supply inputs （+VDC、GND）must be properly connected to the terminal block.

· The servo motor‘s power line（U、V、W）must be properly connected to the terminal block.

■ Checking the servo motor

· The Encoder Cable must be securely connected to the Encoder Connector at the motor side.

· The power lines at the servo motor must be securely connected.

■ Checking the Control Connectors

· The Control Cable must be securely connected to the I/O Control Connector (CN2).。

· The ServoEn command must be OFF.

4.2 Software（Servofly）operation instructions

4.2.1 Communication

⑴ Connect servo drive with PC through serial cable.
⑵ Click “Servofly.exe‖ and select the COM menu，click the defined COM port(can be modified by PC).

⑶ The communication succeeds as the following dialog appears.

⑷ The communication fails as the following dialog appears, please check the wiring.

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⑸ The communication fails as the following dialog appears, it indicates that the software version does not match,
please select Pn-0 to check the version information, and download the right software on our website.

4.2.2 Basic function

1. Customers can use the basic function of the software in the ―File‖ menu.

2. Function

Item

Function

Load Default

Restore default parameters（equal with ―EE-Def‖ in panel operation）

Save to EEPROM

Save the current parameters to EEPROM

Parameters Setting…

Parameter setting

Parameters Upload…

Upload the parameters from servo drive to PC ( please name the parameter file as
“xx.par”, otherwise the operation would be invalid)

Parameters Download…

Download the parameters from PC to servo drive(please DO NOT use this
function.)

Exit

Exit the software

4.2.3 Monitoring function

1. Monitoring the servo state
⑴ ―Servo State‖ choice under the ―Monitor‖ menu is the monitoring choice of the servo state.

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⑵ Function

Item

Function

Torque(A)

Motor Q axis current（the value divided by 1.414 is motor current）

Torque Instruction(A)

Motor Q axis current command （the value divided by 1.414 is motor current
command）

Speed(RPM)

Motor speed（this is a real time value ）

Speed Instruction(RPM)

Speed command

Position(Pulse)

Feedback pulse

Posiotn Instruction(Pulse)

Pulse command

Position Erro(Pulse)

Position deviation (pulse command minus feedback pulse)

Speed Erro(Pulse)

Speed deviation（this is a real time value）

Alarm Number

Alarm code(―0‖ means no alarm）

Mother Line DC Vlot(V)

Mother line DC voltage

Drive Temperature

The temperature of the heat sink inside part

② Physical port status monitoring function
⑴ The ―Physical State‖ item under the ―Monitor‖ menu is for the physical port status monitoring function.

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⑵ Function

Item

Function

CN2 Port Input

Monitor the digital input status, green light indicates “ON” and grey light indicates
“OFF” , please refer to chapter 3 for details of I/O connector

CN2 Port Output

Monitor the digital output status, green light indicates “ON” and grey light indicates
“OFF” , please refer to chapter 3 for details of I/O connector

CN1 Port Input

Encoder input signals, green light indicates “ON” and grey light indicates “OFF” ,

please refer to chapter 3 for details of I/O connector

③ Logical port status monitoring function
⑴ The ―Logic State‖ item under the ―Monitor‖ menu is for the logical port status monitoring function.

⑵ Function

Monitor the logical input status, green light indicates “ON” and grey light indicates “OFF” , please refer to
chapter 3 section 3.7 for details of logical input.

4.2.4 Oscillation control and running curve monitoring function

1. Oscillation control

In the picture, the items “Setting„”, “Current Loop Adjust„”, “Speed Loop Adjust„” and “Position
Loop Adjust„” are for oscillation control, this function is only for factory testing use, wrong operation may
cause damage, please DO NOT use this function.

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2. Running curve monitoring function
―Random Capture‖ menu is for the running curve monitoring function, customers can check the current loop
curve, speed loop curve and position loop curve.

4.2.5 Config function
There are two items ―Motor Config…‖ and ―Logic I/O Config…‖ under the ―Config‖ menu. The “Aux Encoder
Config…” item DOES NOT open to customers.

1. Motor parameters adaptive function

⑴ Click ―Basic Information…‖ and the following dialog will appear:

⑵ Fill in the basic data (please don‘t fill in other parameters)

Item

Function

Rated Current(A)

Motor nominal current

Rs（ohm）

Phase resistance

Ls（mH）

Phase inductance

Ke（V/Krpm）

Back EMF

Note：This operation must be carried out by electrical engineer and the above parameters must be effective,
otherwise it would cause mistake or damage.

⑶ Adaption
Click ―Auto Match‖ to start the adaption operation, as the following dialog appears, select the right direction(face
the motor shaft, ―CCW direction‖ indicates counterclockwise direction and ―CW direction‖ indicates clockwise0
direction), and then click ―OK‖.

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The following dialog will appear as if the adaption is successful, please save the parameters to EEPROM and
power off, then power on again.

⑷ If adption is not successful, maybe there is something wrong with the operation, please contact with out
technical staff.

2. Mapping function
⑴ Click ―Logic I/O Config...‖ and the follow dialog will appear:

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⑵ The left side part which can not be modified is the logic signal name, the right side part which can be modified
by customers is the mapping port. Customers can use UP button and DOWN button to set the mapping method,
then click ―OK‖.
Note: ―0‖ indicates OFF or invalid, ―1‖ indicates ON or valid.

⑶ Please refer to chapter 3 for each logic input signal definition.
⑷ Please confirm that the mapping method is unique, otherwise it would cause abnormal conditions.

4.3 Position Control Mode

● Three type optional input pulse command (pulse + direction pulse, CCW+CW pulse, A /B phase pulse )

● Two types of input signal optional（open collector signal、differential signal）

● Optional electric gears

●

The number of dividing pulse

● Speed limitation and torque limitation can be set

4.3.1 Terminal Diagram

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4.3.2 Parameters Settings

No.

Parameter

Function

Pn-4

Motor control mode

Select position control mode(Value: 2)

Pn-48

Denominator of electric gear

Two sets of electronic gear can be switched by the external trigger signal.

Pn-49

Numerator 1 of electric gear

Pn-50

Numerator 2 of electric gear

Pn-51

Dynamic electronic gear function
enable

Pn-52

External Pulse Input Type

Select the pulse command type.

Pn-53

Invert of pulse command
direction

The direction of position command can be inverted with this function.

Pn-55

Position error detection range

The drive will issue position tolerance alarm when the position offset counter
value exceeds the selected value×100 in position control mode.

Pn-56

Position error detection function

Set this parameter to enable the position error function or not.

Pn-30

The first speed loop proportional
gain

The value is determined by the type of servo and the load condition. In general,
larger load inertia needs larger value. It can be switched with the second speed
loop proportional gain automatically or manually (refer to chapter 5 section

4.8).

Pn-31

The first speed loop integral time
constant

The value is determined by the type of servo and the load condition. In general,
larger load inertia needs larger value. It can be switched with the second speed
loop integral time constant automatically or manually (refer to chapter 5
section 4.8).

Pn-32

The first low-pass bandwidth of
speed loop

Normally, smaller value results in slower and smoother speed response. But
too much small value may cause system oscillation. It can be switched with the
second low-pass bandwidth of speed loop automatically or manually (refer to
chapter 5 section 4.8).

Pn-33

The first low-pass filter
bandwidth of torque command

Normally, smaller value results in slower and smoother speed response. But
too much small value may cause system oscillation. It can be switched with the
second low-pass filter bandwidth of torque command automatically or
manually (refer to chapter 5 section 4.8).

Pn-36

The second speed loop
proportional gain

The value is determined by the type of servo and the load condition. In general,
larger load inertia needs larger value. It can be switched with the first speed
loop proportional gain automatically or manually (refer to chapter 5 section

4.8).

Pn-37

The second speed loop integral
time constant

The value is determined by the type of servo and the load condition. In general,
larger load inertia needs larger value. It can be switched with the first speed
loop integral time constant automatically or manually (refer to chapter 5
section 4.8).

Pn-38

The second low-pass bandwidth
of speed loop

Normally, smaller value results in slower and smoother speed response. But
too much small value may cause system oscillation. It can be switched with the
first low-pass bandwidth of speed loop automatically or manually (refer to
chapter 5 section 4.8).

Pn-39

The second low-pass filter
bandwidth of torque command

Normally, smaller value results in slower and smoother speed response. But
too much small value may cause system oscillation. It can be switched with the
first low-pass filter bandwidth of torque command automatically or manually
(refer to chapter 5 section 4.8).

Pn-44

The first Position loop
proportional gain

Higher gain results in greater mechanical stiffness and less position tracking
error. Too large value may cause overshoot or oscillation. It can be switched
with the second Position loop proportional gain automatically or manually
(refer to chapter 5 section 4.8).

Pn-45

The first position loop differential
proportional gain

Higher gain results in greater mechanical stiffness and less position tracking
error. Too big value may cause overshoot or oscillation; This parameter is
usually set to zero unless very fast response is required. It can be switched with
the second position loop differential proportional gain automatically or

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4.3.3 Operation Flow Chart

Select input

pulse command

type

Select rotation

direction

Set Pn-4 to 2

Select electronic

gear function

Set ServoEn ON

Host sends pulse

command for a

trial operation

⑴ Select position control mode.

⑵ Select input pulse command type (support pulse/direction pulse ,

CCW/CW pulse, A phase/B phase pulse ) by Pn-52.

⑶ Select rotation direction by Pn-53.

⑷ Select electronic gear ratio by Pn-48, Pn-49, Pn-50.

⑸ Set signal “ServoEn” ON or set Pn-8 to 100000,

and the motor get the power.

Adjust the servo

gain

⑹ In no-load conition (leave the motor shaft free), send pulse command
for forward, reverse, acceleration / deceleration and other operation
for a trial operation.

⑺ Make a trial processing and adjust the servo gain according to the
running status.

manually (refer to chapter 5 section 4.8).

Pn-46

The first cut-off frequency of
position feed forward filter

The filter is used to increase the stability of compound position control. It can
be switched with the second cut-off frequency of position feed forward filter
automatically or manually (refer to chapter 5 section 4.8).

Pn-47

Constant of position command
filter

①Smoothen filter for the command pulse with the accelerate of index form,
the value stands for time constant. The unit is ms;

󰪧Filter would not lose input pulse but may lead to delay;

󰪨The filter works in the follow conditions:

● Host controller has not acceleration and deceleration function;

● Larger electronic gear ratio (＞10);

● Lower command frequency;

● Motor running with jumps or other unstable conditions;

󰪩Filter is inactive as set to 0.

Pn-66

The second Position loop
proportional gain

Higher gain results in greater mechanical stiffness and less position tracking
error. Too large value may cause overshoot or oscillation. It can be switched
with the first Position loop proportional gain automatically or manually (refer
to chapter 5 section 4.8).

Pn-67

The second position loop
differential proportional gain

Higher gain results in greater mechanical stiffness and less position tracking
error. Too big value may cause overshoot or oscillation; This parameter is
usually set to zero unless very fast response is required. It can be switched with
the first position loop differential proportional gain automatically or manually
(refer to chapter 5 section 4.8).

Pn-68

The second cut-off frequency of
position feed forward filter

The filter is used to increase the stability of compound position control. It can
be switched with the first cut-off frequency of position feed forward filter
automatically or manually (refer to chapter 5 section 4.8).

Pn-69

Enhancement of torque loop
response function

As set the value to 1, it can enhance the response of the torque, but it may
cause some current noise in the motor.

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4.3.4 Function

1. Position error detection function（Related parameters：Pn-56, Pn-55）

⑴ The function is only effective in position mode and point to point mode, if the position deviation exceeds a

threshold value, it would occur Err-16;

⑵ Set Pn-56 to 0, enable the position error detection function;
⑶ Set the threshold alarm value by Pn-55, the servo drive would alarm as the position deviation (difference

between pulse command and actual stroke position) exceeds the threshold value.
The threshold alarm value = the value of Pn-55 *100pulse

2. Electronic gear function（Related parameters：Pn-48, Pn-49, Pn-50,Pn51）

⑴

 











Po：The required pulse number per round
P： Encoder resolution
G： Electronic gear ratio
For example：the encoder resolution of SM110-050-30LFB is 10000ppr, if you want count 1000pulse per round,

 











 

Then you should set Pn-49 to 10 and Pn-48 to 1.

Figure 5-4 Electronic function

⑵

Set Pn-51 to 1 to enable dynamic electronic gear function, customers can switch two sets of electronic gear by

the logic control signal‖ Logic_IntPn_Sel [0]‖.

Figure 5-5 Dynamic electronic gear function

The process pulse command
by the electronic gear

Pulse command from host

10 pulse

Position command

Switching the ratio by digital signal OFF ON OFF

Electronic gear ratio

First electronic

gear ratio

Pn-49/Pn-48

Second electronic

gear ratio

Pn-50/Pn-48

First electronic

gear ratio

Pn-49/Pn-48

t1，t2，t3，t4＞10ms

t1 t2 t3 t4

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4.4 Analog Speed Control Mode

● ±10V Analog input, control the motor speed and torque simultaneously

●

Control through the I / O port,

●

Acceleration / deceleration time setting

● Support encoder output

● Speed limitation and torque limitation can be set

4.4.1 Terminal Diagram

4.4.2 Parameters Settings

No.

Parameter

Function

Pn-4

Motor control mode

Select speed control mode(Value: 1)

Pn-15

Gain of analog torque command
input

Set the ratio between the input voltage of analog torque and actual motor torque

Pn-18

Gain of analog speed command
input

Set the ratio between the input voltage of analog speed and actual motor speed.

Pn-19

Analog input drift compensation

The zero-bias compensation for the analog speed input.

Pn-20

Direction inversion of analog
speed input

Set the rotation direction.(Effective in analog speed mode)

Pn-21

Low-pass bandwidth of analog
speed input

Set the response time of speed analog input.

Pn-34

Acceleration time constant

Set the acceleration time constant.

Pn-35

Deceleration time constant

Set the deceleration time constant.

Pn-40

Command type of speed control

Select command type.（Value：1）

Pn-30

The first speed loop proportional
gain

The value is determined by the type of servo and the load condition. In general,
larger load inertia needs larger value. It can be switched with the second speed
loop proportional gain automatically or manually (refer to chapter 5 section

4.8).

Pn-31

The first speed loop integral time
constant

The value is determined by the type of servo and the load condition. In general,
larger load inertia needs larger value. It can be switched with the second speed
loop integral time constant automatically or manually (refer to chapter 5 section

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4.8).

Pn-32

The first low-pass bandwidth of
speed loop

Normally, smaller value results in slower and smoother speed response. But too
much small value may cause system oscillation. It can be switched with the
second low-pass bandwidth of speed loop automatically or manually (refer to
chapter 5 section 4.8).

Pn-33

The first low-pass filter
bandwidth of torque command

Normally, smaller value results in slower and smoother speed response. But
too much small value may cause system oscillation. It can be switched with the
second low-pass filter bandwidth of torque command automatically or
manually (refer to chapter 5 section 4.8).

Pn-36

The second speed loop
proportional gain

The value is determined by the type of servo and the load condition. In general,
larger load inertia needs larger value. It can be switched with the first speed
loop proportional gain automatically or manually (refer to chapter 5 section

4.8).

Pn-37

The second speed loop integral
time constant

The value is determined by the type of servo and the load condition. In general,
larger load inertia needs larger value. It can be switched with the first speed
loop integral time constant automatically or manually (refer to chapter 5 section

4.8).

Pn-38

The second low-pass bandwidth
of speed loop

Normally, smaller value results in slower and smoother speed response. But too
much small value may cause system oscillation. It can be switched with the first
low-pass bandwidth of speed loop automatically or manually (refer to chapter 5
section 4.8).

Pn-39

The second low-pass filter
bandwidth of torque command

Normally, smaller value results in slower and smoother speed response. But
too much small value may cause system oscillation. It can be switched with the
first low-pass filter bandwidth of torque command automatically or manually
(refer to chapter 5 section 4.8).

Pn-69

Enhancement of torque loop
response function

As set the value to 1, it can enhance the response of the torque, but it may cause
some current noise in the motor.

4.4.3 Operation Flow Chart

Figure 5-7 Operation Flow Chart

Set analog gain

of torque control

by Pn-18

Select rotation

direction

Set Pn-4 to 1

Set the

acceleration and

deceleration time

⑴ Select speed control mode.

⑵ Set the analog gain to select the relationship between analog voltage

and speed command, 3000rpm according to 10V for default.

⑶ Select rotation direction by Pn-20 or switch the direction by digital
input “Logic_STOrder_Invert”

⑷ Set Pn-34 for acceleration time and Pn-35 for deceleration time.

Analog input

drift

compensation

⑹ Set parameter Pn-19 to clear the analog
input drift.

Host sends pulse

command for a

trial operation

⑺ In no-load conition (leave the motor shaft free), send pulse command
for forward, reverse, acceleration / deceleration and other operation
for a trial operation.

Adjust the servo

gain

⑻ Make a trial processing and adjust the servo gain according to the
running status.

Set ServoEn ON

⑸ Set signal “ServoEn”ON or set Pn-8 to 100000, and the motor get the
power.

Set Pn-40 to 1

⑵ Select analog voltage as speed command by Pn-40.

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Function

1． Analog gain setting function（Related parameters：Pn-18）

Set the ratio between the input voltage of analog speed and actual motor speed.，they are proportional relationship.

Value of Pn-18=(Max. input/Max. speed command)30000。The default value is 100，which means 10Vsupport

speed command of 3000rpm.

Item

Pn-18=50

Pn-18=100

Pn-18=200

Relationship

of input

voltage and

output speed

2． Analog input drift compensation function（Related parameters：Pn-19）

● Customers can use the analog input drift compensation function to deal with the analog input drift.

