GE Digital VersaMotion Operating Manual

GE

Intelligent Platforms

Programmable Control Products

VersaMotion

Servo Motors and Amplifiers

User’s Manual, GFK-2480A

October 2012

GFL-002

Warnings, Cautions, and Notes

as Used in this Publication

Warning

Warning notices are used in this publication to emphasize that hazardous voltages,
currents, temperatures, or other conditions that could cause personal injury exist in this
equipment or may be associated with its use.

In situations where inattention could cause either personal injury or damage to equipment,
a Warning notice is used.

Caution

Caution notices are used where equipment might be damaged if care is not taken.

Note: Notes merely call attention to information that is especially significant to

understanding and operating the equipment.

This document is based on information available at the time of its publication. While efforts
have been made to be accurate, the information contained herein does not purport to cover all
details or variations in hardware or software, nor to provide for every possible contingency in
connection with installation, operation, or maintenance. Features may be described herein
which are not present in all hardware and software systems. GE Intelligent Platforms assumes
no obligation of notice to holders of this document with respect to changes subsequently made.

GE Intelligent Platforms makes no representation or warranty, expressed, implied, or statutory
with respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, or
usefulness of the information contained herein. No warranties of merchantability or fitness for
purpose shall apply.

* indicates a trademark of GE Intelligent Platforms, Inc. and/or its affiliates. All other

trademarks are the property of their respective owners.

©Copyright 2011 GE Intelligent Platforms, Inc.

All Rights Reserved

Contact Information

Online technical support and
GlobalCare

http://support.ge-ip.com

Additional information

http://www.ge-ip.com/

Solution Provider

[e-mail]

Online Technical Support

http://support.ge-ip.com

Phone

1-800-433-2682

International Americas Direct Dial

1-780-420-2010 (if toll free 800 option is unavailable)

Technical Support Email

[e-mail]

Customer Care Email

[e-mail]

Primary language of support

English

Online Technical Support

http://support.ge-ip.com

Phone

[phone]

EMEA Direct Dial

[phone] (if toll free 800 option is unavailable or if
dialing from a mobile telephone)

Technical Support Email

[e-mail]

Customer Care Email

[e-mail]

Primary languages of support

English, French, German, Italian, Czech, Spanish

Online Technical Support

http://support.ge-ip.com

Phone
[phone]

[phone] (India, Indonesia, and Pakistan)

Technical Support Email

[e-mail] (China)

[e-mail] (Japan)

[e-mail] (remaining Asia customers)

Customer Care Email

[e-mail]

[e-mail] (China)

If you purchased this product through an Authorized Channel Partner, please contact the seller
directly.

General Contact Information

Technical Support

If you have technical problems that cannot be resolved with the information in this manual, please
contact us by telephone or email, or on the web at http://support.ge-ip.com

Americas

Europe, the Middle East, and Africa

Asia Pacific

iii VersaMotionServo Motors and Amplifiers User’s Manual–October 2012 GFK-2480A

Contents

Introduction .................................................................................................................... 1-1

1.1 Product Overview ....................................................................................................... 1-3

1.2 Servo Drive and Servo Motor Combinations ............................................................ 1-11

1.3 Servo Drive Control Modes ....................................................................................... 1-12

Unpacking and Installation ........................................................................................... 2-1

2.1 Unpacking and Inspection .......................................................................................... 2-2

2.2 Storage Conditions ..................................................................................................... 2-2

2.3 Installation ................................................................................................................... 2-3

2.4 Molded-Case Circuit Breaker, Fuse and Leakage Current ........................................ 2-8

Equipment Connections and Wiring ............................................................................ 3-1

3.1 Equipment Connections .............................................................................................. 3-2

3.2 Basic Wiring ................................................................................................................ 3-9

3.3 Input/Output Interface Connector CN1 ..................................................................... 3-11

3.4 Encoder Connector CN2 ........................................................................................... 3-33

3.5 Serial Communication Connector CN3 ..................................................................... 3-34

3.6 Standard Connection Example ................................................................................. 3-36

Display and Operation ..................................................................................................... 4-1

4.1 Description of the Digital Keypad................................................................................ 4-2

4.2 Display Flowchart ....................................................................................................... 4-3

4.3 Status Display ............................................................................................................. 4-4

4.4 General Function Operation ....................................................................................... 4-8

Trial Run and Tuning Procedure .................................................................................. 5-1

5.1 Trial Run without a Load ............................................................................................. 5-2

5.2 Tuning Procedure ..................................................................................................... 5-15

Control Modes of Operation ................................ ......................................................... 6-1

6.1 Control Mode Summary .............................................................................................. 6-2

6.2 Position Control Mode ................................................................................................ 6-4

6.3 Speed Control Mode ................................................................................................. 6-20

6.4 Torque Control Mode ................................................................................................ 6-38

6.5 Control Mode Selection ............................................................................................ 6-43

6.6 Others ....................................................................................................................... 6-46

Parameters ...................................................................................................................... 7-1

7.1 Definitions ................................................................................................................... 7-2

7.2 Parameter Summary ................................................................................................... 7-3

7.3 Detailed Parameter Listings ...................................................................................... 7-20

7.4 Input Function Definitions ......................................................................................... 7-92

7.5 Output Function Definitions ...................................................................................... 7-97

GFK-2480A v

Contents

MODBUS Communications .......................................................................................... 8-1