⑴ Make a correct wiring and set the analog voltage to 0V.
⑵

Check the motor speed by the drive monitor functions, adjust the value of the parameter Pn-19 to compensate.
As the zero-drift speed is a positive value, the parameter should be set a positive value; while the zero-drift speed
is a negative value, the parameter should be set a negative value.

3． Acceleration / deceleration time setting（Related parameters：Pn-34，Pn-35）
⑴

In case of overloading, it is suggested to set the acceleration / deceleration time to avoid the impact of the
instantaneous large current to avoid error or failure.
⑵ Set the value of Pn-34 for acceleration time constant while Pn-35 for deceleration time constant, the unit is ms.

3000 rpm

+5V

-3000 rpm

-5V

0V

Speed command

Analog
voltage

3000 rpm

+10V

-3000 rpm

-10V

0V

Speed command

Analog
voltage

1500 rpm

+10V

-1500 rpm

-10V

0V

Speed command

Analog
voltage

Max. speed in

positive direction

+10V

Max. speed in

nagetive direction

-10V

0V

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4.5 Internal Speed Control Mode

● Internal speed command

● Switch commands by digital input terminal

●

Acceleration / deceleration time setting

● Speed limitation and torque limitation can be set

4.5.1 Terminal Diagram

4.5.2 Parameters Settings

No.

Parameter

Function

Pn-4

Motor control mode

Select speed control mode(Value: 1)

Pn-34

Acceleration time constant

Set the acceleration time constant.

Pn-35

Deceleration time constant

Set the deceleration time constant.

Pn-40

Command type of speed control

Select command type.（Value: 0）

Pn-88~
Pn-103

Internal speed command 1~ 16

Set the speed command, the unit is rpm.

Pn-30

The first speed loop proportional
gain

The value is determined by the type of servo and the load condition. In general,
larger load inertia needs larger value. It can be switched with the second speed
loop proportional gain automatically or manually (refer to chapter 5 section

4.8).

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4.5.3 Operation Flow Chart

Set Pn-40 to 0

Set internal

speed command

by Pn-88~Pn-103

Set Pn-4 to 1

Set the

acceleration and

deceleration time

Host sends pulse

command for a

trial operation

⑴ Select speed control mode.

⑵ Select internal command as speed command by Pn-40.

⑶ Set the internal speed command.

⑷ Set Pn-34 for acceleration time and Pn-35 for deceleration time.

⑹ In no-load conition (leave the motor shaft free), send pulse command

for forward, reverse, acceleration / deceleration and other operation
for a trial operation.

Adjust the servo

gain

⑺ Make a trial processing and adjust the servo gain according to the
running status.

Set ServoEn ON

⑸ Set signal “ServoEn”ON or set Pn-8 to 100000, and the motor get the
power.

Pn-31

The first speed loop integral time
constant

The value is determined by the type of servo and the load condition. In general,
larger load inertia needs larger value. It can be switched with the second speed
loop integral time constant automatically or manually (refer to chapter 5 section

4.8).

Pn-32

The first low-pass bandwidth of
speed loop

Normally, smaller value results in slower and smoother speed response. But too
much small value may cause system oscillation. It can be switched with the
second low-pass bandwidth of speed loop automatically or manually (refer to
chapter 5 section 4.8).

Pn-33

The first low-pass filter
bandwidth of torque command

Normally, smaller value results in slower and smoother speed response. But
too much small value may cause system oscillation. It can be switched with the
second low-pass filter bandwidth of torque command automatically or
manually (refer to chapter 5 section 4.8).

Pn-36

The second speed loop
proportional gain

The value is determined by the type of servo and the load condition. In general,
larger load inertia needs larger value. It can be switched with the first speed
loop proportional gain automatically or manually (refer to chapter 5 section

4.8).

Pn-37

The second speed loop integral
time constant

The value is determined by the type of servo and the load condition. In general,
larger load inertia needs larger value. It can be switched with the first speed
loop integral time constant automatically or manually (refer to chapter 5 section

4.8).

Pn-38

The second low-pass bandwidth
of speed loop

Normally, smaller value results in slower and smoother speed response. But too
much small value may cause system oscillation. It can be switched with the first
low-pass bandwidth of speed loop automatically or manually (refer to chapter 5
section 4.8).

Pn-39

The second low-pass filter
bandwidth of torque command

Normally, smaller value results in slower and smoother speed response. But
too much small value may cause system oscillation. It can be switched with the
first low-pass filter bandwidth of torque command automatically or manually
(refer to chapter 5 section 4.8).

Pn-69

Enhancement of torque loop
response function

As set the value to 1, it can enhance the response of the torque, but it may cause
some current noise in the motor.

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4.5.4 Function

1. Acceleration / deceleration time setting（Related parameters: Pn-34，Pn-35）

⑴

In case of overloading, it is suggested to set the acceleration / deceleration time to avoid the impact of the
instantaneous large current to avoid error or failure.
⑵ Set the value of Pn-34 for acceleration time constant while Pn-35 for deceleration time constant, the unit is ms.

4.6 Pulse Speed Control Mode

● Three type optional input pulse command(pulse/direction pulse, CCW/CW pulse, A phase/B phase pulse )

● Two types of input signal optional（open collector signal、differential signal）

● Optional electric gears

● Speed limitation and torque limitation can be set

4.6.1 Terminal Diagram

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4.6.2 Parameters Setting

No.

Parameter

Function

Pn-4

Motor control mode

Select speed control mode(Value: 1)

Pn-40

Command type of speed control

Select command type.（Value: 2）

Pn-48

Denominator of electric gear

Two sets of electronic gear can be switched by the external trigger signal.

Pn-49

Numerator 1 of electric gear

Pn-50

Numerator 2 of electric gear

Pn-51

Dynamic electronic gear function
enable

Pn-52

Input pulse command mode

Select the pulse command type.

Pn-53

Invert direction of pulse
command

The direction of position command can be inverted with this function.

Pn-30

The first speed loop proportional
gain

The value is determined by the type of servo and the load condition. In general,
larger load inertia needs larger value. It can be switched with the second speed
loop proportional gain automatically or manually (refer to chapter 5 section

4.8).

Pn-31

The first speed loop integral time
constant

The value is determined by the type of servo and the load condition. In general,
larger load inertia needs larger value. It can be switched with the second speed
loop integral time constant automatically or manually (refer to chapter 5 section

4.8).

Pn-32

The first low-pass bandwidth of
speed loop

Normally, smaller value results in slower and smoother speed response. But too
much small value may cause system oscillation. It can be switched with the
second low-pass bandwidth of speed loop automatically or manually (refer to
chapter 5 section 4.8).

Pn-33

The first low-pass filter
bandwidth of torque command

Normally, smaller value results in slower and smoother speed response. But
too much small value may cause system oscillation. It can be switched with the
second low-pass filter bandwidth of torque command automatically or
manually (refer to chapter 5 section 4.8).

Pn-36

The second speed loop
proportional gain

The value is determined by the type of servo and the load condition. In general,
larger load inertia needs larger value. It can be switched with the first speed
loop proportional gain automatically or manually (refer to chapter 5 section

4.8).

Pn-37

The second speed loop integral
time constant

The value is determined by the type of servo and the load condition. In general,
larger load inertia needs larger value. It can be switched with the first speed
loop integral time constant automatically or manually (refer to chapter 5 section

4.8).

Pn-38

The second low-pass bandwidth
of speed loop

Normally, smaller value results in slower and smoother speed response. But too
much small value may cause system oscillation. It can be switched with the first
low-pass bandwidth of speed loop automatically or manually (refer to chapter 5
section 4.8).

Pn-39

The second low-pass filter
bandwidth of torque command

Normally, smaller value results in slower and smoother speed response. But
too much small value may cause system oscillation. It can be switched with the
first low-pass filter bandwidth of torque command automatically or manually
(refer to chapter 5 section 4.8).

Pn-69

Enhancement of torque loop
response function

As set the value to 1, it can enhance the response of the torque, but it may cause
some current noise in the motor.

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4.6.3 Operation Flow Chart

4.6.4 Function

1. Acceleration / deceleration time setting（Related parameters: Pn-34，Pn-35）

⑴

In case of overloading, it is suggested to set the acceleration / deceleration time to avoid the impact of the
instantaneous large current to avoid error or failure.
⑵ Set the value of Pn-34 for acceleration time constant while Pn-35 for deceleration time constant, the unit is ms.

Set Pn-40 to 2

Select input

pulse command

type

Set Pn-4 to 1

Select rotation

direction

Host sends pulse

command for a

trial operation

⑴ Select speed control mode.

⑵ Select pulse command as speed command by Pn-40.

⑶ Select input pulse command type (support pulse/direction pulse ,

CCW/CW pulse, A phase/B phase pulse ) by Pn-52.

⑷ Select rotation direction by Pn-53.

⑺ In no-load conition (leave the motor shaft free), send pulse command

for forward, reverse, acceleration / deceleration and other operation
for a trial operation.

Adjust the servo

gain

⑻ Make a trial processing and adjust the servo gain according to the
running status.

Set ServoEn ON

⑹ Set signal “ServoEn”ON or set Pn-8 to 100000, and the motor get the
power.

Select electronic

gear function

⑸ Select electronic gear ratio by Pn-48, Pn-49, Pn-50.

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4.7 Analog Torque Control Mode

● ±10V Analog input

● Analog input drift compensation function

● Control through the I / O port, switching the rotation direction by digital input terminal

● Speed limitation and torque limitation can be set

4.7.1 Terminal Diagram

4.7.2 Parameters Setting

No.

Parameter

Function

Pn-4

Motor control mode

Select torque control mode(Value: 0)

Pn-15

Gain of analog torque command
input

Set the ratio between the input voltage of analog torque and actual motor torque

Pn-16

Analog input drift compensation

The zero-bias compensation for the analog torque input.

Pn-17

Direction inversion of analog
speed input

Set the rotation direction.(Effective in analog torque mode)

Pn-42

Speed limit

Limit the maximum speed in torque control mode to avoid overspeed when the
motor is unloaded, parameter unit is rpm.

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4.7.3 Operation Flow Chart

Figure 5-22 Operation Flow Chart

4.7.4 Function
1． Analog gain setting function（Related parameters：Pn-15）

Set the ratio between the input voltage of analog torque and actual motor torque.，they are proportional
relationship.

Value of Pn-15=(Max. input/Max. torque command)10。The default value is 100，which means 10Vsupport 100%

torque.

Item

Pn-15=50

Pn-15=100

Pn-15=200

Relationship

of input

voltage and

output
torque

Set analog gain

of torque control

by Pn-15

Select rotation

direction

Set Pn-4 to 0

Set the speed

limit in torque

control mode

⑴ Select torque control mode.

⑵ Set the analog gain to select the relationship between analog voltage

and torque command, 100% output torque according to 10V for default.

⑶ Select rotation direction by Pn-17 or switch the direction by digital
input “Logic_STOrder_Invert”

⑷ Set the speed limit in torque control mode by Pn-42.

Analog input

drift

compensation

⑹ Set parameter Pn-16 to clear the analog input drift.

Host sends pulse

command for a

trial operation

⑺ In no-load conition (leave the motor shaft free), send pulse command
for forward, reverse, acceleration / deceleration and other operation
for a trial operation.

Adjust the servo

gain

⑻ Make a trial processing and adjust the servo gain according to the
running status.

Set ServoEn ON

⑸ Set signal “ServoEn”ON or set Pn-8 to 100000, and the motor get
the power.

100%

+5V

-100%

-5V

0V

Torque command

Analog
voltage

100%

+10V

-100%

-10V

0V

Torque command

Analog
voltage

50%

+10V

-50%

-10V

0V

Torque command

Analog
voltage

34

BONMET motion GmbH/www.bonmet.com/www.bonmet.de

2． Analog compensation function（Related parameters：Pn-16）

● Customers can use the analog input drift compensation function to deal with the analog input drift.

⑴ Make a correct wiring and set the analog voltage to 0V.
⑵

Check the output torque by the drive monitor functions, adjust the value of the parameter Pn-16 to compensate.
As the zero-drift torque is a positive value, the parameter should be set a positive value; while the zero-drift torque
is a negative value, the parameter should be set a negative value.

Figure 5-23

4.8 Gain Adjustment

● The purpose of adjusting the servo system is to minimize the level of inaccuracy of the servo motor when

operating under instructions and also shorten the time of travel. Doing so needs to adjust gain parameter and
compensation parameter.

● The wrong parameter settings may lead to equipment failure and accidents, users should confirm the

correctness of the parameters before operation.

● It is suggested that operate without load for testing firstly.

1． Speed adjust

Figure 5-40

2． Position adjust

Figure 5-41

+10V-10V

0V

Max. torque in

positive direction

Max. torque in

nagetive direction

Speed

Time

Speed

Time

Speed

Time

Adjustment for

l

ag

ging

Adjustment for

overshoot

ing

Position

Time

Position

Time

Position

Time

Adjustment for

l

ag

ging

Adjustment for

overshoot

ing

35

BONMET motion GmbH/www.bonmet.com/www.bonmet.de

3． Function

■ Speed loop gain（KP_S; Related parameters: Pn-30，Pn-36）

The larger the value is, the greater the stiffness would be. The value is determined by the type of servo and the
load condition. In general, larger load inertia needs larger value. If there is no oscillation, the larger the value
is the better the servo system performs.

■ Speed loop integral time constant（TC_S; Related parameters: Pn-31, Pn-37）

The smaller the value is, the greater the stiffness is. The value is determined by the type of servo and the load
condition. In general, larger load inertia needs larger value. Set the parameter as small as possible without
oscillation.

■ Low-pass bandwidth of speed loop（LFP_S; Related parameters: Pn-32, Pn-38）

Normally, smaller value results in slower and smoother speed response. Too small value may cause system
oscillation.

■ Low-pass filter bandwidth of torque command（LFP_C; Related parameters: Pn-33, Pn-39）

Normally, smaller value results in slower and smoother speed response. But too much small value may
cause system oscillation.

■ Position loop proportional gain（KP_P; Related parameters: Pn-44，Pn-66）

Higher gain results in greater mechanical stiffness and less position tracking error. Too large value may cause
overshoot or oscillation. The value is determined by the type and the load of servo drive.

■ Position loop differential proportional gain（Kd; Related parameters: Pn-45，Pn-67）

Higher gain results in greater mechanical stiffness and less position tracking error. Too big value may cause
overshoot or oscillation; This parameter is usually set to zero unless very fast response is required

■ The cut-off frequency of position feed forward filter（FLFP_P; Related parameters: Pn-46，Pn-68）

The filter is used to increase the stability of compound position control. Normally, users do not need to
change the default value.

■ Enhancements of the current loop response（Pn-69）

As requiring higher response, users can use this function to enhance current loop response by set Pn-69 to 1.
It will enhance the stiffness of the motor and may cause some noise.

36

BONMET motion GmbH/www.bonmet.com/www.bonmet.de

4． Adjust operation

Note: in speed control mode, customers just need to adjust speed gain.

Start operation

Reduce KP_P

（Pn44），general

300~500

Runs well

Rise KP_S(Pn30) and
reduce TC_S（PN31）

Reduce KP_S(Pn30) and
rise TC_S（PN31）

Reduce LFP_S（Pn32）
and LFP_C（Pn33）, the
value of LFP_C（Pn33)
should be larger than
LFP_S（Pn32）

The out put torque is not enough or

mot or r uns some time s fast and

sometimes slow

Motor runs with vibration,could trigger
the alarm ERR-6, ERR-10, ERR-13

Runs with noise

Rise KP_P(Pn44)

NO

Motor overshoot occurs (positioning
vibration) a n d i t is still unable to
meet the needs of system response,
the overshoot may trigger the alarm
ERR-6, ERR-10, ERR-13

NO

Noise die out

YES

Runs well

Runs well

YES

YES

NO

Save parameters

End

YES

37

BONMET motion GmbH/www.bonmet.com/www.bonmet.de

5． Gain switching function

BONMET servo drive support two sets PID parameters for gain switching function.

The first set of PID parameter

The second set of PID parameter

Number

Name

Number

Name

Pn-30

Speed loop proportional gain（PID1）

Pn-36

Speed loop proportional gain（PID2）

Pn-31

Speed loop integral time constant（PID1）

Pn-37

Speed loop integral time constant（PID2）

Pn-32

Low-pass bandwidth of speed loop（PID1）

Pn-38

Low-pass bandwidth of speed loop（PID2）

Pn-33

Low-pass filter bandwidth of torque command

（PID1）

Pn-39

Low-pass filter bandwidth of torque command
（PID2）

Pn-44

Position loop proportional gain（PID1）

Pn-66

Position loop proportional gain（PID2）

Pn-45

Position loop differential proportional gain
（PID1）

Pn-67

Position loop differential scale factor（PID2）

Pn-46

The cut-off frequency of position feed forward

filter（PID1）

Pn-68

The cut-off frequency of position feed forward
filter（PID2）

① Fixed to the first set of PID parameters.
Set Pn-64 to 0.
② Fixed to the second set of PID parameters.
Set Pn-64 to 1.

③ Switch the PID parameters by digital input. (NOT SUPPORT)
⑴ Set Pn-64 to 2 and build the mapping of the logic signal ―Logic_PID_Sel‖ and the physical digital input (refer

to chapter 5 section 5.16.5).
⑵ As ―Logic_PID_Sel‖ is OFF, the first set of PID parameters are valid, while as ―Logic_PID_Sel‖ is ON, the
second set of PID parameters are valid.

④ Switch the PID parameters by position deviation.
⑴ Set Pn-64 to 3 for switch mode, and set the trigger value by Pn-65.
⑵ As the position deviation value (position deviation value = pulse commands – feedback pulse, the unit is pulse)

is less than trigger value, the first set of PID parameters are valid, while as the position deviation value is larger
than trigger value, the second set of PID parameters are valid.

⑤ Switch the PID parameters by speed deviation.
⑴ Set Pn-64 to 4 for switch mode, and set the trigger value by Pn-65.
⑵ As the speed deviation value (speed deviation value = speed commands –motor speed, the unit is rpm) is less

than trigger value, the first set of PID parameters are valid, while as the speed deviation value is larger than trigger
value, the second set of PID parameters are valid.

⑥ Switch the PID parameters by motor speed.
⑴ Set Pn-64 to 5 for switch mode, and set the trigger value by Pn-65.
⑵ As the motor speed (the unit is rpm) is less than trigger value, the first set of PID parameters are valid, while as

the motor speed is larger than trigger value, the second set of PID parameters are valid.

⑦ Switch the PID parameters by motor output torque.
⑴ Set Pn-64 to 6 for switch mode, and set the trigger value by Pn-65.
⑵ As the motor output torque (the unit is %) is less than trigger value, the first set of PID parameters are valid,

while as the motor output torque is larger than trigger value, the second set of PID parameters are valid.

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BONMET motion GmbH/www.bonmet.com/www.bonmet.de

4.9 Overload Alarming Function

1. Function

When the motor output torque is over the alarming threshold value (Pn-22) and the last time is over the selected
testing time, the servo drive will alarm Err-18, the motor will stop.

2. Operation

⑴ Set the overload alarming threshold value by Pn-22
⑵ Set the overload testing time through by Pn-23

Figure 5-38 Overload alarming function

Chapter5 Parameters

6.1 Parameter List

● The parameter “R-1”~“R-34” only can be modified by bus functions, can not be modified by panel.

● Control mode: ―ALL‖ means for the parameter is valid for all control mode, ―P‖ means for the parameter is

valid for position control mode, ―S‖ means for the parameter is valid for speed control mode, ―T‖ means for
the parameter is valid for torque control mode, ―SP‖ means for the parameter is valid for point to point control
mode, ―D‖ means for the parameter is valid for demo mode.

No.

Control

mode

Parameter

No.

Control

mode

Parameter

0

ALL

Firmware version

25

ALL

Internal torque limit in negative (CW)
direction

1

ALL

Motor type code

26

ALL

Internal torque limit in positive (CCW)
direction

2

ALL

User constants protection code

27

ALL

Torque limit mode

3

ALL

Drive status (Front Panel Display)

28

ALL

Notch function

4

ALL

Motor control mode

29

ALL

Notch frequency

5

ALL

Mechanical brake delay time

30

ALL

The first speed loop proportional gain
（PID1）

6

ALL

Current turn off delay time

31

ALL

The first speed loop integral time constant
（PID1）

7

ALL

Threshold speed of current turn off delay
time

32

ALL

The first low-pass bandwidth of speed
loop（PID1）

8

ALL

Anti-control of low-6-bit digital input

33

ALL

The first low-pass filter bandwidth of
torque command（PID1）

9

ALL

Anti-control of high-4-bit digital input

34 S Accelerationy time in speed control

Motor output torque 0% 50%

100%

Alarm output OFF

Alarm threshold value

（set by Pn-22）

Overload testing time

（set by Pn-23）

ON（ERR-18）

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No.

Control

mode

Parameter

No.

Control

mode

Parameter

10

ALL

Anti-control of encoder feedback

35 S Deceleration time in speed control

11

ALL

Force-ON of low-6-bit digital input

36

ALL

The second speed loop proportional gain
（PID2）

12

ALL

Force-ON of high-4-bit digital input

37

ALL

The second speed loop integral time
constant（PID2）

13

ALL

Anti-control of high-4-bit digital output

38

ALL

The second low-pass bandwidth of speed
loop（PID2）

14

ALL

Anti-control of low-3-bit digital output

39

ALL

The second low-pass filter bandwidth of
torque command（PID2）

15 T Gain of analog torque command input

40 S Speed command mode

16

T

Analog input drift compensation of torque
command

41

S

Speed command in JOG control mode

（NOT SUPPORT）

17

T

Invert the direction of analog torque
command

42

ALL

Speed limit

18 S Gain of analog speed command input

43

S

Theshold value of speed reached output

（NOT SUPPORT）

19

S

Analog input drift compensation of speed
command

44

P

The first Position loop proportional gain
（PID1）

20

S

Invert the direction of analog speed
command

45

P

The first position loop differential
proportional gain（PID1）

21

S

Low-pass bandwidth of analog speed
input

46

P

The first cut-off frequency of position
feed forward filter（PID1）

22

ALL

Threshold value of torque overload alarm

47 P Constant of position command filter

23

ALL

Testing time of torque over load alarm

48

P，S

Denominator of electric gear ratio

24

ALL

Internal brake resistor temperature alarm
function（NOT SUPPORT）

49

P，S

Numerator 1 of electric gear ratio

50

P，S

Numerator 2 of electric gear ratio

81 D Internal torque command 10

51

P，S

Electric gear ratio switching function

82 D Internal torque command 11

52 P External pulse input type

83 D Internal torque command 12

53 P Invert of pulse command direction

84 D Internal torque command 13

54

P

Range of positioning complete function

（NOT SUPPORT）

85 D Internal torque command 14

55 P Position error detection range

86 D Internal torque command 15

56 P Position error detection function

87 D Internal torque command 16

57

ALL

Encoder output ratio（NOT SUPPORT）

88

S，D

Internal speed command 1

58

SP

Homing mode（NOT SUPPORT）

89

S，D

Internal speed command 2

59

SP

Homing speed（NOT SUPPORT）

90

S，D

Internal speed command 3

60

SP

Acceleration / deceleration in homing
operation（NOT SUPPORT）

91

S，D

Internal speed command 4

61

SP

High bit of home position offset（NOT

SUPPORT）

92

S，D

Internal speed command 5

62

SP

Low bit of home position offset（NOT

SUPPORT）

93

S，D

Internal speed command 6

63

SP，D

Demo or point to point mode selection

94

S，D

Internal speed command 7

64

ALL

Gain (PID) parameter switching mode

95

S，D

Internal speed command 8

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No.

Control

mode

Parameter

No.

Control

mode

Parameter

65

ALL

Trigger value of gain (PID) parameter
switching function

96

S，D

Internal speed command 9

66

P

The second position loop proportional
gain（PID2）

97

S，D

Internal speed command 10

67

P

The second position loop differential
proportional gain（PID2）

98

S，D

Internal speed command 11

68

P

The second cut-off frequency of position
feed forward filter（PID2）

99

S，D

Internal speed command 12

69

ALL

Enhancement of torque loop response
function

100

S，D

Internal speed command 13

70 — Reservation

101

S，D

Internal speed command 14

71 — Reservation

102

S，D

Internal speed command 15

72 D Internal torque command 1

103

S，D

Internal speed command 16

73 D Internal torque command 2

104

SP，D

High bit of internal position command 1

74 D Internal torque command 3

105

SP，D

Low bit of internal position command 1

75 D Internal torque command 4

106

SP，D

Speed of internal position command 1

76 D Internal torque command 5

107

SP，D

Acceleration/deceleration of internal
position command 1

77 D Internal torque command 6

108

SP，D

Peak torque of internal position command
1

78 D Internal torque command 7

109

SP，D

High bit of internal position command 2

79 D Internal torque command 8

110

SP，D

Low bit of internal position command 2

80 D Internal torque command 9

111

SP，D

Speed of internal position command 2

112

SP，D

Acceleration/deceleration of internal
position command 2

143

SP，D

Peak torque of internal position command
8

113

SP，D

Peak torque of internal position command
2

144

SP，D

High bit of internal position command 9

114

SP，D

High bit of internal position command 3

145

SP，D

Low bit of internal position command 9

115

SP，D

Low bit of internal position command 3

146

SP，D

Speed of internal position command 9

116

SP，D

Speed of internal position command 3

147

SP，D

Acceleration/deceleration of internal
position command 9

117

SP，D

Acceleration/deceleration of internal
position command 3

148

SP，D

Peak torque of internal position command
9

118

SP，D

Peak torque of internal position command
3

149

SP，D

High bit of internal position command 10

119

SP，D

High bit of internal position command 4

150

SP，D

Low bit of internal position command 10

120

SP，D

Low bit of internal position command 4

151

SP，D

Speed of internal position command 10

121

SP，D

Speed of internal position command 4

152

SP，D

Acceleration/deceleration of internal
position command 10

122

SP，D

Acceleration/deceleration of internal
position command 4

153

SP，D

Peak torque of internal position command
10

123

SP，D

Peak torque of internal position command
4

154

SP，D

High bit of internal position command 11

124

SP，D

High bit of internal position command 5

155

SP，D

Low bit of internal position command 11

125

SP，D

Low bit of internal position command 5

156

SP，D

Speed of internal position command 11

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BONMET motion GmbH/www.bonmet.com/www.bonmet.de

No.

Control

mode

Parameter

No.

Control

mode

Parameter

126

SP，D

Speed of internal position command 5

157

SP，D

Acceleration/deceleration of internal
position command 11

127

SP，D

Acceleration/deceleration of internal
position command 5

158

SP，D

Peak torque of internal position command
11

128

SP，D

Peak torque of internal position command
5

159

SP，D

High bit of internal position command 12

129

SP，D

High bit of internal position command 6

160

SP，D

Low bit of internal position command 12

130

SP，D

Low bit of internal position command 6

161

SP，D

Speed of internal position command 12

131

SP，D

Speed of internal position command 6

162

SP，D

Acceleration/deceleration of internal
position command 12

132

SP，D

Acceleration/deceleration of internal
position command 6

163

SP，D

Peak torque of internal position command
12

133

SP，D

Peak torque of internal position command
6

164

SP，D

High bit of internal position command 13

134

SP，D

High bit of internal position command 7

165

SP，D

Low bit of internal position command 13

135

SP，D

Low bit of internal position command 7

166

SP，D

Speed of internal position command 13

136

SP，D

Speed of internal position command 7

167

SP，D

Acceleration/deceleration of internal
position command 13

137

SP，D

Acceleration/deceleration of internal
position command 7

168

SP，D

Peak torque of internal position command
13

138

SP，D

Peak torque of internal position command
7

169

SP，D

High bit of internal position command 14

139

SP，D

High bit of internal position command 8

170

SP，D

Low bit of internal position command 14

140

SP，D

Low bit of internal position command 8

171

SP，D

Speed of internal position command 14

141

SP，D

Speed of internal position command 8

172

SP，D

Acceleration/deceleration of internal
position command 14

142

SP，D

Acceleration/deceleration of internal
position command 8

173

SP，D

Peak torque of internal position command
14

174

SP，D

High bit of internal position command 15

R-10

ALL

FPGA version

175

SP，D

Low bit of internal position command 15

R-11

ALL

Index Reset Status

176

SP，D

Speed of internal position command 15

R-12

ALL

Index reset encoder counts

177

SP，D

Acceleration/deceleration of internal
position command 15

R-13

ALL

Real-time encoder counts

178

SP，D

Peak torque of internal position command
15

R-14

ALL

CN2 input terminal status

179

SP，D

High bit of internal position command 16

R-15

ALL

Encoder input terminal status

180

SP，D

Low bit of internal position command 16

R-16

ALL

CN2 output terminal status

181

SP，D

Speed of internal position command 16

R-17

ALL

The analog voltage of analog input port A

182

SP，D

Acceleration/deceleration of internal
position command 16

R-18

ALL

The analog voltage of analog input port B

183

SP，D

Peak torque of internal position command
16

R-19

ALL

DC bus voltage

184

ALL

Fieldbus selection

R-20

ALL

The current torque value

185

ALL

Modbus address

R-21

ALL

The current speed value

186

ALL

Modbus communication baud rate

R-22

ALL

The current high bit position value

187

ALL

Modbus communication frame type

R-23

ALL

The current low bit position value

42

BONMET motion GmbH/www.bonmet.com/www.bonmet.de

No.

Control

mode

Parameter

No.

Control

mode

Parameter

188

ALL

CANOpen node ID（NOT SUPPORT）

R-24

ALL

Torque error value

189

ALL

CANOpen baud rate（NOT SUPPORT）

R-25

ALL

Speed error value

R-1

ALL

Index reset clear

R-26

ALL

High bit position error value

R-2

ALL

Operation command for EEPROM

R-27

ALL

Low bit position error value

R-3

ALL

Modbus synchronous command selection

R-28

ALL

Torque command

R-4 T Synchronous torque command

R-29

ALL

Speed command

R-5 S Synchronous speed command

R-30

ALL

High bit position command

R-6

P

High bit of synchronous position
command

R-31

ALL

Low bit position command

R-7

P

Low bit of synchronous position
command

R-32

ALL

Alarm code

R-8

ALL

Synchronous command enable

R-33

ALL

BootRom version

R-9

ALL

The implementation state of EEPROM
operation

R-34

ALL

Software version

6.2 Details

● ―RO‖ indicates read only, R/W indicates read and write, WC indicates write and clear.

Pn-0

Parameter

Firmware version

Modbus address

0x1C7D

Unit － Range

－

Default

－

CANbus object

－

Attrib

RO

Control mode：All
Details：Firmware verion of servo drive, can not be modified.

Pn-1

Parameter

Motor type code

Modbus address

0x1240

Unit － Range

0~21

Default

－

CANbus object

0x2240.0

Attrib

R/W

Control mode：All
Details：Motor type ccode, customers must ensure the motor type code is correct when restore the default parameters.

Code

Motor model

Code

Motor model

Code

Motor model

0

Factory parameters

8

SM110-060-30LFB

16

SM130-150-15LFB

1

SM80-013-30LFB

9

SM130-040-25LFB

17

SM130-150-25LFB

2

SM80-024-30LFB

10

SM130-050-25LFB

18

SM150-150-25LFB

3

SM80-033-30LFB

11

SM130-060-25LFB

19

SM150-180-20LFB

4

SM110-020-30LFB

12

SM130-077-20LFB

20

SM150-230-20LFB

5

SM110-040-30LFB

13

SM130-077-30LFB

21

SM150-270-20LFB

6

SM110-050-30LFB

14

SM130-100-15LFB

7

SM110-060-20LFB

15

SM130-100-25LFB

Pn-2

Parameter

User constants protection code

Modbus address

0x1241

Unit － Range

0~32767

Default

28977

CANbus object

0x2241.0

Attrib

R/W

Control mode：All
Details：It is used to prevent the parameters from being changed accidentally. The parameters can not be modified as the value is set

to any number except 28977.
Example：① After adjust the parameters, set Pn-2 to 28990，click ―Enter‖ button, then the other parameters can not be modified.

43

BONMET motion GmbH/www.bonmet.com/www.bonmet.de

Change the parameter value and click “Enter” button, the decimal point does not disappear, the parameter can not be

modified.

󰪧 The parameters can be modified as Pn-2 is set to 28977.

Pn-3

Parameter

Drive Status (Front Panel Display)

Modbus address

0x1242

Unit － Range

0~18

Default

0

CANbus object

0x2242.0

Attrib

R/W

Control mode：All（SDL10A drive, NOT SUPPORT）
Details：Select the information displaying on the panel, customers can find the details in chapter 4 section 4.2.2

Value

Display

Unit

Value

Display

Unit

0

Motor output torque (%)

%

10

Reservation

—

1

Motor speed (rpm)

rpm

11

Low 5 bit of position deviation

pulse

2

Low 5 bit of feedback pulse

pulse

12

High 5 bit of position deviation

pulse

3

High 5 bit of feedback pulse

pulse

13

Control mode

—

4

Torque command

%

14

Alarm display

—

5

Speed command

rpm

15

Low 4 bit of digital input status

—

6

Low 5 bit of position command

pulse

16

High 6 bit of digital input status

—

7

High 5 bit of position command

pulse

17

Digital output status

—

8

Motor current

Amp

18

Encoder input status

—

9

Absolute rotor position

pulse

Example：① The default value of Pn-3 is 0, it indicates the display will show the motor output torque (%).

② Set Pn-3 to 1, now the display will show motor speed (rpm).

Pn-4

Parameter

Motor control mode

Modbus address

0x1243

Unit － Range

0~7

Default

2

CANbus object

0x2243.0

Attrib

R/W

Control mode：All
Details：This parameter is used to select the control mode of servo drive, please refer to chapter 5 section 4.2~4.9 for details.

Value

Control mode

Function

0

Torque control mode

Control by analog command

1

Speed control mode

󰪦Control by internal command 󰪧Control by analog command

󰪨Control by external pulse command

2

Position control mode

Control by external pulse command

3

JOG control mode

Control by panel （NOT SUPPORT）

4

Speed trial control mode

Control by internal command（NOT SUPPORT）

5

Analog input drift compensation

Used to analog input drift compensation function

Enter

Enter

Enter

Enter

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6

Point-to-point control mode

Control by demo mode

7

Position/speed/torque control mode

Switch the control mode among position control, speed control
and torque control. （NOT SUPPORT）

Pn-5

Parameter

Mechanical brake delay time

Modbus address

0x1244

Unit

ms

Range

1~1000

Default

10

CANbus object

0x2244.0

Attrib

R/W

Control mode：All
Details：Set the delay time from the moment that ServoEn signal is OFF to the time mechanical brake available (output terminals
BRK changes from OFF to ON). This parameter should be bigger than mechanical braking delay time to avoid motor for
micro-displacement or falling.