8.1 Communication Hardware Interface ........................................................................... 8-2

8.2 Communication Parameter Settings ........................................................................... 8-6

8.3 MODBUS Communication Protocol .......................................................................... 8-10

8.4 Communication Parameter Write-in and Read-out ................................................... 8-19

Maintenance and Inspection ........................................................................................ 9-1

9.1 Basic Inspection .......................................................................................................... 9-2

9.2 Maintenance ............................................................................................................... 9-3

9.3 Life of Replacement Components .............................................................................. 9-4

Diagnostics .................................................................................................................... 10-1

10.1 Fault Messages Table ............................................................................................ 10-2

10.2 Potential Causes and Corrective Actions ............................................................... 10-4

10.3 Clearing Faults ...................................................................................................... 10-10

Specifications .............................................................................................................. 11-1

11.1 Servo Drive AC Input Current Ratings .................................................................... 11-2

11.2 Servo Drive Specifications ...................................................................................... 11-3

11.3 Servo Motor Specifications ..................................................................................... 11-5

11.4 Servo Motor Speed-Torque Curves ........................................................................ 11-8

11.5 Overload Characteristics ...................................................................................... 11-10

11.6 Dimensions of Servo Drives ................................................................................. 11-12

11.7 Dimensions of Servo Motors ................................................................................. 11-14

11.8 EMI Filters Selection ............................................................................................. 11-16

Application Examples ................................................................................................. 12-1

12.1 Position Control with Homing Function ................................................................... 12-2

12.2 Roller Feeding......................................................................................................... 12-4

12.3 Connecting to a PLC ............................................................................................... 12-6

12.4 Connecting to an Operator Interface .................................................................... 12-11

12.5 Position Control Mode (Pr Mode) ......................................................................... 12-12

12.6 Feed Step Control ................................................................................................. 12-15

12.7 Internal Auto Running Mode ................................................................................. 12-26

12.8 Homing Function ................................................................................................... 12-30

DSM314 Connections ................................................................................................... A-1

Equipment Needed for One-Axis Connection to DSM314................................................ A-1

Avoiding Electrical Noise in the Installation ...................................................................... A-1

Connection Diagram ......................................................................................................... A-2

VersaMotion Start-up (Do This First) ................................................................................ A-3

DSM314 Start-Up .............................................................................................................. A-3

vi VersaMotion Servo Motors and Amplifiers User’s Manual–October 2012 GFK-2480A

Contents

Accessories ..................................................................................................................... B-1

B.1 Power Connectors ...................................................................................................... B-2

B.2 Power Cables ............................................................................................................. B-3

B.3 Encoder Connectors ................................................................................................... B-5

B.4 Encoder Cables .......................................................................................................... B-6

B.5 I/O Signal Connector .................................................................................................. B-7

B.6 Drive- to-Computer Communication Cable ................................................................ B-7

B.7 Terminal Block ............................................................................................................ B-8

GFK-2480A Contents vii

Chapter

1

Introduction

This chapter provides an overview of VersaMotion servo drives and motors.

Page

1.1 Product Overview 1-3

1.2 Servo Drive and Servo Motor Combinations 1-11

1.3 Servo Drive Control Modes 1-12

The rest of the manual describes VersaMotion products in detail, and explains how to install, operate
and maintain the servo drives and motors.

Chapter 2, Unpacking and Installation. Includes procedures for unpacking, initial inspection and
installation of a VersaMotion system.

Chapter 3, Equipment Connections and Wiring. Provides cable connection and wiring
procedures. Also provides detailed information on I/O signals.

Chapter 4, Display and Operation. Explains how to use the VersaMotion drive’s digital keypad.
Chapter 5, Trial Run and Tuning Procedure. Explains how to perform a trial run without a load

and how to tune the servo system with a load.
Chapter 6, Control Modes of Operation. Explains how to operate the VersaMotion drive in each

control mode. (The VersaMotion drive provides provide six single and five dual control modes,
which are summarized on page 1-12.)

Chapter 7, Parameters. Describes how to use the drive’s operating parameters, which can be
configured using the VersaMotion Configuration software.

Chapter 8, MODBUS Communications. Describes connections and parameter settings for RS­232, RS-485 and RS-422 communications.

Chapter 9, Maintenance and Inspection. Explains how to perform preventive maintenance and
inspection of the servo drive.

Chapter 10, Diagnostics. Provides definitions and corrective actions for fault messages.
Chapter 11, Specifications. Provides physical and electrical characteristics of the VersaMotion

drives and servo motors.
Chapter 12, Application Examples. Provides sample applications using VersaMotion drives and

servo motors.
Appendix A, Accessories. Provides a reference to connectors, cables and terminal blocks used

with VersaMotion products.

GFK-2480A 1-1

1

VersaMotion Servo Drive and Motor

For additional information about VersaMotion and related products, refer to the following manuals:

VersaMax Micro and Nano PLCs User’s Manual, GFK-1645

VersaMax Micro Two-Axis Servo Motion Expansion Modules User’s Manual, GFK-2471
DSM314 Motion Controller for PACSystems RX3i and Series 90-30 User's Manual, GFK-1742

User manuals, module datasheets, and other product documents are available online at

http://support.ge-ip.com.

1-2 VersaMotion User’s Manual – October 2012 GFK-2480A

1

1.1 Product Overview

The VersaMotion family of servo motors offers high servo performance in a compact package. The
range of torque and motor power allows you to optimize performance, size and cost for your
application.

The motors range from 100 W to 3 kW with continuous torque ratings from 0.3 Nm to 19.1-Nm. Most
models are rated for 3000 RPM continuous with an intermittent rating of 5000 RPM. Motor feedback is
provided by a 2500 PPR encoder (10,000 quadrature counts per revolution) for a resolution of 0.036
degrees of a motor revolution. All motors have metric mounting configurations and include a straight
shaft with key and oil seal.