Pn-6

Parameter

Current turn off delay time

Modbus address

0x1245

Unit

ms

Range

1~1000

Default

10

CANbus object

0x2245.0

Attrib

R/W

Control mode：All
Details：Customers can set up time from when detecting the off of Servo-ON input signal (Logic_Servo_Enable) is to when external
brake release signal (BRK-OFF) turns off, while the motor turns to servo off during the motor in motion.
The actual time is the minimum value between PN5 and the time speed falls to PN6.

Pn-7

Parameter

Threshold speed of current turn off delay time

Modbus address

0x1246

Unit

rpm

Range

1~6000

Default

30

CANbus object

0x2246.0

Attrib

R/W

Control mode：All
Details：Set up the speed timing of brake output checking during operation.
The actual time is the minimum value between PN5 and the time speed falls to PN6.

Pn-8

Parameter

Anti-control of low-6-bit digital input

Modbus address

0x1247

Unit

－

Range

0~63

Default

0

CANbus object

0x2247.0

Attrib

R/W

Control mode：All

ON

OFF

OFF

ON

OFF（Hold）ON（Release）

Delay time set

by Pn-6

Threshold speed

set by Pn-7

Motor speed

0rpm

Servo enable input

（Logic_Servo_Enable）

Motor energization

Brake release output

（BRK）

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Details：This parameter is expressed by a 6-bit binary number. It is used for anti-control of low 6 bit digital input, “0” indicates
original state, and “1” indicates anti-control for this signal.

Note：This function is used for physical port anti-control operation, please refer to chapter 3 section 3.7.2 and chapter 5 section 5.16.5
for details of digital input/output function and mapping function.
Example：As the physical port status of “ServoEn” signal is OFF：

Item

Initial state

Anti-control operation

Parameter setting

Signal status

OFF

ON

Pn-9

Parameter

Anti-control of high-4-bit digital input

Modbus address

0x1248

Unit － Range

0~15

Default

0

CANbus object

0x2248.0

Attrib

R/W

Control mode：All
Details：This parameter is expressed by a 4-bit binary number. It is used for anti-control of high 4 bit digital input, “0” indicates
original state, and “1” indicates anti-control for this signal.

Note：
① This function is used for physical port anti-control operation, please refer to chapter 3 section 3.7.2 and chapter 5 section 5.16.5
for details of digital input/output function and mapping function.
② Please DO NOT take anti-control operation for “PulseInv” and “SignInv” signal for normal control, it may cause error.
Example：Please refer to the example of parameter “Pn-8”.

Pn-10

Parameter

Anti-control of encoder feedback

Modbus address

0x1249

Unit

－

Range

0~63

Default

0

CANbus object

0x2249.0

Attrib

R/W

Control mode：All

0位

0：Normal status
1：Anti-control operation

1位2位3位4位5位

CWTLtd

CCWTLtd

CWDis

CCWDis

AlarmClr

ServoEN

0：正常状态
1：对物理信号端口进行取反操作

PulseInv

SignInv

INH/SC2

CLE/SC1/ZEROSPD

0：Normal status
1：Anti-control operation

Bit 4 Bit 3 Bit 2 Bit 1

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Details：This parameter is expressed by a 6-bit binary number. It is used for anti-control of of encoder feedback, “0” indicates
original state, and “1” indicates anti-control for this signal.

Note：Normally, we do not suggest customers to use this function.
Example：Please refer to the example of parameter “Pn-8”.

Pn-11

Parameter

Force-ON of low-6-bit digital input

Modbus address

0x124A

Unit － Range

0~63

Default

0

CANbus object

0x224A.0

Attrib

R/W

Control mode：All
Details：This parameter is expressed by a 6-bit binary number. It is used for force-ON control of low-6-bit digital input, “0”
indicates original state, and “1” indicates force-ON control for this signal. As if customers carry out the force-ON control, the
signal will stay “ON” status.

Note：This function is used for physical port force-ON control operation, please refer to chapter 3 section 3.7.2 and chapter 5 section

5.16.5 for details of digital input/output function and mapping function.
Example：As the physical port status of “ServoEn” signal is OFF：

Item

Initial state

Anti-control operation

Parameter setting

Signal status

OFF

ON

Pn-12

Parameter

Force-ON of high-2-bit digital input

Modbus address

0x124B

Unit － Range

0~3

Default

0

CANbus object

0x224B.0

Attrib

R/W

Control mode：All
Details：This parameter is expressed by a 2-bit binary number (“PulseInv” and “SignInv” can not be modified). It is used for
force-ON control of high-2-bit digital input, “0” indicates original state, and “1” indicates force-ON control for this signal. As if

0：正常状态
1：对物理信号端口进行取反操作

PhaseZ

PhaseB

PhaseA

PhaseW

PhaseV

PhaseU

0：Normal status
1：Anti-control operation

Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1

0：Normal status
1：Force-ON operation

Bit 6

CWTLtd

CCWTLtd

CWDis

CCWDis

AlarmClr

ServoEN

Bit 5 Bit 4 Bit 3 Bit 2 Bit 1

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customers carry out the force-ON control, the signal will stay “ON” status.

Note：This function is used for physical port force-ON control operation, please refer to chapter 3 section 3.7.2 and chapter 5 section

5.16.5 for details of digital input/output function and mapping function.
Example：Please refer to the example of parameter “Pn-11”.

Pn-13

Parameter

Anti-control of high-4-bit digital output

Modbus address

0x124C

Unit － Range

0~15

Default

0

CANbus object

0x224C.0

Attrib

R/W

Control mode：All
Details：This parameter is expressed by a 4-bit binary number. It is used for anti-control of of digital output, “0” indicates original
state, and “1” indicates anti-control for this signal.

Note：As carry out anti-control of digital outputs, the signal status will change in very short time when power on, as the system reset.

Pn-14

Parameter

Anti-control of low-3-bit digital output

Modbus address

0x124D

Unit － Range

0~7

Default

0

CANbus object

0x224D.0

Attrib

R/W

Control mode：All
Details：This parameter is expressed by a 3-bit binary number. It is used for anti-control of of digital output, “0” indicates original
state, and “1” indicates anti-control for this signal.

Pn-15

Parameter

Gain of analog torque command input

Modbus address

0x124E

Unit － Range

10~300

Default

100

CANbus object

0x224E.0

Attrib

R/W

Control mode：Torque control mode
Details：This parameter is used to set the proportion relationship between analog torque input voltage and torque command.

Parameter value=(Max. input/Max. torque command)10。The default value is 100，which means 10Vsupport 100% torque.

Example：Please refer to chapter 5 section 5.7.4 for details.

0：正常状态
1：使物理信号端口强制为ON状态

INH/SC2

CLE/SC1/ZEROSPD

0：Normal status
1：Force-ON operation

Bit 2 Bit 1

0：正常状态
1：对物理信号端口进行取反操作

BRK

COIN

ALM

SRDY

0：Normal status
1：Anti-control operation

Bit 4 Bit 3 Bit 2 Bit 1

0：正常状态
1：对物理信号端口进行取反操作

PhaseZ

PhaseB

PhaseA

0：Normal status
1：Anti-control operation

Bit 3 Bit 2 Bit 1

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Pn-16

Parameter

Analog input drift compensation of torque

command

Modbus address

0x124F

Unit

mV

Range

-30000~30000

Default

0

CANbus object

0x224F.0

Attrib

R/W

Control mode：Torque control mode
Details：This function is used to adjust the analog input drift compensation. As the zero-drift torque is a positive value, the parameter
should be set a positive value; while the zero-drift torque is a negative value, the parameter should be set a negative value.
Example：Please refer to chapter 5 section 5.7.4 for details.

Pn-17

Parameter

Invert the direction of analog torque command

Modbus address

0x1250

Unit － Range

0~1

Default

0

CANbus object

0x2250.0

Attrib

R/W

Control mode：Torque control mode
Details：The analog torque command is a vector parameter.
Set the parameter to 0, as if the input voltage is a positive voltage, the motor will run in positive direction, while the input voltage is a
negative voltage, the motor will run in negative direction.
Set the parameter to 1, as if the input voltage is a positive voltage, the motor will run in negative direction, while the input voltage is
a negative voltage, the motor will run in positive direction.

Pn-18

Parameter

Gain of analog speed command input

Modbus address

0x1251

Unit － Range

10~300

Default

100

CANbus object

0x2251.0

Attrib

R/W

Control mode：Speed control mode
Details：This parameter is used to set the proportion relationship between analog speed voltage and speed command.

Parameter value =(Max. input/Max. speed command)30000。The default value is 100，which means 10Vsupport speed command of

3000rpm.
Example：Please refer to chapter 5 section 5.4.4 for details.

Pn-19

Parameter

Analog input drift compensationof speed

command

Modbus address

0x1252

Unit

mV

Range

-30000~30000

Default

0

CANbus object

0x2252.0

Attrib

R/W

Control mode：Speed control mode
Details：This function is used to adjust the analog input drift compensation. As the zero-drift speed is a positive value, the parameter
should be set a positive value; while the zero-drift speed is a negative value, the parameter should be set a negative value.
Example：Please refer to chapter 5 section 5.4.4 for details.

Pn-20

Parameter

Invert the direction of analog speed command

Modbus address

0x1253

Unit － Range

0~1

Default

0

CANbus object

0x2253.0

Attrib

R/W

Control mode：Speed control mode
Details：The analog speed command is a vector parameter.
Set the parameter to 0, as if the input voltage is a positive voltage, the motor will run in positive direction, while the input voltage is a
negative voltage, the motor will run in negative direction.
Set the parameter to 1, as if the input voltage is a positive voltage, the motor will run in negative direction, while the input voltage is
a negative voltage, the motor will run in positive direction.

Pn-21

Parameter

Low-pass bandwidth of analog speed input

Modbus address

0x1254

Unit

Hz

Range

1~1000

Default

300

CANbus object

0x2254.0

Attrib

R/W

Control mode：Speed control mode
Details：This parameter is used to set the low-pass filter bandwidth of analog speed input. The greater the value is, it would bring
faster response of analog speed input and more signal noise; The smaller the value is, it would bring slower response of analog speed
input and less signal noise.

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Pn-22

Parameter

Threshold value of torque overload alarm

Modbus address

0x1255

Unit % Range

1~400

Default

150

CANbus object

0x2255.0

Attrib

R/W

Pn-23

Parameter

Testing time of torque over load alarm

Modbus address

0x1256

Unit

ms

Range

1~32767

Default

100

CANbus object

0x2256.0

Attrib

R/W

Control mode：All
Details：These two parameters are used to for the torque overload function. As the motor output torque is over the threshold

value(Pn-22) for a period time over the testing time(Pn-23), the drive will alarm Err-18.

Pn-24

Parameter

Internal brake resistor temperature alarm function

Modbus address

0x1257

Unit － Range

0~1

Default

1

CANbus object

0x2257.0

Attrib

R/W

（NOT SUPPORT）

Pn-25

Parameter

Internal torque limit in negative (CW) direction

Modbus address

0x1258

Unit % Range

1 ~ 400

Default

300

CANbus object

0x2258.0

Attrib

R/W

Pn-26

Parameter

Internal torque limit in positive (CCW) direction

Modbus address

0x1259

Unit % Range

1 ~ 400

Default

300

CANbus object

0x2259.0

Attrib

R/W

Control mode：All
Details：These two parameters are used to set the torque limit in positive direction and negative direction, the motor output torque
will be limited under the parameter value.
Example：If customer want 2 times overload for the motor, which indicates that the max peak output will be 200% of motor norminal
torque, customer needs to set Pn-25 and Pn-26 to 200

Pn-27

Parameter

Torque limit mode

Modbus address

0x125A

Unit － Range

0~2

Default

0

CANbus object

0x225A.0

Attrib

R/W

Control mode：All
Details：This parameter is used for selecting the torque limit mode. Please refer to chapter 5 section 5.13 for details.

Parameter value

Control mode

Control mode

0

Internal torque limit

Set by parameters（Pn-25，Pn-26）

1

External torque limit

Switch the torque limit value(16 in all) from digital input（Pn72-~Pn-87）

2

Analog command torque limit

Limit the torque output by analog command

Pn-28

Parameter

Notch function

Modbus address

0x125B

Unit － Range

0~1

Default

0

CANbus object

0x225B.0

Attrib

R/W

Control mode：All
Details：This parameter is used to enable the notch function or not. Set it to 0, the notch function is valid; set it to 1, the notch

function is invalid.

Pn-29

Parameter

Notch frequency

Modbus address

0x125C

Unit － Range

0~3000

Default

1500

CANbus object

0x225C.0

Attrib

R/W

Control mode：All
Details：This parameter is used to set the notch frequency.

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Pn-30

Parameter

The first speed loop proportional gain（PID1）

Modbus address

0x125D

Unit － Range

0~1000

Default

－

CANbus object

0x225D.0

Attrib

R/W

Control mode：All
Details：This parameter is used to set the first speed loop proportional gain, customers can switch it from the second speed loop
proportional gain, please refer to chapter 5 section 5.8 for gain switching function.
The larger the value is, the greater the stiffness would be. The value is determined by the type of servo and the load condition. In
general, larger load inertia needs larger value. If there is no oscillation, the higher the value is the better the servo system performs.
Note：For different motor, the default value is different.

Pn-31

Parameter

The first speed loop integral time constant（PID1）

Modbus address

0x125E

Unit － Range

1~8000

Default

－

CANbus object

0x225E.0

Attrib

R/W

Control mode：All
Details：This parameter is used to set the first speed loop integral time constant, customers can switch it from the second speed loop
proportional gain, please refer to chapter 5 section 5.8 for gain switching function.
The smaller the value, the greater the stiffness. The value is determined by the type of servo and the load condition. In general, larger
load inertia needs larger value. Set the parameter as small as possible without oscillation.
Note：For different motor, the default value is different.

Pn-32

Parameter

The first low-pass bandwidth of speed loop

（PID1）

Modbus address

0x125F

Unit

Hz

Range

1~1500

Default

400

CANbus object

0x225F.0

Attrib

R/W

Control mode：All
Details：This parameter is used to set the first low-pass bandwidth of speed loop, customers can switch it from the second speed loop
proportional gain, please refer to chapter 5 section 5.8for gain switching function.
Normally, smaller value results in slower and smoother speed response. Too small value may cause system oscillation.

Pn-33

Parameter

The first low-pass filter bandwidth of torque

command（PID1）

Modbus address

0x1260

Unit

Hz

Range

10~12000

Default

1000

CANbus object

0x2260.0

Attrib

R/W

Control mode：All
Details：This parameter is used to set the first low-pass filter bandwidth of torque command, customers can switch it from the second
speed loop proportional gain, please refer to chapter 5 section 5.8 for gain switching function.
Normally, smaller value results in slower and smoother speed response. But too much small value may cause system oscillation.

Pn-34

Parameter

Acceleration time in speed control

Modbus address

0x1261

Unit

10ms

Range

0~1000

Default

0

CANbus object

0x2261.0

Attrib

R/W

Pn-35

Parameter

Deceleration time in speed control

Modbus address

0x1262

Unit

10ms

Range

0~1000

Default

0

CANbus object

0x2262.0

Attrib

R/W

Control mode：Speed control mode
Details：These two parameters are used to set the acceleration time and deceleration time from 0rpm to 1000rpm.

Note：It is suggested that set Pn-34 and Pn-35 to 0 in position control mode.

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Pn-36

Parameter

The second speed loop proportional gain（PID2）

Modbus address

0x1263

Unit － Range

1~1000

Default

－

CANbus object

0x2263.0

Attrib

R/W

Control mode：All
Details：This parameter is used to set the second speed loop proportional gain, customers can switch it from the first speed loop
proportional gain, please refer to chapter 5 section 5.8 for gain switching function.
The larger the value is, the greater the stiffness would be. The value is determined by the type of servo and the load condition. In
general, larger load inertia needs larger value. If there is no oscillation, the higher the value is the better the servo system performs.
Note：For different motor, the default value is different.

Pn-37

Parameter

The second speed loop integral time constant

（PID2）

Modbus address

0x1264

Unit

－

Range

1~8000

Default

－

CANbus object

0x2264.0

Attrib

R/W

Control mode：All
Details：This parameter is used to set the second speed loop integral time constant, customers can switch it from the first speed loop
proportional gain, please refer to chapter 5 section 5.8 for gain switching function.
The smaller the value, the greater the stiffness. The value is determined by the type of servo and the load condition. In general, larger
load inertia needs larger value. Set the parameter as small as possible without oscillation.
Note：For different motor, the default value is different.

Pn-38

Parameter

The second low-pass bandwidth of speed loop

（PID2）

Modbus address

0x1265

Unit

Hz

Range

1~1500

Default

400

CANbus object

0x2265.0

Attrib

R/W

Control mode：All
Details：This parameter is used to set the second low-pass bandwidth of speed loop, customers can switch it from the first speed loop
proportional gain, please refer to chapter 5 section 5.8 for gain switching function.
Normally, smaller value results in slower and smoother speed response. Too small value may cause system oscillation.

Pn-39

Parameter

The second low-pass filter bandwidth of torque

command（PID2）

Modbus address

0x1266

Unit

Hz

Range

10~12000

Default

1000

CANbus object

0x2266.0

Attrib

R/W

Control mode：All
Details：This parameter is used to set the second low-pass filter bandwidth of torque command, customers can switch it from the first
speed loop proportional gain, please refer to chapter 5 section 5.8 for gain switching function.
Normally, smaller value results in slower and smoother speed response. But too much small value may cause system oscillation.

Pn-40

Parameter

Speed command mode

Modbus address

0x1267

Unit － Range

0~2

Default

0

CANbus object

0x2267.0

Attrib

R/W

Control mode：Speed control mode
Details：This parameter is used to select the speed command mode.

Value

Control mode

Details

0

Internal speed control mode

Set speed command by 16 parameters（Pn88~Pn103）， customers can
switch the speed command by digital input.