Motors are matched with VersaMotion amplifiers, which support a variety of configurable command
interface and operational modes. They provide simple stand-alone positioning capability using up to
eight stored motion profiles or can be connected to a motion controller using an analog velocity, analog
torque or pulse command interface.

The drives, motors, and accessories that make up the VersaMotion product family are listed on page
1-6.).

VersaMotion servo/amplifier products provide the following features:

 Power range: 100 Watt to 3 kW (7 models)
 Torque range: Continuous: 0.32-19.1 Nm, Peak: 0.96 – 57.3 Nm
 Single and dual control modes: Position, Speed, Torque, Speed/Position, Speed/Torque and

Torque/Position

 The RS-232/485/422 serial communications interface supports multi-drop system

configurations and Modbus ASCII or RTU communication protocol.

 Encoder position output: A/B/Z with scalable resolution
 Homing and jogging functions
 Speed and torque limiting functions
 Autotuning function
 On-the-fly gain switching
 Electronic gearing (pulse follower)
 Configurable digital I/O: 8 Inputs and 5 Outputs
 Analog inputs: 1 Speed or 2 Torque
 Built-in touch pad and display provides convenient access to configuration parameters and

system information.

 Resonance suppression using notch and low pass filters
 Motors with 24 VDC holding brakes are available (except 100 Watt motor) for vertical axes or

applications that need to hold position during power loss.

GFK-2480A Chapter 1 Introduction 1-3

1

LED Display

The 5 digit, 7 segment LED displays

the servo status or

fault codes

Heatsink

Used to secure servo drive and for

heat dissipation

Charge LED

A lit LED indicates that either power is

connected to the servo drive OR a

residual charge is present in the drive's

internal power components.

DO NOT TOUCH ANY ELECTRICAL

CONNECTIONS WHILE THIS LED IS LIT.

(Please refer to the Safety Precautions on

page i).

Control Circuit Terminal (L1, L2)

Used to connect

single-phase VAC supply.

50/60Hz

200~230Vac,

Main Circuit Terminal (R, S, T)

Used to connect

commercial power supply

50/60Hz

200~230V,

Ground Terminal

Servo Motor Output (U, V, W)

Used to connect servo motor. Never

connect the output terminal to main

circuit power.

The AC servo drive

may be destroyed beyond repair if

incorrect cables are connected to

the output terminals.

Internal / External Regenerative

Resistor Terminal

1)

resistor, connect P and C to the

regenerative resistor and ensure that

the circuit between P and D

is open.

2) When using the internal regenerative

resistor, ensure that the circuit

between P and D is closed and the

circuit between P and C is open.

When using an external regenerative

Operation Panel

Used function keys to perform status

display, monitor and diagnostic, function

and parameter setting.

Function Keys:

MODE : Press this key to select/change

mode

SHIFT :

Press this key to shift

left

UP : Press this key to increase values

on the display

DOWN :

Press this key to decrease

values on the display

SET : Press this key to store data

Shift Key has several functions:

moving the cursor and indexing

through the parameter groups

cursor to

the

I/O Interface

Used to connect Host Controller (PLC)

or control I/O signal

Encoder Interface

Used to connect Encoder of

Servo Motor

Serial Communication Interface

For RS-485 / 232 / 422 serial

communication

Used to connect personal computer

or other controllers

1.1.1 Servo Drive Features

1-4 VersaMotion User’s Manual – October 2012 GFK-2480A

1

1.1.2 VersaMotion System Architectures

The VersaMotion servos can be used in the following types of system architectures:

 As a standalone simple position indexer using up to eight stored positions that are selected and

triggered using discrete inputs or the serial communication interface. Positions can be
configured or changed using a teach function or over the serial communication interface.
Simple electronic gearing (pulse follower) using a configurable fixed gear ratio is also
supported.

 With the VersaMax Micro 20/40/64 built-in CPU motion functions.
 With the VersaMax Micro two-axis motion expansion module using the 500 KHz pulse

command interface for application that require more complex motion sequences, such as basic
positioning with registration control.

 With Quick Panel Control and the VersaMax Micro two-axis motion expansion module using

the 500 KHz pulse command interface to provide an integrated motion, logic and view solution.

 With a DSM314 Motion Controller using either an analog velocity or analog torque command.

1.1.3 VersaMotion System Components

A complete and workable VersaMotion servo system includes the following parts:

1) Servo amplifier

2) Servo motor

3) One operating lever (for wire to terminal block insertion)

4) One power cable, which is used to connect the servo motor and the servo drive’s U, V,
and W terminals.

5) One encoder cable, which is used to connect the encoder of servo motor and CN2
terminal of servo drive.

6) CN1 I/O connector: 50 pin Connector (IC800VMACONCN1), Breakout Terminal Board
and Cable Kit (IC800VMTBC005), or Flying Lead I/O Cable (IC800VMCI010 — 1
meter) or IC800VMCI030 — 3meter)

7) CN3 serial communication cable (IC800VMCS030)

For 100W — 1KW models:

8) Five-pin Terminal Block for L1, L2, R, S, T (Included with amplifier.)

9) Three-pin Terminal Block for U, V, W (Included with amplifier.)

10) Three-pin Terminal Block for P, D, C (Included with amplifier.

Note: The 2kW and 3kW amplifiers have built-in terminal blocks.