1

Analog speed control mode

Receive external analog command as speed command.

2

Pulse speed control mode

Receive external pulse command as speed command.

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Pn-41

Parameter

Speed command in JOG control mode

Modbus address

0x1268

Unit

rpm

Range

0~3000

Default

1500

CANbus object

0x2268.0

Attrib

R/W

（NOT SUPPORT）

Pn-42

Parameter

Speed limit

Modbus address

0x1269

Unit

rpm

Range

0~6000

Default

－

CANbus object

0x2269.0

Attrib

R/W

Control mode：All
Details：This parameter is used to set the speed limit, it is valid in both direction.
Note：

① If the parameter value is larger than the motor nominal speed, the motor only can run at a speed no more than nominal speed.
② The default value is different for each motors, and the default value is the motor nominal speed.

Pn-43

Parameter

Threshold value of speed reached output

Modbus address

0x126A

Unit

rpm

Range

1~6000

Default

1500

CANbus object

0x226A.0

Attrib

R/W

（NOT SUPPORT）

Pn-44

Parameter

The first Position loop proportional gain（PID1）

Modbus address

0x126B

Unit － Range

1~32000

Default

－

CANbus object

0x226B.0

Attrib

R/W

Control mode：Position control mode
Details：This parameter is used to set the first position loop proportional gain, customers can switch it from the second speed loop
proportional gain, please refer to chapter 5 section 5.8 for gain switching function.
Higher gain results in greater mechanical stiffness and less position tracking error. Too large value may cause overshoot or
oscillation.
Note：For different motor, the default value is different.

Pn-45

Parameter

The first position loop differential proportional

gain（PID1）

Modbus address

0x126C

Unit

－

Range

0~300

Default

0

CANbus object

0x226C.0

Attrib

R/W

Control mode：Position control mode
Details：This parameter is used to set the first position loop differential proportional gain, customers can switch it from the second
speed loop proportional gain, please refer to chapter 5 section 5.8 for gain switching function.
Higher gain results in greater mechanical stiffness and less position tracking error. Too big value may cause overshoot or oscillation.
Note：This parameter is usually set to zero unless customers need very fast response.

Pn-46

Parameter

The first cut-off frequency of position feed

forward filter（PID1）

Modbus address

0x126D

Unit

Hz

Range

1~1000

Default

400

CANbus object

0x226D.0

Attrib

R/W

Control mode：Position control mode
Details：This parameter is used to set the first cut-off frequency of position feed forward filter, the unit is Hz.
Customers can switch it from the second speed loop proportional gain, please refer to chapter 5 section 5.8 for gain switching
function. The filter is used to increase the stability of compound position control.

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Pn-47

Parameter

Constant of position command filter

Modbus address

0x126E

Unit

ms

Range

0~1000

Default

0

CANbus object

0x226E.0

Attrib

R/W

Control mode：Position control mode
Details：Smoothen filter for the command pulse with accelerate of index form, the value stands for time constant. The unit is ms;
Filter would not lose input pulse but may lead to delay. Filter is inactive as set to 0.
The filter works in the follow conditions:

● Host controller has not acceleration and deceleration function;

● Larger electronic gear ratio (＞10);

● Lower command frequency;

● Motor running with jumps or other unstable conditions;

Pn-48

Parameter

Denominator of electric gear ratio

Modbus address

0x126F

Unit － Range

1~30000

Default

20

CANbus object

0x226F.0

Attrib

R/W

Pn-49

Parameter

Numerator 1 of electric gear ratio

Modbus address

0x1270

Unit － Range

1~30000

Default

20

CANbus object

0x2270.0

Attrib

R/W

Pn-50

Parameter

Numerator 2 of electric gear ratio

Modbus address

0x1271

Unit － Range

1~30000

Default

20

CANbus object

0x2271.0

Attrib

R/W

Pn-51

Parameter

Electric gear ratio switching function

Modbus address

0x1272

Unit － Range

0~1

Default

0

CANbus object

0x2272.0

Attrib

R/W

Control mode：Position control mode，Speed control mode
Details：These parameters are used for the electric gear ratio function in position control mode or external speed control mode by

Pn-48, Pn-49, Pn-50.

Note：Please refer to chapter 5 section 5.2.4 for details.

Pn-52

Parameter

External pulse input type

Modbus address

0x1273

Unit － Range

0~2

Default

0

CANbus object

0x2273.0

Attrib

R/W

Control mode：Position control mode，Speed control mode
Details：This parameter is used to set the pulse input command type：

Value

Pulse type

0

Pulse + direction pulse

1

CCW+CW pulse

2

A /B phase pulse

Pn-53

Parameter

Invert of pulse command direction

Modbus address

0x1274

Unit － Range

0~1

Default

0

CANbus object

0x2274.0

Attrib

R/W

Control mode：Position control mode，Speed control mode
Details：This function is used to set the inverting function of pulse command direction. “0” indicates normal direction while “1”
indicates reverse the direction of pulse command.

Pn-54

Parameter

Range of positioning complete function

Modbus address

0x1275

Unit

pulse

Range

0~30000

Default

1

CANbus object

0x2275.0

Attrib

R/W

（NOT SUPPORT）

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BONMET motion GmbH/www.bonmet.com/www.bonmet.de

Pn-55

Parameter

Position error detection range

Modbus address

0x1276

Unit

pulse

Range

1~30000

Default

400

CANbus object

0x2276.0

Attrib

R/W

Control mode：Position control mode
Details： This parameter is used to set the position error detection range. The threshold alarm value = the value of Pn-55 *100pulse,
as the position deviation counting pulse is over the threshold alarm value, the servo drive will alarm ERR-16
Note：Please refer to chapter 5 section 5.2.4 for details.

Pn-56

Parameter

Position error detection function

Modbus address

0x1277

Unit － Range

0~1

Default

1

CANbus object

0x2277.0

Attrib

R/W

Control mode：Position control mode
Details：This parameter is used to set enable the position error detection function. As set the parameter value to 0, the position error
detection function is valid; while set the parameter value to 1, the position error detection function is invalid.

Pn-57

Parameter

Encoder output ratio

Modbus address

0x1278

Unit － Range

1~1023

Default

33

CANbus object

0x2278.0

Attrib

R/W

（NOT SUPPORT）

Pn-58

Parameter

Homing mode

Modbus address

0x1279

Unit － Range

0~2

Default

0

CANbus object

0x2279.0

Attrib

R/W

（NOT SUPPORT）

Pn-59

Parameter

Homing speed

Modbus address

0x127A

Unit

rpm

Range

1~6000

Default

100

CANbus object

0x227A.0

Attrib

R/W

（NOT SUPPORT）

Pn-60

Parameter

Acceleration / deceleration in homing operation

Modbus address

0x127B

Unit

R / S2

Range

1~1000

Default

50

CANbus object

0x227B.0

Attrib

R/W

（NOT SUPPORT）

Pn-61

Parameter

High bit of home position offset

Modbus address

0x127C

Unit

pulse

Range

-30000~30000

Default

0

CANbus object

0x227C.0

Attrib

R/W

Pn-62

Parameter

Low bit of home position offset

Modbus address

0x127D

Unit

pulse

Range

-9999~9999

Default

0

CANbus object

0x227D.0

Attrib

R/W

（NOT SUPPORT）

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BONMET motion GmbH/www.bonmet.com/www.bonmet.de

Pn-63

Parameter

Demo or point to point mode selection

Modbus address

0x127E

Unit － Range

0~6

Default

2

CANbus object

0x227E.0

Attrib

R/W

Control mode：All
Details：This function is used to set the command type of demo mode or point to point mode.

󰪦 Set the parameter value to 0, the drive will work in torque demo mode. From step 1 to 16（torque commands from parameters

Pn-72~ Pn-87）, servo runs each step one by one and loops forever. In every step torque value and lasting time can be set
independently.

󰪧 Set the parameter value to 1, the drive will work in speed demo mode. From step 1 to 16（speed commands from parameters

Pn-88~ Pn-103）, servo runs each step one by one and loops forever. In every step torque value and lasting time can be set
independently.

󰪨 Set the parameter value to 2, the drive will work in position demo mode, From step 1 to 16（position commands from parameters

Pn-104~ Pn-183）, servo runs each step one by one and loops forever. In every step position, speed, acceleration and maximum torque
value can be set independently.

Pn-64

Parameter

Gain (PID) parameter switching mode

Modbus address

0x127F

Unit － Range

0~6

Default

0

CANbus object

0x227F.0

Attrib

R/W

Control mode：All
Details：This parameter is used to set the gain parameter switching mode.

Value

Switching mode

0

Fixed to the first set of PID parameters

1

Fixed to the second set of PID parameters

2

（NOT SUPPORT）

3

Switch the PID parameters by position deviation

4

Switch the PID parameters by speed deviation

5

Switch the PID parameters by motor speed

6

Switch the PID parameters by motor output torque

Note: Please refer to chapter 5 section 5.11 for details.

Pn-65

Parameter

Trigger value of gain (PID) parameter switching

function

Modbus address

0x1280

Unit

－

Range

0~32767

Default

0

CANbus object

0x2280.0

Attrib

R/W

Control mode：All

Details：󰪦 This function is used to set the trigger value of gain parameter switching function, it is valid while set Pn-65 to 3/4/5/6.

② The parameter unit depends on Pn-64. As set Pn-65 to 3, the unit is pulse; set Pn-65 to 4 or 5, the unit is rpm; set Pn-65 to 6, the
unit is %.

Pn-66

Parameter

The second position loop proportional gain

（PID2）

Modbus address

0x1281

Unit

－

Range

1~32000

Default

1000

CANbus object

0x2281.0

Attrib

R/W

Control mode：Position control mode
Details：This parameter is used to set the second position loop proportional gain, customers can switch it from the second speed loop

proportional gain, please refer to chapter 5 section 5.11 for gain switching function.
Higher gain results in greater mechanical stiffness and less position tracking error. Too large value may cause overshoot or

oscillation.
Note：For different motor, the default value is different.

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Pn-67

Parameter

The second position loop differential proportional

gain（PID2）

Modbus address

0x1282

Unit

－

Range

0~100

Default

0

CANbus object

0x2282.0

Attrib

R/W

Control mode：Position control mode
Details：Details：This parameter is used to set the second position loop differential proportional gain, customers can switch it from the
first speed loop proportional gain, please refer to chapter 5 section 5.11 for gain switching function.
Higher gain results in greater mechanical stiffness and less position tracking error. Too big value may cause overshoot or oscillation.
Note：This parameter is usually set to zero unless customers need very fast response.

Pn-68

Parameter

The second cut-off frequency of position feed

forward filter（PID2）

Modbus address

0x1283

Unit

Hz

Range

1~1000

Default

500

CANbus object

0x2283.0

Attrib

R/W

Control mode：Position control mode
Details：This parameter is used to set the second cut-off frequency of position feed forward filter, the unit is Hz.
Customers can switch it from the first speed loop proportional gain, please refer to chapter 5 section 5.11 for gain switching
function.The filter is used to increase the stability of compound position control.

Pn-69

Parameter

Enhancement of torque loop response function

Modbus address

0x1284

Unit － Range

0~1

Default

0

CANbus object

0x2284.0

Attrib

R/W

Control mode：All
Details：This parameter is used to enable the enhancement of torque loop response function. As set the parameter value to 1, the
torque loop response will be enhanced, but it may cause little current noise.

Pn-70

Parameter

Reservation

Modbus address

0x1285

Unit － Range

－

Default

－

CANbus object

0x2285.0

Attrib

R/W

Control mode：Reservation
Details：Reservation.

Pn-71

Parameter

Reservation

Modbus address

0x1286

Unit － Range

－

Default

－

CANbus object

0x2286.0

Attrib

R/W

Control mode：Reservation
Details：Reservation.

Pn-72

Parameter

Internal torque command 1

Modbus address

0x1287

Unit % Range

-400~400

Default

10

CANbus object

0x2287.0

Attrib

R/W

Control mode：Demo mode
Details：Internal torque command 1, the parameter value indicates the percentage of the nominal torque, the unit is %.

Pn-73

Parameter

Internal torque command 2

Modbus address

0x1288

Unit % Range

-400~400

Default

-10

CANbus object

0x2288.0

Attrib

R/W

Control mode：Demo mode
Details：Internal torque command 2, the parameter value indicates the percentage of the nominal torque, the unit is %.

Pn-74

Parameter

Internal torque command 3

Modbus address

0x1289

Unit % Range

-400~400

Default

20

CANbus object

0x2289.0

Attrib

R/W

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Control mode：Demo mode
Details：Internal torque command 3, the parameter value indicates the percentage of the nominal torque, the unit is %.

Pn-75

Parameter

Internal torque command 4

Modbus address

0 x128A

Unit % Range

-400~400

Default

-20

CANbus object

0x228A.0

Attrib

R/W

Control mode：Demo mode
Details：Internal torque command 4, the parameter value indicates the percentage of the nominal torque, the unit is %.

Pn-76

Parameter

Internal torque command 5

Modbus address

0x128B

Unit % Range

-400~400

Default

30·

CANbus object

0x228B.0

Attrib

R/W

Control mode：Demo mode
Details：Internal torque command 5, the parameter value indicates the percentage of the nominal torque, the unit is %.

Pn-77

Parameter

Internal torque command 6

Modbus address

0x128C

Unit % Range

-400~400

Default

-30

CANbus object

0x228C.0

Attrib

R/W

Control mode：Demo mode
Details：Internal torque command 6, the parameter value indicates the percentage of the nominal torque, the unit is %.

Pn-78

Parameter

Internal torque command 7

Modbus address

0x128D

Unit % Range

-400~400

Default

40

CANbus object

0x228D.0

Attrib

R/W

Control mode：Demo mode
Details：Internal torque command 7, the parameter value indicates the percentage of the nominal torque, the unit is %.

Pn-79

Parameter

Internal torque command 8

Modbus address

0x128E

Unit % Range

-400~400

Default

-40

CANbus object

0x228E.0

Attrib

R/W

Control mode：Demo mode
Details：Internal torque command 8, the parameter value indicates the percentage of the nominal torque, the unit is %.

Pn-80

Parameter

Internal torque command 9

Modbus address

0x128F

Unit % Range

-400~400

Default

50

CANbus object

0x228F.0

Attrib

R/W

Control mode：Demo mode
Details：Internal torque command 9, the parameter value indicates the percentage of the nominal torque, the unit is %.

Pn-81

Parameter

Internal torque command 10

Modbus address

0x1290

Unit % Range

-400~400

Default

-50

CANbus object

0x2290.0

Attrib

R/W

Control mode：Demo mode
Details：Internal torque command 10, the parameter value indicates the percentage of the nominal torque, the unit is %.

Pn-82

Parameter

Internal torque command 11

Modbus address

0x1291

Unit % Range

-400~400

Default

60

CANbus object

0x2291.0

Attrib

R/W

Control mode：Demo mode
Details：Internal torque command 11, the parameter value indicates the percentage of the nominal torque, the unit is %.

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Pn-83

Parameter

Internal torque command 12

Modbus address

0x1292

Unit % Range

-400~400

Default

-60

CANbus object

0x2292.0

Attrib

R/W

Control mode：Demo mode
Details：Internal torque command 12, the parameter value indicates the percentage of the nominal torque, the unit is %.

Pn-84

Parameter

Internal torque command 13

Modbus address

0x1293

Unit % Range

-400~400

Default

70

CANbus object

0x2293.0

Attrib

R/W

Control mode：Demo mode
Details：Internal torque command 13, the parameter value indicates the percentage of the nominal torque, the unit is %.

Pn-85

Parameter

Internal torque command 14

Modbus address

0x1294

Unit % Range

-400~400

Default

-70

CANbus object

0x2294.0

Attrib

R/W

Control mode：Demo mode
Details：Internal torque command 14, the parameter value indicates the percentage of the nominal torque, the unit is %.

Pn-86

Parameter

Internal torque command 15

Modbus address

0x1295

Unit % Range

-400~400

Default

80

CANbus object

0x2295.0

Attrib

R/W

Control mode：Demo mode
Details：Internal torque command 15, the parameter value indicates the percentage of the nominal torque, the unit is %.

Pn-87

Parameter

Internal torque command 16

Modbus address

0x1296

Unit % Range

-400~400

Default

-80

CANbus object

0x2296.0

Attrib

R/W

Control mode：Demo mode
Details：Internal torque command 16, the parameter value indicates the percentage of the nominal torque, the unit is %.

Pn-88

Parameter

Internal speed command 1

Modbus address

0x1297

Unit

rpm

Range

-6000~6000

Default

10

CANbus object

0x2297.0

Attrib

R/W

Control mode：Speed control mode，Demo mode
Details：Internal speed command 1，the unit is rpm.

Pn-89

Parameter

Internal speed command 2

Modbus address

0x1298

Unit

rpm

Range

-6000~6000

Default

20

CANbus object

0x2298.0

Attrib

R/W

Control mode：Speed control mode，Demo mode
Details：Internal speed command 2，the unit is rpm.

Pn-90

Parameter

Internal speed command 3

Modbus address

0x1299

Unit

rpm

Range

-6000~6000

Default

30

CANbus object

0x2299.0

Attrib

R/W

Control mode：Speed control mode，Demo mode
Details：Internal speed command 3，the unit is rpm.

Pn-91

Parameter

Internal speed command 4

Modbus address

0x129A

Unit

rpm

Range

-6000~6000

Default

40

CANbus object

0x229A.0

Attrib

R/W

Control mode：Speed control mode，Demo mode
Details：Internal speed command 4，the unit is rpm.

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Pn-92

Parameter

Internal speed command 5

Modbus address

0x129B

Unit

rpm

Range

-6000~6000

Default

50

CANbus object

0x229B.0

Attrib

R/W

Control mode：Speed control mode，Demo mode
Details：Internal speed command 5，the unit is rpm.

Pn-93

Parameter

Internal speed command 6

Modbus address

0x129C

Unit

rpm

Range

-6000~6000

Default

60

CANbus object

0x229C.0

Attrib

R/W

Control mode：Speed control mode，Demo mode
Details：Internal speed command 6，the unit is rpm.

Pn-94

Parameter

Internal speed command 7

Modbus address

0x129D

Unit

rpm

Range

-6000~6000

Default

70

CANbus object

0x229D.0

Attrib

R/W

Control mode：Speed control mode，Demo mode
Details：Internal speed command 7，the unit is rpm.

Pn-95

Parameter

Internal speed command 8

Modbus address

0x129E

Unit

rpm

Range

-6000~6000

Default

80

CANbus object

0x229E.0

Attrib

R/W

Control mode：Speed control mode，Demo mode
Details：Internal speed command 8，the unit is rpm.

Pn-96

Parameter

Internal speed command 9

Modbus address

0x129F

Unit

rpm

Range

-6000~6000

Default

-10

CANbus object

0x229F.0

Attrib

R/W

Control mode：Speed control mode，Demo mode
Details：Internal speed command 9，the unit is rpm.

Pn-97

Parameter

Internal speed command 10

Modbus address

0x12A0

Unit

rpm

Range

-6000~6000

Default

-20

CANbus object

0x22A0.0

Attrib

R/W

Control mode：Speed control mode，Demo mode
Details：Internal speed command 10，the unit is rpm.

Pn-98

Parameter

Internal speed command 11

Modbus address

0x12A1

Unit

rpm

Range

-6000~6000

Default

-30

CANbus object

0x22A1.0

Attrib

R/W

Control mode：Speed control mode，Demo mode
Details：Internal speed command 11，the unit is rpm.

Pn-99

Parameter

Internal speed command 12

Modbus address

0x12A2

Unit

rpm

Range

-6000~6000

Default

-40

CANbus object

0x22A2.0

Attrib

R/W

Control mode：Speed control mode，Demo mode
Details：Internal speed command 12，the unit is rpm.

Pn-100

Parameter

Internal speed command 13

Modbus address

0x12A3

Unit

rpm

Range

-6000~6000

Default

-50

CANbus object

0x22A3.0

Attrib

R/W

Control mode：Speed control mode，Demo mode

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Details：Internal speed command 13，the unit is rpm.

Pn-101

Parameter

Internal speed command 14

Modbus address

0x12A4

Unit

rpm

Range

-6000~6000

Default

-60

CANbus object

0x22A4.0

Attrib

R/W

Control mode：Speed control mode，Demo mode
Details：Internal speed command 14，the unit is rpm.

Pn-102

Parameter

Internal speed command 15

Modbus address

0x12A5

Unit

rpm

Range

-6000~6000

Default

-70

CANbus object

0x22A5.0

Attrib

R/W

Control mode：Speed control mode，Demo mode
Details：Internal speed command 15，the unit is rpm.

Pn-103

Parameter

Internal speed command 16

Modbus address

0x12A6

Unit

rpm

Range

-6000~6000

Default

-80

CANbus object

0x22A6.0

Attrib

R/W

Control mode：Speed control mode，Demo mode
Details：Internal speed command 16，the unit is rpm.

Pn-104

Parameter

High bit of internal position command 1

Modbus address

0x12A7

Unit

pulse

Range

-30000~30000

Default

50

CANbus object

0x22A7.0

Attrib

R/W

Pn-105

Parameter

Low bit of internal position command 1

Modbus address

0x12A8

Unit

pulse

Range

-9999~9999

Default

0

CANbus object

0x22A8.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set position command 1 in point to point control mode or demo mode, the unit is pulse. The position command=high bit
part×10000＋low bit part.

Pn-106

Parameter

Speed of internal position command 1

Modbus address

0x12A9

Unit

rpm

Range

1~6000

Default

2000

CANbus object

0x22A9.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the motor speed of internal position 1, the unit is rpm.

Pn-107

Parameter

Acceleration/deceleration of internal position

command 1

Modbus address

0x12AA

Unit

R / S2

Range

1~1000

Default

25

CANbus object

0x22AA.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the acceleration and deceleration of internal position command 1.

Pn-108

Parameter

Peak torque of internal position command 1

Modbus address

0x12AB

Unit

%

Range

0~400

Default

125

CANbus object

0x22AB.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the torque limit of internal position command 1, the unit is %.

Pn-109

Parameter

High bit of internal position command 2

Modbus address

0x12AC

Unit

pulse

Range

-30000~30000

Default

125

CANbus object

0x22AC.0

Attrib

R/W

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Pn-110

Parameter

Low bit of internal position command 2

Modbus address

0x12AD

Unit

pulse

Range

-9999~9999

Default

0

CANbus object

0x22AD.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set position command 2 in point to point control mode or demo mode, the unit is pulse. The position command=high bit
part×10000＋low bit part.

Pn-111

Parameter

Speed of internal position command 2

Modbus address

0x12AE

Unit

rpm

Range

1~6000

Default

2000

CANbus object

0x22AE.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the motor speed of internal position 2, the unit is rpm.

Pn-112

Parameter

Acceleration/deceleration of internal position

command 2

Modbus address

0x12AF

Unit

R / S2

Range

1~1000

Default

25

CANbus object

0x22AF.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the acceleration and deceleration of internal position command 2.

Pn-113

Parameter

Peak torque of internal position command 2

Modbus address

0x12B0

Unit % Range

0~400

Default

125

CANbus object

0x22B0.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the torque limit of internal position command 2, the unit is %.

Pn-114

Parameter

High bit of internal position command 3

Modbus address

0x12B1

Unit

pulse

Range

-30000~30000

Default

90

CANbus object

0x22B1.0

Attrib

R/W

Pn-115

Parameter

Low bit of internal position command 3

Modbus address

0x12B2

Unit

pulse

Range

-9999~9999

Default

0

CANbus object

0x22B2.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set position command 3 in point to point control mode or demo mode, the unit is pulse. The position command=high bit
part×10000＋low bit part.

Pn-116

Parameter

Speed of internal position command 3

Modbus address

0x12B3

Unit

rpm

Range

1~6000

Default

2000

CANbus object

0x22B3.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the motor speed of internal position 3, the unit is rpm.

Pn-117

Parameter

Acceleration/deceleration of internal position

command 3

Modbus address

0x12B4

Unit

R / S2

Range

1~1000

Default

25

CANbus object

0x22B4.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the acceleration and deceleration of internal position command 3.

Pn-118

Parameter

Peak torque of internal position command 3

Modbus address

0x12B5

Unit

%

Range

0~400

Default

125

CANbus object

0x22B5.0

Attrib

R/W

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Control mode：Point to point control mode，Demo mode
Details：Set the torque limit of internal position command 3, the unit is %.

Pn-119

Parameter

High bit of internal position command 4

Modbus address

0x12B6

Unit

pulse

Range

-30000~30000

Default

20

CANbus object

0x22B6.0

Attrib

R/W

Pn-120

Parameter

Low bit of internal position command 4

Modbus address

0x12B7

Unit

pulse

Range

-9999~9999

Default

0

CANbus object

0x22B7.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set position command 4 in point to point control mode or demo mode, the unit is pulse. The position command=high bit
part×10000＋low bit part.

Pn-121

Parameter

Speed of internal position command 4

Modbus address

0x12B8

Unit

rpm

Range

1~6000

Default

2000

CANbus object

0x22B8.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the motor speed of internal position 4, the unit is rpm.

Pn-122

Parameter

Acceleration/deceleration of internal position

command 4

Modbus address

0x12B9

Unit

R / S2

Range

1~1000

Default

25

CANbus object

0x22B9.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the acceleration and deceleration of internal position command 4.

Pn-123

Parameter

Peak torque of internal position command 4

Modbus address

0x12BA

Unit % Range

0~400

Default

125

CANbus object

0x22BA.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the torque limit of internal position command 4, the unit is %.

Pn-124

Parameter

High bit of internal position command 5

Modbus address

0x12BB

Unit

pulse

Range

-30000~30000

Default

50

CANbus object

0x22BB.0

Attrib

R/W

Pn-125

Parameter

Low bit of internal position command 5

Modbus address

0x12BC

Unit

pulse

Range

-9999~9999

Default

0

CANbus object

0x22BC.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set position command 5 in point to point control mode or demo mode, the unit is pulse. The position command=high bit
part×10000＋low bit part.

Pn-126

Parameter

Speed of internal position command 5

Modbus address

0x12BD

Unit

rpm

Range

1~6000

Default

2000

CANbus object

0x22BD.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the motor speed of internal position 5, the unit is rpm.

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Pn-127

Parameter

Acceleration/deceleration of internal position

command 5

Modbus address

0x12BE

Unit

R / S2

Range

1~1000

Default

25

CANbus object

0x22BE.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the acceleration and deceleration of internal position command 5.

Pn-128

Parameter

Peak torque of internal position command 5

Modbus address

0x12BF

Unit % Range

0~400

Default

125

CANbus object

0x22BF.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the torque limit of internal position command 5, the unit is %.

Pn-129

Parameter

High bit of internal position command 6

Modbus address

0x12C0

Unit

pulse

Range

-30000~30000

Default

80

CANbus object

0x22C0.0

Attrib

R/W

Pn-130

Parameter

Low bit of internal position command 6

Modbus address

0x12C1

Unit

pulse

Range

-9999~9999

Default

0

CANbus object

0x22C1.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set position command 6 in point to point control mode or demo mode, the unit is pulse. The position command=high bit
part×10000＋low bit part.

Pn-131

Parameter

Speed of internal position command 6

Modbus address

0x12C2

Unit

rpm

Range

1~6000

Default

2000

CANbus object

0x22C2.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the motor speed of internal position 6, the unit is rpm.

Pn-132

Parameter

Acceleration/deceleration of internal position

command 6

Modbus address

0x12C3

Unit

R / S2

Range

1~1000

Default

25

CANbus object

0x22C3.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the acceleration and deceleration of internal position command 6.

Pn-133

Parameter

Peak torque of internal position command 6

Modbus address

0x12C4

Unit % Range

0~400

Default

125

CANbus object

0x22C4.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the torque limit of internal position command 6, the unit is %.

Pn-134

Parameter

High bit of internal position command 7

Modbus address

0x12C5

Unit

pulse

Range

-30000~30000

Default

50

CANbus object

0x22C5.0

Attrib

R/W

Pn-135

Parameter

Low bit of internal position command 7

Modbus address

0x12C6

Unit

pulse

Range

-9999~9999

Default

0

CANbus object

0x22C6.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set position command 7 in point to point control mode or demo mode, the unit is pulse. The position command=high bit
part×10000＋low bit part.

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Pn-136

Parameter

Speed of internal position command 7

Modbus address

0x12C7

Unit

rpm

Range

1~6000

Default

2000

CANbus object

0x22C7.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the motor speed of internal position 7, the unit is rpm.

Pn-137

Parameter

Acceleration/deceleration of internal position

command 7

Modbus address

0x12C8

Unit

R / S2

Range

1~1000

Default

25

CANbus object

0x22C8.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the acceleration and deceleration of internal position command 7.

Pn-138

Parameter

Peak torque of internal position command 7

Modbus address

0x12C9

Unit % Range

0~400

Default

125

CANbus object

0x22C9.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the torque limit of internal position command 7, the unit is %.

Pn-139

Parameter

High bit of internal position command 8

Modbus address

0x12CA

Unit

pulse

Range

-30000~30000

Default

30

CANbus object

0x22CA.0

Attrib

R/W

Pn-140

Parameter

Low bit of internal position command 8

Modbus address

0x12CB

Unit

pulse

Range

-9999~9999

Default

0

CANbus object

0x22CB.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set position command 8 in point to point control mode or demo mode, the unit is pulse. The position command=high bit
part×10000＋low bit part.

Pn-141

Parameter

Speed of internal position command 8

Modbus address

0x12CC

Unit

rpm

Range

1~6000

Default

2000

CANbus object

0x22CC.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the motor speed of internal position 8, the unit is rpm.

Pn-142

Parameter

Acceleration/deceleration of internal position

command 8

Modbus address

0x12CD

Unit

R / S2

Range

1~1000

Default

25

CANbus object

0x22CD.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the acceleration and deceleration of internal position command 8.

Pn-143

Parameter

Peak torque of internal position command 8

Modbus address

0x12CE

Unit

%

Range

0~400

Default

125

CANbus object

0x22CE.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the torque limit of internal position command 8, the unit is %.

Pn-144

Parameter

High bit of internal position command 9

Modbus address

0x12CF

Unit

pulse

Range

-30000~30000

Default

10

CANbus object

0x22CF.0

Attrib

R/W

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Pn-145

Parameter

Low bit of internal position command 9

Modbus address

0x12D0

Unit

pulse

Range

-9999~9999

Default

0

CANbus object

0x22D0.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set position command 9 in point to point control mode or demo mode, the unit is pulse. The position command=high bit
part×10000＋low bit part.

Pn-146

Parameter

Speed of internal position command 9

Modbus address

0x12D1

Unit

rpm

Range

1~6000

Default

2000

CANbus object

0x22D1.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the motor speed of internal position 9, the unit is rpm.

Pn-147

Parameter

Acceleration/deceleration of internal position

command 9

Modbus address

0x12D2

Unit

R / S2

Range

1~1000

Default

25

CANbus object

0x22D2.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the acceleration and deceleration of internal position command 9.

Pn-148

Parameter

Peak torque of internal position command 9

Modbus address

0x12D3

Unit % Range

0~400

Default

125

CANbus object

0x22D3.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the torque limit of internal position command 9, the unit is %.

Pn-149

Parameter

High bit of internal position command 10

Modbus address

0x12D4

Unit

pulse

Range

-30000~30000

Default

80

CANbus object

0x22D4.0

Attrib

R/W

Pn-150

Parameter

Low bit of internal position command 10

Modbus address

0x12D5

Unit

pulse

Range

-9999~9999

Default

0

CANbus object

0x22D5.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set position command 10 in point to point control mode or demo mode, the unit is pulse. The position command=high bit
part×10000＋low bit part.

Pn-151

Parameter

Speed of internal position command 10

Modbus address

0x12D6

Unit

rpm

Range

1~6000

Default

2000

CANbus object

0x22D6.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the motor speed of internal position 10, the unit is rpm.

Pn-152

Parameter

Acceleration/deceleration of internal position

command 10

Modbus address

0x12D7

Unit

R / S2

Range

1~1000

Default

25

CANbus object

0x22D7.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the acceleration and deceleration of internal position command 10.

Pn-153

Parameter

Peak torque of internal position command 10

Modbus address

0x12D8

Unit % Range

0~400

Default

125

CANbus object

0x22D8.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the torque limit of internal position command 10, the unit is %.

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Pn-154

Parameter

High bit of internal position command 11

Modbus address

0x12D9

Unit

pulse

Range

-30000~30000

Default

50

CANbus object

0x22D9.0

Attrib

R/W

Pn-155

Parameter

Low bit of internal position command 11

Modbus address

0x12DA

Unit

pulse

Range

-9999~9999

Default

0

CANbus object

0x22DA.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set position command 11 in point to point control mode or demo mode, the unit is pulse. The position command=high bit
part×10000＋low bit part.

Pn-156

Parameter

Speed of internal position command 11

Modbus address

0x12DB

Unit

rpm

Range

1~6000

Default

2000

CANbus object

0x22DB.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the motor speed of internal position 11, the unit is rpm.

Pn-157

Parameter

Acceleration/deceleration of internal position

command 11

Modbus address

0x12DC

Unit

R / S2

Range

1~1000

Default

25

CANbus object

0x22DC.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the acceleration and deceleration of internal position command 11.

Pn-158

Parameter

Peak torque of internal position command 11

Modbus address

0x12DD

Unit % Range

0~400

Default

125

CANbus object

0x22DD.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the torque limit of internal position command 11, the unit is %.

Pn-159

Parameter

High bit of internal position command 12

Modbus address

0x12DE

Unit

pulse

Range

-30000~30000

Default

60

CANbus object

0x22DE.0

Attrib

R/W

Pn-160

Parameter

Low bit of internal position command 12

Modbus address

0x12DF

Unit

pulse

Range

-9999~9999

Default

0

CANbus object

0x22DF.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set position command 12 in point to point control mode or demo mode, the unit is pulse. The position command=high bit
part×10000＋low bit part.

Pn-161

Parameter

Speed of internal position command 12

Modbus address

0x12E0

Unit

rpm

Range

1~6000

Default

2000

CANbus object

0x22E0.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the motor speed of internal position 12, the unit is rpm.

Pn-162

Parameter

Acceleration/deceleration of internal position

command 12

Modbus address

0x12E1

Unit

R / S2

Range

1~1000

Default

25

CANbus object

0x22E1.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the acceleration and deceleration of internal position command 12.

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Pn-163

Parameter

Peak torque of internal position command 12

Modbus address

0x12E2

Unit % Range

0~400

Default

125

CANbus object

0x22E2.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the torque limit of internal position command 12, the unit is %.

Pn-164

Parameter

High bit of internal position command 13

Modbus address

0x12E3

Unit

pulse

Range

-30000~30000

Default

30

CANbus object

0x22E3.0

Attrib

R/W

Pn-165

Parameter

Low bit of internal position command 13

Modbus address

0x12E4

Unit

pulse

Range

-9999~9999

Default

0

CANbus object

0x22E4.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set position command 13 in point to point control mode or demo mode, the unit is pulse. The position command=high bit
part×10000＋low bit part.