GFK-2480A Chapter 1 Introduction 1-5

1

IC800VMA 30 2

VersaMotion Amplifier
Power Rating

01 = 100 Watt 10 = 1000 Watt
02 = 200 Watt 20 = 2000 Watt
04 = 400 Watt 30 = 3000 Watt
07 = 750 Watt

Voltage

2 = 200–230 VAC, 1 or 3 phase (100-750W)
2 = 200–230 VAC, 3 phase (2kW & 3kW)

Part Number

Power Rating (Watts)

IC800VMA012

100

IC800VMA022

200

IC800VMA042

400

IC800VMA072

750

IC800VMA102

1000

IC800VMA202

2000

IC800VMA302

3000

IC800VMM 30 L N KS E25

VersaMotion Motor
Power Rating

01 = 100 Watt
02 = 200 Watt
04 = 400 Watt
07 = 750 Watt
10 = 1000 Watt
20 = 2000 Watt
30 = 3000 Watt

Feedback

E25 = 2500 PPR Encoder

Shaft Configuration

KS= Straight Shaft, Key & Oil Seal

Inertia Type

L = Low Inertia

Brake

N = No Brake
B = 24 VDC Holding Brake

Part Number

Power Rating (Watts)

IC800VMM01LNKSE25

100

IC800VMM02LNKSE25

200

IC800VMM04LNKSE25

400

IC800VMM07LNKSE25

700

IC800VMM10LNKSE25

1000

IC800VMM20LNKSE25

2000

IC800VMM30LNKSE25

3000

Amplifiers

Motors

Without brake

1-6 VersaMotion User’s Manual – October 2012 GFK-2480A

1

Part Number

Power Rating (Watts)

IC800VMM01LBKSE25

100

IC800VMM02LBKSE25

200

IC800VMM04LBKSE25

400

IC800VMM07LBKSE25

700

IC800VMM10LBKSE25

1000

IC800VMM20LBKSE25

2000

IC800VMM30LBKSE25

3000

Part Number

Description

IC800VMCExxx

Encoder Cable (100W to 750W)

IC800VMCE1xxx

Encoder Cable (1000W & larger)

Part Number

Description

IC800VMCPxxx

Motor Power Cable (100W to 750W)

IC800VMCP1xxx

Motor Power Cable (1kW)

IC800VMCP2xxx

Motor Power Cable (2kW & 3kW)

Part Number

Description

IC800VMCBxxx

Motor Power & Brake Cable (200W to 750W)

IC800VMCB1xxx

Motor Power & Brake Cable (1kW)

IC800VMCB2xxx

Motor Power & Brake Cable (2kW & 3kW)

With Brake

Accessories

Cables

Note: xxx = length in 0.1 meter increments.
Standard lengths (other lengths available):

xxx=030 3 meters
xxx=050 5 meters
xxx=100 10 meters
xxx=200 20 meters

Encoder Cables

Motor Power Cables

Motor Power & Brake Cables

Note: The 100 Watt motor does not have a brake option.

GFK-2480A Chapter 1 Introduction 1-7

1

Part Number

Description

IC800VMCS030

Serial Cable, 3 meter

Part Number

Description

IC800VMBR040

40 ohm 400 watt

IC800VMBR020

20 ohm 1000 watt

Part Number

Description

IC800VMACONCN1

Amplifier CN1 Serial Communication Connector

IC800VMACONCN2

Amplifier CN2 Encoder Connector

IC800VMACONCN3

Amplifier CN3 Serial Communications Connector

IC800VMTBC005

Breakout Terminal Board with 0.5 m Cable

IC800VMMCONE001

Motor Encoder Connector (100W-750W)

IC800VMMCONE002

Motor Encoder Connector (1000W & larger)

IC800VMMCONP002

Motor Power Connector (100-750W, With Brake)

IC800VMMCONP001

Motor Power Connector (100-750W, No Brake)

IC800VMMCONP003

Motor Power Connector (1kW-3kW)

Part Number

Description

IC800VMACONMTRP

Amplifier Motor Power Connector

IC800VMADBR001

Amplifier External Braking Resistor Connector

Serial Cable

Regeneration Resistors

Amplifier Connectors

Amplifier Terminal Blocks

1-8 VersaMotion User’s Manual – October 2012 GFK-2480A

1

1.1.4 VersaMotion Configuration Software

The VersaMotion servo configuration tool is provided with Proficy Machine Edition version 5.70, SIM 1.
To access the configuration tool, select it on the Utilities tab in the Machine Edition Navigator window.

The VersaMotion Settings dialog box appears. To work in offline mode, click OK. To configure a
communications port for the software tool, select On-Line and click OK.

GFK-2480A Chapter 1 Introduction 1-9

1

Settings

Allows you to go online with the VersaMotion drive

Scope

Opens the oscilloscope view

Auto Gain Tuning

Opens tool for calculating servo gain values

Digital IO/Jog Control

Allows you to view and change the digital IO functions in the
servo drive

Status Monitor

Allows you to monitor the servo motor status.

Model Information

Lists communications port information, drive model information,
and motor specifications.

Alarm Information

Displays information for current alarms and alarm history.

Parameter Editor

Allows you to view the values of all servo drive parameters.
Some parameters can be set while online with the servo drive.

Parameter Wizard

Allows you to read the current parameter settings, select the
control mode, edit selected parameter values, or save a set of
parameter values to a file.

User Manual

Online help for the VersaMotion software.

Parameter Manual

Provides a summary of servo drive parameters.

VersaMotion Information

Provides version information for the VersaMotion software.

VersaMotion Software provides the following tools:

1-10 VersaMotion User’s Manual – October 2012 GFK-2480A

1

Power
Rating

Servo Drives

Servo Motors

Without Brake

With Brake

100W

IC800VMA012

IC800VMM01LNKSE25

IC800VMM01LBKSE25

200W

IC800VMA022

IC800VMM02LNKSE25

IC800VMM02LBKSE25

400W

IC800VMA042

IC800VMM04LNKSE25

IC800VMM04LBKSE25

750W

IC800VMA072

IC800VMM07LNKSE25

IC800VMM07LBKSE25

1000W

IC800VMA102

IC800VMM10LNKSE25

IC800VMM10LBKSE25

2000W

IC800VMA202

IC800VMM20LNKSE25

IC800VMM20LBKSE25

3000W

IC800VMA302

IC800VMM30LNKSE25

IC800VMM30LBKSE25

1.2 Servo Drive and Servo Motor Combinations

The servo drives are designed for use in combination with specific servo motors. The table below
shows the possible combinations of VersaMotion servo drives and motors.

The servo drive and motor must be correctly matched for size (power rating). If the power of motor and
drive is not within the specifications, the drive and motor may overheat and servo alarm would be
activated. For detailed specifications of servo drives and motors, please refer to Chapter 11
“Specifications”.

GFK-2480A Chapter 1 Introduction 1-11

1

Single Modes

Code

Description

External Position Control

Pt

Position control for the servo motor is achieved via an external
pulse command.

Internal Position Control

Pr

Position control for the servo motor is achieved via by eight
commands stored in the servo controller. Digital Inputs (DI)
control execution of the position commands.

Speed Control

S

Speed control for the servo motor is provided by either Internal
Preset Speed Parameters or External analog -10 to +10VDC
command. If using the Internal Preset Speed Parameters, the
three individual speeds are selected via digital inputs.

Note: S mode is a dual mode. The Internal Preset Speeds have
priority over the analog input. At any point when an Internal
Preset Speed is selected via a digital input, it will take priority
over the incoming External analog command.

Internal Speed Control

Sz

Speed control for the servo motor is provided by Internal Preset
Speed Parameters only. The individual speed commands are
selected via digital inputs. (A maximum of three speeds can be
stored internally).

Torque Control

T

Torque control for the servo motor is provided by either Internal
Preset Torque Parameters or External analog -10 to +10VDC
command. If using the Internal Preset Torque Parameters, the
three individual torques are selected via digital inputs.

Note: T mode is a dual mode. The Internal Preset Torque has
priority over the analog input. At any point when an Internal
Preset Torque command is selected via a digital input, it will
take priority over the incoming External analog command.

Internal Torque Control

Tz

Torque control for the servo motor is provided by Internal Preset
Torque Parameters only. The individual torque commands are
selected via digital inputs. (A maximum of three torque levels
can be stored internally).

1.3 Servo Drive Control Modes

The VersaMotion servo can be programmed to provide six single and five dual modes of operation,
which are described in the following table. For information on operating in each control mode, refer to
chapter 6.

1-12 VersaMotion User’s Manual – October 2012 GFK-2480A

1

Dual Modes

Code

Description

Position (pulse train) ­Speed

Pt-S

Either Pt or S control mode can be selected via the Digital Inputs
(DI)

When switched to Speed mode the user has the option to use
Internal Preset Speed commands or External analog -10 to
+10VDC command as described in the Speed Mode details.

Position (pulse train) ­Torque

Pt-T

Either Pt or T control mode can be selected via the Digital Inputs
(DI).

When switched to Torque mode the user than has the option to
use Internal Preset Torque commands or External analog -10 to
+10VDC command as described in the Torque Mode details.

Position (internal register) ­Speed

Pr-S

Either Pr or S control mode can be selected via the Digital
Inputs (DI)

When switched to Speed mode the user has the option to use
Internal Preset Speed commands or External analog -10 to
+10VDC command as described in the Speed Mode details.

Position (internal register) ­Torque

Pr-T

Either Pr or T control mode can be selected via the Digital Inputs
(DI).

When switched to Torque mode the user than has the option to
use Internal Preset Torque commands or External analog -10 to
+10VDC command as described in the Torque Mode details.

Speed - Torque

S-T

Either S or T control mode can be selected via the Digital Inputs
(DI).

When switched to Speed mode the user than has the option to
use Internal Preset Speed commands or External analog -10 to
+10VDC command as described in the Speed Mode details.
When switched to Torque mode the user than has the option to
use Internal Preset Torque commands or External analog -10 to
+10VDC command as described in the Torque Mode details.

GFK-2480A Chapter 1 Introduction 1-13

Chapter

2

Unpacking and Installation

This chapter provides the following information:

Page

2.1 Unpacking and Inspection 2-2

2.2 Storage Conditions 2-2

2.3 Installation 2-3

2.4 Molded-Case Circuit Breaker, Fuse and Leakage Current 2-8

Note: In this manual, actual measured values are in metric units. Dimensions in SI units are for
reference only. Please use metric units for precise measurements.

GFK-2480A 2-1

2

2.1 Unpacking and Inspection

Warning

Ensure that both the servo drive and motor are correctly matched for size (power
rating). Failure to observe this precaution may cause fire, seriously damage the
drive or motor, or cause personal injury.

After receiving the AC servo drive, please check for the following:

 Ensure that the product is what you have ordered.

Verify the part number indicated on the nameplate corresponds with the part number of your order.

 Ensure that the servo motor shaft rotates freely.