Pn-166

Parameter

Speed of internal position command 13

Modbus address

0x12E5

Unit

rpm

Range

1~6000

Default

2000

CANbus object

0x22E5.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the motor speed of internal position 13, the unit is rpm.

Pn-167

Parameter

Acceleration/deceleration of internal position

command 13

Modbus address

0x12E6

Unit

R / S2

Range

1~1000

Default

25

CANbus object

0x22E6.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the acceleration and deceleration of internal position command 13.

Pn-168

Parameter

Peak torque of internal position command 13

Modbus address

0x12E7

Unit % Range

0~400

Default

125

CANbus object

0x22E7.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the torque limit of internal position command 13, the unit is %.

Pn-169

Parameter

High bit of internal position command 14

Modbus address

0x12E8

Unit

pulse

Range

-30000~30000

Default

50

CANbus object

0x22E8.0

Attrib

R/W

Pn-170

Parameter

Low bit of internal position command 14

Modbus address

0x12E9

Unit

pulse

Range

-9999~9999

Default

0

CANbus object

0x22E9.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set position command 14 in point to point control mode or demo mode, the unit is pulse. The position command=high bit
part×10000＋low bit part.

Pn-171

Parameter

Speed of internal position command 14

Modbus address

0x12EA

Unit

rpm

Range

1~6000

Default

2000

CANbus object

0x22EA.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the motor speed of internal position 14, the unit is rpm.

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Pn-172

Parameter

Acceleration/deceleration of internal position

command 14

Modbus address

0x12EB

Unit

R / S2

Range

1~1000

Default

25

CANbus object

0x22EB.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the acceleration and deceleration of internal position command 14.

Pn-173

Parameter

Peak torque of internal position command 14

Modbus address

0x12EC

Unit % Range

0~400

Default

125

CANbus object

0x22EC.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the torque limit of internal position command 14, the unit is %.

Pn-174

Parameter

High bit of internal position command 15

Modbus address

0x12ED

Unit

pulse

Range

-30000~30000

Default

100

CANbus object

0x22ED.0

Attrib

R/W

Pn-175

Parameter

Low bit of internal position command 15

Modbus address

0x12EE

Unit

pulse

Range

-9999~9999

Default

0

CANbus object

0x22EE.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set position command 15 in point to point control mode or demo mode, the unit is pulse. The position command=high bit
part×10000＋low bit part.

Pn-176

Parameter

Speed of internal position command 15

Modbus address

0x12EF

Unit

rpm

Range

1~6000

Default

2000

CANbus object

0x22EF.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the motor speed of internal position 15, the unit is rpm.

Pn-177

Parameter

Acceleration/deceleration of internal position

command 15

Modbus address

0x12F0

Unit

R / S2

Range

1~1000

Default

25

CANbus object

0x22F0.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the acceleration and deceleration of internal position command 15.

Pn-178

Parameter

Peak torque of internal position command 15

Modbus address

0x12F1

Unit % Range

0~400

Default

125

CANbus object

0x22F1.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the torque limit of internal position command 15, the unit is %.

Pn-179

Parameter

High bit of internal position command 16

Modbus address

0x12F2

Unit

pulse

Range

-30000~30000

Default

50

CANbus object

0x22F2.0

Attrib

R/W

Pn-180

Parameter

Low bit of internal position command 16

Modbus address

0x12F3

Unit

pulse

Range

-9999~9999

Default

0

CANbus object

0x22F3.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set position command 16 in point to point control mode or demo mode, the unit is pulse. The position command=high bit
part×10000＋low bit part.

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Pn-181

Parameter

Speed of internal position command 16

Modbus address

0x12F4

Unit

rpm

Range

1~6000

Default

2000

CANbus object

0x22F4.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the motor speed of internal position 16, the unit is rpm.

Pn-182

Parameter

Acceleration/deceleration of internal position

command 16

Modbus address

0x12F5

Unit

R / S2

Range

1~1000

Default

25

CANbus object

0x22F5.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the acceleration and deceleration of internal position command 16.

Pn-183

Parameter

Peak torque of internal position command 16

Modbus address

0x12F6

Unit % Range

0~400

Default

125

CANbus object

0x22F6.0

Attrib

R/W

Control mode：Point to point control mode，Demo mode
Details：Set the torque limit of internal position command 16, the unit is %.

Pn-184

Parameter

Fieldbus selection

Modbus address

0x12F7

Unit － Range

0~3

Default

0

CANbus object

－

Attrib

R/W

Control mode：All
Details：Choose fieldbus interface between the following：

Value

fieldbus interface

0

Modbus RS232 interface

1

Modbus RS485 interface

2

（NOT SUPPORT）

3

（NOT SUPPORT）

Pn-185

Parameter

Modbus address

Modbus address

0x12F8

Unit － Range

1~247

Default

1

CANbus object

－

Attrib

R/W

Control mode：All
Details：Set the servo fieldbus address in ModBus communication, the range is 1~247;
Note：The address must be set to 1 to communicate with Servofly.

Pn-186

Parameter

Modbus communication baudrate

Modbus address

0x12F9

Unit

Bps

Range

0~4

Default

4

CANbus object

－

Attrib

R/W

Control mode：All
Details：Set Modbus communication rate; the following baudrates are supported:

Value 0 1 2 3

4

Baudrates

9600Bps

19200 Bps

38400 Bps

57600 Bps

115200 Bps

Note：The communication rate must be set to 115200bps when communicate with Servofly

Pn-187

Parameter

Modbus communication frame type

Modbus address

0x12FA

Unit － Range

0~2

Default

1

CANbus object

－

Attrib

R/W

Control mode：All
Details：Set the frame type in modbus communication; three frame types are supported as following:

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Value

Frame type

0

8 bit, no parity bit, 2 stop bit

1

8 bit, odd parity bit, 2 stop bit

2

8 bit, even parity bit, 2 stop bit

Pn-188

Parameter

CANOpen node ID

Modbus address

－

Unit － Range

1~127

Default

1

CANbus object

－

Attrib

R/W

（NOT SUPPORT）

Pn-189

Parameter

CANOpen baudrate

Modbus address

－

Unit － Range

0~5

Default

5

CANbus object

－

Attrib

R/W

（NOT SUPPORT）

R-1

Parameter

Index reset clear

Modbus address

0x1C51

Unit － Range

－

Default

－

CANbus object

0x2C51.0

Attrib

WC

Control mode：All
Details：This parameter is used to Clear the current index reset status, and start to search index;

Value

Function

0x01

Clear the current index reset status

Others

No effects

R-2

Parameter

Operation command for EEPROM

Modbus address

0x1C53

Unit

－

Range

－

Default

－

CANbus object

0x2C53.0

Attrib

WC

Control mode：All
Details：This parameter is used to adjust EEPROM,when dealing with user parameters.

Value

Function

0

Termination current EEPROM operation

1

Read the data from EEPROM

2

Read the data from the backup area of EEPROM

3

Write the data into EEPROM

4

Write the data into the backup area of EEPROM

5

Restore default value

R-3

Parameter

Modbus synchronous command selection

Modbus address

0x1C27

Unit

－

Range

0~2

Default

0

CANbus object

－

Attrib

R/W

Control mode：All
Details：This parameter is used to select the synchronous command selection for position/speed/torque control mode.

Value

Function

0

Synchronous command invalid，drive would receive command through
traditional I/O mode only.

1

Manufacturer parameter, doesn‘t open to customers.

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2

Synchronous command valid, drive would receive synchronous command,
traditional I/O command is invalid.

R-4

Parameter

Synchronous torque command

Modbus address

0x1C28

Unit A Range

-65535~65535

Default

0

CANbus object

－

Attrib

R/W

Control mode：Torque control mode
Details：This parameter is used to set the synchronous torque command in synchronous torque control mode, data format is _IQ7.
The corresponding physical quantity of data is Q-axis current of the motor, the unit is Amps.
Note：This parameter is valid in synchronous torque control mode, when modbus synchronous command is valid and set
―Synchronous command enable‖ ON.

Example： 





     



To：It indicates the torque command, the unit is N·m
Mn：It indicates the norminal torque, the unit is N·m
In：It indicates the norminal current，the Uunit is A

R-5

Parameter

Synchronous speed command

Modbus address

0x1C29

Unit

Rpm

Range

-65535~65535

Default

0

CANbus object

－

Attrib

R/W

Control mode：Speed control mode
Details：This parameter is used to set the synchronous speed command in synchronous speed control mode, data format is _IQ2. The
corresponding physical quantity of data is speed, the unit is rpm.
Note：This parameter is valid in synchronous speed control mode, when modbus synchronous command is valid and set
―Synchronous command enable‖ ON.

R-6

Parameter

High bit of synchronous position command

Modbus address

0x1C2A

Unit

Pulse

Range

-65535~65535

Default

0

CANbus object

－

Attrib

R/W

R-7

Parameter

Low bit of synchronous position command

Modbus address

0x1C2B

Unit

Pulse

Range

-65535~65535

Default

0

CANbus object

－

Attrib

R/W

Control mode：All
Details：This parameter is used to set the synchronous position command in synchronous position control mode, data format is _IQ0.
The corresponding physical quantity of data is the motor position, the unit is pulse. The parameter is directly spliced by (H, L) to
form a 32-bit position command.
Note：This parameter is valid in synchronous position control mode, when modbus synchronous command is valid and set
―Synchronous command enable‖ ON.

R-8

Parameter

Synchronous command enable

Modbus address

0x1C55

Unit － Range

-65535~65535

Default

0

CANbus object

－

Attrib

WC

Control mode：All
Details：This parameter is used to trigger the parameters of synchronous torque, speed, position register effective. Write 0x55AA to
the register, ―Synchronous command enable‖ is ON, other value is in invalid.

R-9

Parameter

The implementation state of EEPROM operation

Modbus address

0x1C62

Unit

－

Range

－

Default

－

CANbus object

－

Attrib

RO

Control mode：All

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Details：This parameter is used for DSP and application interaction, the application queries the value of the parameter to determine
the EEPROM operation is completed or not.

Value

Function

0

Operation completed successfully

1

Operation in progress

2

Operation failed

R-10

Parameter

FPGA version

Modbus address

0x1C64

Unit － Range

－

Default

－

CANbus object

－

Attrib

RO

Control mode：All
Details：FPGA version number is stored in this parameter for application inquiry

R-11

Parameter

Index Reset Status

Modbus address

0x1C65

Unit － Range

－

Default

－

CANbus object

－

Attrib

RO

Control mode：All
Details：This parameter instructs encoder counter to complete index reset operation or not.

Value

Function

0

Home position reset completed

1

W phase signal of encoder

2

V phase signal of encoder

3

U phase signal of encoder

R-12

Parameter

Index reset encoder counts

Modbus address

0x1C66

Unit － Range

－

Default

－

CANbus object

－

Attrib

RO

Control mode：All
Details：This parameter is used to latch encoder count value when index reset operation carried out. The hardware carries out latch
operation during home position reset operation, the parameter is used to guarantee the coherence of pulse counting.

R-13

Parameter

Real-time encoder counts

Modbus address

0x1C67

Unit － Range

－

Default

－

CANbus object

－

Attrib

RO

Control mode：All
Details：This parameter indicates the current value of the encoder counter, the unit is pulse. This parameter reflects the physical
location of the motor shaft

R-14

Parameter

CN2 input terminal status

Modbus address

0x1C68

Unit － Range

－

Default

－

CANbus object

－

Attrib

RO

Control mode：All
Details：This parameter indicates the digital input status of CN2 input interface.

Value

Function

Value

Function

0

PulseInv status

5

CCWLtd status

1

SignInv status

6

CWDis status

2

INH status

7

CCWDis status

3

CLE status

8

AlarmClr status

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4

CWLtd status

9

ServoEn status

R-15

Parameter

Encoder input terminal status

Modbus address

0x1C69

Unit － Range

－

Default

－

CANbus object

－

Attrib

RO

Control mode：All
Details：This parameter indicates the status of encoder input terminals.

Value

Function

Value

Function

0

Z signal (Index) status

3

W Hall signal status;

1

B signal status

4

V Hall signal status

2

A signal status

5

U Hall signal status

R-16

Parameter

CN2 output terminal status

Modbus address

0x1C6A

Unit － Range

－

Default

－

CANbus object

－

Attrib

RO

Control mode：All
Details：This parameter indicates the signal terminal state of CN2 output interface.

Value

3 2 1 0 Function

SRDY status

Alarm status

COIN status

BRK status

R-17

Parameter

The analog voltage of analog input port A

Modbus address

0x1C6B

Unit

mV

Range

－

Default

－

CANbus object

－

Attrib

RO

Control mode：All
Details：This parameter indicates the actual input voltage of analog input port A (torque), the unit is mV.

R-18

Parameter

The analog voltage of analog input port B

Modbus address

0x1C6C

Unit

mV

Range

－

Default

－

CANbus object

－

Attrib

RO

Control mode：All
Details：This parameter indicates the actual input voltage of analog input port B (speed), The unit is mV.

R-19

Parameter

DC bus voltage

Modbus address

0x1C6D

Unit V Range

－

Default

－

CANbus object

－

Attrib

RO

Control mode：All
Details：This parameter indicates the current power supply board DC bus voltage, the unit is mV.

R-20

Parameter

The current torque value

Modbus address

0x1C6F

Unit A Range

－

Default

－

CANbus object

－

Attrib

RO

Control mode：All
Details：The corresponding physical quantity of data is the actual Q-axis current of the motor, the unit is Amps. Data format is
_IQ7

Example： 





     



T：It indicates the motor output torque, the unit is N·m
Mn：It indicates the nominal torque, the unit is N·m
In：It indicates the nominal current, the unit is A

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R-21

Parameter

The current speed value

Modbus address

0x1C70

Unit

Rpm

Range

－

Default

－

CANbus object

－

Attrib

RO

Control mode：All

Details：The corresponding physical quantity of data is the current actual speed, the unit is Rpm. Data format is _IQ2.

R-22

Parameter

The current high bit position value

Modbus address

0x1C71

Unit

Pulse

Range

－

Default

－

CANbus object

－

Attrib

RO

R-23

Parameter

The current low bit position value

Modbus address

0x1C72

Unit

Pulse

Range

－

Default

－

CANbus object

－

Attrib

RO

Control mode：All
Details：The corresponding physical quantity of data is the motor position, the unit is pulse. Data format is _IQ0, directly spliced by
(H, L) to form a 32-bit position command

R-24

Parameter

Torque error value

Modbus address

0x1C73

Unit A Range

－

Default

－

CANbus object

－

Attrib

RO

Control mode：All
Details：The corresponding physical quantities of data is the difference between torque command and actual torque (Q-axis current),
the units is Amps. Data format is _IQ7

R-25

Parameter

Speed error value

Modbus address

0x1C74

Unit

Rpm

Range

－

Default

－

CANbus object

－

Attrib

RO

Control mode：All
Details：The corresponding physical quantities of data is the difference between speed command and actual speed, the units is

Rpm. Data format is _IQ2.

R-26

Parameter

High bit position error value

Modbus address

0x1C75

Unit

Pulse

Range

－

Default

－

CANbus object

－

Attrib

RO

R-27

Parameter

Low bit position error value

Modbus address

0x1C76

Unit

Pulse

Range

－

Default

－

CANbus object

－

Attrib

RO

Control mode：All
Details：The corresponding physical quantities of data is the difference between position command and actual position, the units is
pulse. Data format is _IQ0, directly spliced by (H, L) to form a 32-bit position command.

R-28

Parameter

Torque command

Modbus address

0x1C77

Unit

A

Range

－

Default

－

CANbus object

－

Attrib

RO

Control mode：All
Details：The corresponding physical quantities of data is the Q-axis current command, the units is Amps。 Data format is _IQ7.
Example：Please refer to R-4.

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R-29

Parameter

Speed command

Modbus address

0x1C78

Unit

Rpm

Range

－

Default

－

CANbus object

－

Attrib

RO

Control mode：All

Details：The corresponding physical quantities of data is the speed command, the units is Rpm. Data format is _IQ2

R-30

Parameter

High bit position command

Modbus address

0x1C79

Unit

Pulse

Range

－

Default

－

CANbus object

－

Attrib

RO

R-31

Parameter

Low bit position command

Modbus address

0x1C7A

Unit

Pulse

Range

－

Default

－

CANbus object

－

Attrib

RO

Control mode：All
Details：The corresponding physical quantities of data is the position command, the units is pulse. Data format is _IQ0, directly
spliced by (H, L) to form a 32-bit position command。

R-32

Parameter

Alarm code

Modbus address

0x1C7B

Unit

Pulse

Range

－

Default

－

CANbus object

－

Attrib

RO

Control mode：All
Details：This parameter indicates the current alarm code, please refer to chapter 8 for details.
Note：When the value is 0, indicating there is no warning

R-33

Parameter

BootRom version

Modbus address

0x1C7C

Unit － Range

－

Default

－

CANbus object

－

Attrib

RO

Control mode：All
Details：BootRom version number is stored in this parameter for application inquiry.

R-34

Parameter

Software version

Modbus address

0x1C7D

Unit － Range

－

Default

－

CANbus object

－

Attrib

RO

Control mode：All
Details：Software version number is stored in this parameter for application inquiry.

Chapter6 Communication

6.1 Communication Hardware Interface

Bonmet SA Series servo drives have three communication modes: RS-232, RS-485 and CANOpen. All aspects of
control, operation and monitoring as well as programming of the controller can be achieved through
communication. However, only one communication mode can be used at a time. Users can select the desired
communication mode by parameter Pn184.
Please refer to the following sections for connections and limitations.