Rotate the motor shaft by hand; a smooth rotation will indicate a good motor. However, a servo
motor with an electromagnetic brake cannot be rotated manually.

 Check for damage.

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

 Check for loose screws.

Ensure that all necessary screws are tight and secure.

If any items are damaged or incorrect, contact the distributor from whom you purchased the product.

2.2 Storage Conditions

The product should be kept in the shipping carton before installation. In order to retain the warranty
coverage, the servo drive should be stored properly when it is not to be used for an extended period of
time. Some storage suggestions are:

 Store in a clean and dry location free from direct sunlight.
 Store within an ambient temperature range of -20°C to +65°C (-4°F to 149°F).
 Store within a non-condensing relative humidity range of 0% to 90%.
 Do not store in a place subjected to corrosive gases and liquids.
 The product should be correctly packaged and placed on a solid surface.

2-2 VersaMotionServo Motors and Amplifiers User’s Manual – October 2012 GFK-2480A

2

2.3 Installation

2.3.1 Installation Notes

 Do not bend or strain the cables between the servo drive and the motor.
 When mounting the servo drive, tighten screws to secure the drive in place.
 If the servo motor shaft is coupled directly to a rotating device, ensure that the alignment

specifications of the servo motor, coupling, and device are followed. Failure to do so may
cause unexpected loads or premature failure of the servo motor.

 If the length of cable connected between servo drive and motor is more than 20m, the wire

gauge of the encoder and motor connection cables (connected to U, V, W terminals) should be
increased. For wire gauge recommendations, refer to chapter 3.

 Make sure to properly tighten the motor mounting bolts.

2.3.2 Installation Conditions

Warning

Do not install the product in a location that is outside the stated specification for
the drive and motor. Failure to observe this caution may result in electric shock,
fire, or personal injury.

VersaMotion drives are open type servo drives and must be installed in a NEMA enclosure, such as a
protected control panel, during operation to comply with the requirements of international safety
standards. They provide precise feedback control and high-speed calculation functions incorporating
DSP (Digital Signal Processor) technology, and are intended to drive three-phase permanent magnet
synchronous motors (PMSM) to achieve precise positioning by means of accurate current output
generated by IGBT (Insulated Gate Bipolar Transistor).

VersaMotion drives can be used in industrial applications and for installation in an end-use enclosure
that conforms to the specifications provided in this manual (Drives, cables and motors are for use in a
suitable enclosure with a minimum of a UL Type 1 rating).

GFK-2480A Chapter 2 Unpacking and Installation 2-3

2

Operating Temperature

VersaMotion Servo Drives: 0°C to 55°C (32°F to 131°F)

VersaMotion Servo Motors: 0°C to 40°C (32°F to 104°F)
For long-term reliability, the ambient temperature of the servo drive should be less than 45°C (113°F).
If the ambient temperature of servo drive is greater than 45°C (113°F), install the drive in a well-

ventilated location and do not obstruct the airflow of the cooling fan.

Caution

The servo drive and motor will generate heat. If they are installed in a control
panel, allow sufficient space around the units for heat dissipation.

Observe the following precautions when selecting a mounting location.

 Do not mount the servo drive or motor adjacent to heat-radiating elements or in direct sunlight.

 Do not mount the servo drive or motor in a location subjected to corrosive gases, liquids, or

airborne dust or metallic particles.

 Do not mount the servo drive or motor in a location where temperature and humidity will

exceed the specifications.

 Do not mount the servo drive or motor in a location where vibration and shock will exceed the

specifications.

 Do not mount the servo drive or motor in a location where it will be subjected to high levels of

electromagnetic radiation.

2-4 VersaMotionServo Motors and Amplifiers User’s Manual – October 2012 GFK-2480A

2

Correct

Incorrect

2.3.4 Installation Procedure and Minimum Clearances

Incorrect installation may result in a drive malfunction or premature failure of the drive and or motor.
Please follow the guidelines in this manual when installing the servo drive and motor.

The VersaMotion servo drive should be mounted perpendicular to the wall or in the control panel. In
order to ensure the drive is well ventilated, allow sufficient free space surrounding the servo drive and
do not obstruct the ventilation holes. Do not install the drive in a horizontal position or malfunction and
damage will occur.

Drive Mounting

The servo drives must be back-mounted vertically on a dry and solid surface such as a NEMA
enclosure. A minimum spacing of two inches must be maintained above and below the drive for
ventilation and heat dissipation. Additional space may be necessary for wiring and cable connections.
Also, the mounting surface should be able to conduct heat away from the mounting plate and not
conduct into the drive from external sources.

Motor Mounting

The servo motors should be mounted firmly to a dry and solid mounting surface to ensure maximum
heat transfer for maximum power output and to provide a good ground.

For dimensions and weight specifications of the servo drives and motors, refer to Chapter 11,
“Specifications".

GFK-2480A Chapter 2 Unpacking and Installation 2-5

2

20mm

(0.8in)

min.

20mm
(0.8in)

min.

50mm
(2.0in)

min.

50mm
(2.0in)

min.

Minimum Clearances

Install a fan to increase ventilation to avoid ambient temperatures that exceed the specification. When
installing two or more drives adjacent to each other, allow clearances as shown in the following
diagram.

Minimum Clearances

2-6 VersaMotionServo Motors and Amplifiers User’s Manual – October 2012 GFK-2480A

2

40mm

(1.16 in)

min.

40mm

(1.16 in)

min.

10mm

(0.4 in)

min.

10mm

(0.4 in)

min.

10mm

(0.4 in)

min.

100mm
(4.0 in)

min.

100mm
(4.0 in)

min.

100mm
(4.0 in)

min.

100mm
(4.0 in)

min.

Air flow

Air flow

Fan

Fan

Side by Side Installation

GFK-2480A Chapter 2 Unpacking and Installation 2-7

2

Drive Part No.

Output Short

Circuit

Breaker

Fuse

3-Phase

Operation

Leakage Current

1-Phase

Operation

Leakage Current

IC800VMA012

8.4A (peak)

5A

5A

0.06mA

0.16mA

IC800VMA022

8.4A (peak)

5A

5A

0.06mA

0.16mA

IC800VMA042

25A (peak)

10A

20A

0.08mA

0.2mA

IC800VMA072

42A (peak)

10A

20A

0.08mA

0.2mA

IC800VMA102

60A (peak)

15A

25A

0.08mA

0.2mA

IC800VMA202

73A (peak)

30A

60A

0.12mA

-

IC800VMA302

107A (peak)

30A

80A

0.13mA

-

2.4 Molded-Case Circuit Breaker, Fuse and Leakage Current

2-8 VersaMotionServo Motors and Amplifiers User’s Manual – October 2012 GFK-2480A

Chapter

3

Equipment Connections and Wiring

This chapter provides information on wiring VersaMotion products, descriptions of I/O signals, and
sample wiring diagrams.

Page

3.1 Equipment Connections 3-2

3.2 Basic Wiring 3-9

3.3 Input / Output Interface Connector CN1 3-11

3.4 Encoder Connector CN2 3-33

3.5 Serial Communication Connector CN3 3-34

3.6 Standard Connection Example 3-36

Warning

Install the encoder cables in a separate conduit or wire tray from the motor
power cables to avoid signal noise. Separate the conduits or trays by 30cm
(11.8inches).

Use multi-stranded twisted-pair wires or multi-core shielded-pair wires for
encoder feedback cables. The maximum length of command input cable is 3m
(9.84ft). The maximum length of encoder feedback cables is20m (66ft).

A charge with hazardous voltages may still remain in the drive after power has
been removed. Wait at least 10 minutes after power has been removed before
performing any wiring and/or inspection.

Caution

Connect wiring after the terminal blocks are all removed from the drive.
Insert only one wire into a terminal on the terminal block.
When inserting wires, ensure that the conductors are not shorted to adjacent

terminals or wires.
Double check the wiring before applying power to the drive. If the wiring is in

error, perform the wiring again with proper tools.
Never use force to remove the terminals or wires. Otherwise, , as it may result in

malfunction or damage.

GFK-2480A 3-1

3

3.1 Equipment Connections

3.1.1 Connecting to Peripheral Devices

The following figure illustrates how to connect the peripheral devices.

When using an external regenerative resistor, connect the resistor to terminals P and C on the Servo
Drive, and ensure an open circuit between P and D. When using an internal regenerative resistor,
ensure the connection between P and D is closed, and P and C is open.

3-2 VersaMotionServo Motors and Amplifiers User’s Manual – October 2012 GFK-2480A

3

Identification

Terminal

Description

Notes

L1, L2

Control circuit
terminal

The servo Control Circuit requires an independent 220V
single-phase VAC supply.

R, S, T

Main circuit
terminal

The Main Circuit Terminal is used to supply the servo with line
power. If a single-phase supply is used, connect the R and S
terminals to power. If three-phase power is used, connect all three
terminals, R, S, and T. To provide Control Circuit power, add two
jumpers: from R to L1 and S and L2.

U, V, W, FG

Servo motor
output

Used to connect servo motor.

Terminal Symbols:

U
V
W
FG

P, D, C

Regenerative
resistor terminal

Internal
resistor

Ensure the circuit is closed between P and D,
and the circuit is open between P and C.

External
resistor

Connect the regenerative resistor to P and C,
and ensure an open circuit between P and D.

two places

Ground terminal

Used to connect grounding wire of power supply and servo motor.

CN1

I/O connector

Used to connect external controllers. For details, refer to “3.3
Input/Output Interface Connector CN1” on page 3-11.

CN2

Encoder
connector

Used to connect encoder to servo motor and drive I/O. For details,
refer to “3.4 Encoder Connector CN2” on page 3-33.

Terminal Symbols:

A
/A
B
/B
Z
/Z
+5V
GND

CN3

Communication
connector

Used to connect PC. For details, refer to “Serial Communication
Connector CN3” on page 3-34

3.1.2 Servo Drive Connectors and Terminals

Note: U, V, W, CN1, CN2, CN3 terminals provide short circuit protection.

GFK-2480A Chapter 3 Equipment Connections and Wiring 3-3

3

3.1.3 Wiring Notes

Warning

Connect the ground terminals to a class-3 ground (Ground resistance should not
exceed 100 Ω). Improper grounding may result in electric shock or fire.

Do not connect a power supply to the U, V and W terminals. Failure to observe
this precaution may result in serious injury, damage to the drive or fire.

Ensure that all screws, connectors and wire terminations are secure on the
power supply, servo drive and motor. Failure to observe this caution may result
in damage, fire or personal injury.

Please observe the following wiring notes while performing wiring and touching any electrical
connections on the servo drive or servo motor.

1. Verify the power supply and wiring of the power terminals (R, S, T, U, V, & W) is correct.

2. Use shielded twisted-pair cables for wiring to prevent voltage coupling and eliminate electrical

noise and interference.