6.2 ModBus Communication Protocol

When using RS-232/485 serial communication interface, each SA series AC servo drive has a pre-assigned
communication address specified by parameter Pn185. The computer then
controls each AC servo drive according to its communication address. SA series AC servo drives can be set up to
communicate on a MODBUS networks using on RTU (Remote Terminal Unit)mode.

6.1.1Code Description:

When controllers are setup to communicate on a Modbus network using RTU(Remote Terminal Unit) mode, each

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8–bit byte in a message contains two 4–bit hexadecimal characters. The main advantage of this mode is that its
greater character density allows better data throughput than ASCII for the same baud rate. Each message must be
transmitted in a continuous stream.
The format for each byte in RTU mode is:

Error Check Field:

Cyclical Redundancy Check (CRC)

Coding System:

8–bit binary, hexadecimal 0–9, A–F

Two hexadecimal characters contained in each

8–bit field of the message

Bits per Byte:

1 start bit

8 data bits, least significant bit sent first

1 bit for even/odd parity; no bit for no parity

1 stop bit if parity is used; 2 bits if no parity

Error Check Field:

Cyclical Redundancy Check (CRC)

6.1.2RTU Framing

In RTU mode, messages start with a silent interval of at least 3.5 character times. This is most easily implemented
as a multiple of character times at the baud ratethat is being used on the network (shown as T1–T2–T3–T4 in the
figure below).The first field then transmitted is the device address.

The allowable characters transmitted for all fields are hexadecimal 0–9, A–F.Networked devices monitor the
network bus continuously, including during the ‗silent‘ intervals. When the first field (the address field) is received,
each devicede codes it to find out if it is the addressed device.

Following the last transmitted character, a similar interval of at least 3.5 character times marks the end of the
message. A new message can begin after this interval .The entire message frame must be transmitted as a
continuous stream. If a silent interval of more than 1.5 character times occurs before completion of the frame, the
receiving device flushes the incomplete message and assumes that the next byte will be the address field of a new
message.

Similarly, if a new message begins earlier than 3.5 character times following a previous message, the receiving
device will consider it a continuation of the previous message. This will set an error, as the value in the final CRC
field will not be valid for the combined messages. A typical message frame is shown below.

START

ADDRESS

FUNCTION

DATA

CRC

CHECK

END

T1–T2–T3–T4

8 BITS

8 BITS

n x 8 BITS

16 BITS

T1–T2–T3–T4

6.1.3CRC Checking

In RTU mode, messages include an error–checking field that is based on a Cyclical Redundancy Check (CRC)
method. The CRC field checks the contents of the entire message. It is applied regardless of any parity check
method used for the individual characters of the message.

The CRC field is two bytes, containing a 16–bit binary value. The CRC value is calculated by the transmitting
device, which appends the CRC to the message. The receiving device recalculates a CRC during receipt of the
message, and compares the calculated value to the actual value it received in the CRC field. If the two values are
not equal, an error results.

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The CRC is started by first preloading a 16–bit register to all 1‘s. Then a process begins of applying successive
8–bit bytes of the message to the current contents of the register. Only the eight bits of data in each character are
used for generating the CRC. Start and stop bits, and the parity bit, do not apply to the CRC.

During generation of the CRC, each 8–bit character is exclusive ORed with the register contents. Then the result
is shifted in the direction of the least significant bit (LSB), with a zero filled into the most significant bit (MSB)
position. The LSB is extracted and examined. If the LSB was a 1, the register is then exclusive ORed with a preset,
fixed value. If the LSB was a 0, no exclusive OR takes place.

This process is repeated until eight shifts have been performed. After the last (eighth) shift, the next 8–bit byte is
exclusive ORed with the register‘s current value, and the process repeats for eight more shifts as described above.
The final contents of the register, after all the bytes of the message have been applied, is the CRC value.

When the CRC is appended to the message, the low-order byte is appended first, followed by the high-order byte.

In ladder logic, the CKSM function calculates a CRC from the message contents. For applications using host
computers, a detailed example of CRC generation is contained in Appendix C.

6.1.4Communication Parameter Write-in and Read-out

■ 03 (0x03) Read Holding Registers
Description

Reads the binary contents of holding registers (4X references) in the slave.Broadcast is not supported.Appendix B
lists the maximum parameters supported by various controller models.

Query

The query message specifies the starting register and quantity of registers to be read. Registers are addressed
starting at zero: registers 1–16 are addressed as 0–15.
Here is an example of a request to read registers 40108–40110 from slave device 17:

QUERY

Example

Field Name

(Hex)

Slave Address

11

Function

03

Starting Address Hi

00

Starting Address Lo

6B

No. of Points Hi

00

No. of Points Lo

03

Error Check (CRC)

––

Response

The register data in the response message are packed as two bytes per register, with the binary contents right
justified within each byte. For each register, the first byte contains the high order bits and the second contains the
low order bits.
Data is scanned in the slave at the rate of 125 registers per scan for 984–X8X controllers (984–685, etc), and at
the rate of 32 registers per scan for all other controllers. The response is returned when the data is completely

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assembled.
Here is an example of a response to the query on the opposite page:

RESPONSE

Example

Field Name

(Hex)

Function

11

Byte Count

03

Data Hi (Register 40108)

06

Data Lo (Register 40108)

2B

Data Hi (Register 40109)

00

Data Lo (Register 40109)

00

Data Hi (Register 40110)

00

Data Lo (Register 40110)

64

Error Check (CRC)

––

The contents of register 40108 are shown as the two byte values of 02 2B hex, or 555 decimal. The contents of
registers 40109–40110 are 00 00 and 00 64 hex, or 0 and 100 decimal.

■ 16 (0x10) Preset Multiple Registers
Description

Presets values into a sequence of holding registers (4X references). When broadcast, the function presets the same
register references in all attached slaves.

Note The function will override the controller‘s memory protect state. The preset values will remain valid in the

registers until the controller‘s logic next solves the register contents. The register values will remain if they are not

programmed in the controller‘s logic.

Appendix B lists the maximum parameters supported by various controller models.

Query

The query message specifies the register references to be preset. Registers are addressed starting at zero: register 1
is addressed as 0. The requested preset values are specified in the query data field. M84 and 484 controllers use a
10–bit binary value, with the six high order bits set to zeros. All other controllers use 16–bit values. Data is
packed as two bytes per register. Here is an example of a request to preset two registers starting at 40002 to 00 0A
and 01 02 hex, in slave device 17:

QUERY

Example

Field Name

(Hex)

Slave Address

11

Function

10

Starting Address Hi

00

Starting Address Lo

01

No. of Registers Hi

00

No. of Registers Lo

02

Byte Count

04

Data Hi

00

Data Lo

0A

Data Hi

01

Data Lo

02

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Error Check (CRC)

––

Response

The normal response returns the slave address, function code, starting address, and quantity of registers preset.
Here is an example of a response to the query shown above.

RESPONSE

Example

Field Name

(Hex)

Slave Address

11

Function

10

Starting Address Hi

00

Starting Address Lo

01

No. of Registers Hi

00

No. of Registers Lo

02

Error Check (CRC)

––

Chapter 7 Protective Function

8.1 Alarm List

Alarm code

Protective function

0

Normal state

1

System error

2

Z phase error protection

3

Hall(U/V/W phase) signal error protection

4

A/B phase signal error protection

5

Encoder counter missing error

6

Overcurrent protection of power module

7

Main circuit relay disconnected

8

Overvoltage

9

Undervoltage

10

Motor (IR2) overheat protection

11

Motor phase current gain error

12

EEPROM operation error

13

Drive overheat protection

14

Over-regeneration load protection (NOT SUPPORT)

15

Over-travel inhibition error

16

Excessive deviation

17

Reservation

18

Torque overload alarm

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8.2 Details

8.2.1 Err-1_system initialization

Probable causes

Conforming method

Measures

System initialization error

—

Update the firmware.

Failure of servo drive

—

Repair or replace the drive with a new one.

8.2.2 Err-2_ Z phase error protection

Probable causes

Conforming method

Measures

Encoder disconnected

Check if the encoder is connected or not

Connect the encoder with drive.

Wiring error

Check the wiring

Rewiring.

Failure of encoder cable

Check the encoder cable according to the
wiring diagram

Repair or replace the cable with a new one.

Communication error caused
by interference

—

① Separate the encoder cable and the power

cable if they are bound together
② Use shielded twisted wire.

Failure of encoder

—

Repair or replace the servo motor with a new
one.

8.2.3 Err-3_ Hall(U/V/W phase) signal error protection

Probable causes

Conforming method

Measures

Encoder disconnected

Check if the encoder is connected or not

Connect the encoder with drive

Wrong motor parameter

—

Restores the default parameter of the motor

Wiring error

Check the wiring

Rewiring according to operation manual

Failure of encoder cable

Check the encoder cable according to the
wiring diagram

Repair or replace the cable with a new one

Communication error caused
by interference

—

① Separate the encoder cable and the power

cable if they are bound together
② Use shielded twisted wire

Failure of encoder

—

Repair or replace the servo motor with a new
one

8.2.4 Err-4_ A/B phase signal error protection

Probable causes

Conforming method

Measures

Encoder disconnected

Check if the encoder is connected or not

Connect the encoder with drive

Wiring error

Check the wiring

Rewiring according to operation manual

Failure of encoder cable

Check the encoder cable according to the
wiring diagram

Repair or replace the cable with a new one

Communication error caused
by interference

—

① Separate the encoder cable and the power

cable if they are bound together
② Use shielded twisted wire

Failure of encoder

—

Repair or replace the servo motor with a new
one

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8.2.5 Err-5_Encoder counter missing error

Probable causes

Conforming method

Measures

Encoder disconnected

Check if the encoder is connected or not

Connect the encoder with drive

Wiring error

Check the wiring

Rewiring according to operation manual

Failure of encoder cable

Check the encoder cable according to the
wiring diagram

Repair or replace the cable with a new one

Communication error caused
by interference

—

① Separate the encoder cable and the power

cable if they are bound together
② Use shielded twisted wire

Incorrect installation of
encoder

—

Reinstall the encoder

Failure of encoder

—

Repair or replace the servo motor with a new
one

8.2.6 Err-6_Overcurrent protection of power module

Probable causes

Conforming method

Measures

Wrong wiring of the power
cable (U, V, W, PE)

Check the wiring

Rewiring according to operation manual

Wrong wiring of the encoder
cable.

Check the wiring

Rewiring according to operation manual

Failure of encoder cable

Check the encoder cable according to the
wiring diagram

Repair or replace the cable with a new one

Wrong motor parameter

—

Restores the default parameter of the motor

Incorrect gain adjustment

—

Restores the default parameter of the motor and
adjusts it according to the operation manual

Machine failure

Check the mechanical connection

Improve the mechanical transmission parts

Overloaded

Check if the motor output torque is too large

Increase the capacity of the driver and motor.
Set up longer acceleration/deceleration time.
Lower the load

Power capacity is not enough

Check power specifications

Use three-phase power supply

Input command error caused
by interference

Use the internal command to test the machine

① Separate the input command cable and the
power cable if they are bound together
② Use shielded twisted wire

Communication error caused
by interference

—

① Separate the encoder cable and the power

cable if they are bound together
② Use shielded twisted wire

Failure of motor

Measure the resistance among the motor power
terminal U,V,W and PE

Repair or replace the servo motor with a new
one

Failure of encoder

—

Repair or replace the encoder with a new one

Failure of servo drive

—

Repair or replace the servo drive with a new
one

8.2.7 Err-7_ Main circuit relay disconnected

Probable causes

Conforming method

Measures

Power supply disconnected

Use voltmeter to check whether input voltage at
main circuit is normal

Rewiring according to operation manual

Supply voltage is too low or
unstable

Use voltmeter to check whether input voltage at
main circuit is normal

Use a regulator

Failure of motor

—

Repair or replace the servo motor with a new
one

Failure of servo drive

—

Repair or replace the servo drive with a new
one

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8.2.8 Err-8_ Overvoltage

Probable causes

Conforming method

Measures

Supply voltage is too high or
unstable

Use voltmeter to check whether input voltage at
main circuit is normal

Use a regulator.

The motor brake frequently
and the brake resistance is not
connected

—

Connect the brake resistor

Failure of motor brake
resistor

Check the resistance of the resistor

Replace the brake resistance with a new one

Failure of servo drive

—

Repair or replace the servo drive with a new
one

8.2.9 Err-9_ Under voltage

Probable causes

Conforming method

Measures

No input voltage at main
circuit.

Use voltmeter to check whether input voltage at
main circuit is normal

Rewiring according to operation manual.

Wiring error

Check the wiring

Rewiring according to operation manual

Failure of main circuit
connector

Check the connector

Replace the connector with a new one

Supply voltage is too low or
unstable

Use voltmeter to check whether input voltage at
main circuit is normal

Use a regulator

Instantaneous power-off.

—

Use a regulator

Failure of servo drive

—

Repair or replace the servo drive with a new
one

8.2.10 Err-10_ Motor (IR2) overheat protection

Probable causes

Conforming method

Measures

Wrong wiring of the power
cable (U, V, W, PE)

Check the wiring

Rewiring according to operation manual

Wrong wiring of the encoder
cable.

Check the wiring

Rewiring according to operation manual

Failure of encoder cable

Check the encoder cable according to the
wiring diagram

Repair or replace the cable with a new one.

Wrong motor parameter

—

Restores the default parameter of the motor

Incorrect gain parameters
setting

—

Restores the default parameter of the motor and
adjusts gain parameters according to the
operation manual.

Machine failure

Check the mechanical connection

Improve the mechanical transmission parts

Overloaded

Check if the motor output torque is too large

Increase the capacity of the driver and motor.
Set up longer acceleration/deceleration time.
Lower the load

Power capacity is not enough

Check power specifications

Use three-phase power supply

Failure of motor

Measure the resistance among the motor power
terminal U,V,W and PE

Repair or replace the servo motor with a new
one

Failure of servo drive

—

Repair or replace the servo drive with a new
one

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8.2.11 Err-11_ Motor phase current gain error

Probable causes

Conforming method

Measures

Wrong update of firmware

—

Update the firmware.

Failure of encoder cable

Check the encoder cable according to the
wiring diagram

Repair or replace the cable with a new one.

Failure of motor

Measure the resistance among the motor power
terminal U,V,W and PE

Repair or replace the servo motor with a new
one

Failure of servo drive

—

Repair or replace the servo drive with a new
one

8.2.12 Err-12_ EEPROM operation error

Probable causes

Conforming method

Measures

Wrong update of firmware

—

Update the firmware.

Failure of servo drive

—

Repair or replace the servo drive with a new
one

8.2.13 Err-13_ Drive overheat protection

Probable causes

Conforming method

Measures

The internal temperature of
drive is over 80℃

Measure the temperature

Use air-cooling to decrease the temperature of
the drive.

Wrong wiring of the power
cable (U, V, W, PE)

Check the wiring

Rewiring according to operation manual

Wrong wiring of the encoder
cable.

Check the wiring

Rewiring according to operation manual

Failure of encoder cable

Check the encoder cable according to the
wiring diagram

Repair or replace the cable with a new one.

Wrong motor parameter

—

Restores the default parameter of the motor

Incorrect gain parameters
setting

—

Restores the default parameter of the motor and
adjusts gain parameters according to the
operation manual.

Machine failure

Check the mechanical connection

Improve the mechanical transmission parts

Overloaded

Check if the motor output torque is too large

Increase the capacity of the driver and motor.
Set up longer acceleration/deceleration time.
Lower the load

Failure of motor

Measure the resistance among the motor power
terminal U,V,W and PE

Repair or replace the servo motor with a new
one

Motor fault

survey the U,V,W line of the motor

Repair or change the motor.

Failure of servo drive

—

Repair or replace the servo drive with a new
one

8.2.14 Err-14_ Over-regeneration load protection

Probable causes

Conforming method

Measures

（NOT SUPPORT）

8.2.15 Err-15_ Over-travel inhibition error

Probable causes

Conforming method

Measures

CN2 cable wrong wiring

Check CN2 cable according to the wiring
diagram

Repair or replace the cable with a new one

Wrong Parameters

Check Parameter Pn-14 and Pn-15

The positive over-travel inhibition and negative
over-travel inhibition should not be valid at the
same time

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BONMET motion GmbH/www.bonmet.com/www.bonmet.de

Communication error caused
by interference

Check the digital input status through monitor
function

① Separate the encoder cable and the power
cable if they are bound together
② Use shielded twisted wire

8.2.16 Err-16_ Excessive deviation

Probable causes

Conforming method

Measures

Maximum deviation
parameter setting is too small

Check the maximum deviation parameter
setting and observe the position error value
when the motor is running

Increases the parameter setting value of Pn-55
Gain value is too small

Check for proper gain value

Correctly adjust gain value

Torque limit is too low

Check torque limit value

Correctly adjust torque limit value

Machine failure

Check the mechanical connection

Improve the mechanical transmission parts

Input pulse command over
frequency

Check the input pulse frequency whether it is
over 500kHz

Reduce the pulse frequency.

Incorrect electric gear ratio
setting

Check the input pulse frequency whether it is
over 500kHz after set the electric gear ratio

Reduce the ratio.

8.2.17 Err-18_ Torque overload alarm

Probable causes

Conforming method

Measures

Maximum overload testing
parameter setting is too small

Check the maximum overload testing parameter
setting

Increases the parameter setting value of Pn-22,
usually we suggest customer to set it under 150.

Machine failure

Check the mechanical connection

Improve the mechanical transmission parts

The drive has exceeded its
rated load during continuous
operation.

Check if the drive is overloaded by monitoring
the motor torque, 100% or less continuous
motor output torque is OK

Increase motor capacity or reduce load

The wiring of drive and
encoder is in error

Check the wiring of U, V, W and encoder

Ensure all wiring is correct