3. Because a residual hazardous voltage may remain inside the drive, do not immediately touch any

of the power terminals (R, S, T, U, V, & W) and/or the cables connected to them after the power

has been turned off and the Charge LED is lit. (Refer to the safety precautions on page 3-1.)

4. The cables connected to R, S, T and U, V, W terminals should be placed in separate conduits from

the encoder or other signal cables. Separate them by at least 12 inches (30cm).

5. The encoder cable should use a twisted-shield signal wire with grounding conductor. The wire

length should be 65.62ft. (20m) or less. For lengths greater than 65.62ft. (20m), the wire gauge

should be doubled in order to lessen any signal attenuation.

6. The motor power cable should use 600V PTFE wire and the wire length should be less than 98.4ft.

(30m). If the wiring distance is longer than 98.4ft. (30m), choose adequate wire size according to

the voltage.

7. The shield of shielded twisted-pair cables should be connected to the ground (terminal marked )

of the servo drive.

8. For connector and cable specifications, refer to “3.1.6 Encoder Connector Specifications” on page

3-7.

3-4 VersaMotionServo Motors and Amplifiers User’s Manual – October 2012 GFK-2480A

3

3.1.4 Wiring Methods

For servo drives from 100W to 1.0KW the input power can be either single or three-phase. For servo
drives 2kW and above only three-phase connections are available.

In the following wiring diagram figures:

Power ON: contact “a” (normally open)
Power OFF or Alarm Processing: contact “b” (normally closed)

1MC/x: coil of electromagnetic contactor
1MC/a: self-holding power
1MC: contact of main circuit power

Single-Phase Power Supply Connection

Three-Phase Power Supply Connection

GFK-2480A Chapter 3 Equipment Connections and Wiring 3-5

3

Servo Drive

Power Rating

Motor Part Number

Description

U, V, W / Electromagnetic Brake Connector

Terminal

Id.

No Brake

100W

IC800VMM01LNKSE25

A

200W

IC800VMM02LNKSE25

400W

IC800VMM04LNKSE25

750W

IC800VMM07LNKSE25

Brake

200W

IC800VMM02LBKSE25

B

400W

IC800VMM04LBKSE25

750W

IC800VMM07LBKSE25

With or Without Brake

1kW

IC800VMM10LNKSE25
IC800VMM10LBKSE25

3106A-20-18S

C

2kW

IC800VMM20LNKSE25
IC800VMM20LBKSE25

3kW

IC800VMM30LNKSE25
IC800VMM30LBKSE25

3106A-24-11S

D

Terminal

Identification

U

V

W

CASE GROUND

BRAKE1

BRAKE2

A

1 2 3 4 -

-

B

1 2 4 5 3

6

C F I B E

G H D

D E F G A

B

3.1.5 Motor Power Cable Connector Specifications

Note: The brake coil has no polarity. The terminal identification names are BRAKE1 and BRAKE2.
The power supply for the brake is 24 VDC. Never use it for VDD, the +24V source voltage.

3-6 VersaMotionServo Motors and Amplifiers User’s Manual – October 2012 GFK-2480A

3

Servo Drive Capacity

Motor Model Name

Encoder Connector

Terminal

Identific

ation

100W

IC800VMM01LNKSE25

HOUSING: AMP (1-172161-9)

A

200W
200WIC800VMM02LNKSE

25 IC800VMM02LBKSE25

200W

IC800VMM02LNKSE25

IC800VMM02LBKSE25

400W
400WIC800VMM04LNKSE

25 IC800VMM04LBKSE25

400W

IC800VMM04LNKSE25

IC800VMM04LBKSE25

750W
750WIC800VMM07LNKSE

25 IC800VMM07LBKSE25

750W

IC800VMM07LNKSE25

IC800VMM07LBKSE25

1kW

IC800VMM10LNKSE25

IC800VMM10LBKSE25

20-29 17-#16

B

2kW
2kWIC800VMM20LNKSE2

5 IC800VMM20LBKSE25

2kW

IC800VMM20LNKSE25

IC800VMM20LBKSE25

3kW
3kWIC800VMM30LNKSE2

5 IC800VMM30LBKSE25

3kW

IC800VMM30LNKSE25

IC800VMM30LBKSE25

Terminal

Identification

AMP (1-

172161-9)

A

/A

B

/B

Z

/Z

+5V

GND

BRAID

SHELD

A

1 4 2 5 3 6 7 8 9

Terminal

Identification

3106A-20-

29S

A

/A

B

/B

Z

/Z

+5V

GND

BRAID

SHELD

B

A B C D F G S R L

3.1.6 Encoder Connector Specifications

GFK-2480A Chapter 3 Equipment Connections and Wiring 3-7

3

Servo Drive

Power Cable - Wire Gauge AWG (mm2)

L1, L2

R, S, T

U, V, W

P, C

IC800VMA012

AWG16 (1.31)

AWG14 (2)

AWG14 (2)

AWG14 (2)

IC800VMA022

AWG16 (1.31)

AWG14 (2)

AWG14 (2)

AWG14 (2)

IC800VMA042

AWG16 (1.31)

AWG14 (2)

AWG14 (2)

AWG14 (2)

IC800VMA072

AWG16 (1.31)

AWG14 (2)

AWG14 (2)

AWG14 (2)

IC800VMA102

AWG16 (1.31)

AWG14 (2)

AWG14 (2)

AWG14 (2)

IC800VMA202

AWG16 (1.31)

AWG14 (2)

AWG14 (2)

AWG14 (2)

IC800VMA302

AWG16 (1.31)

AWG12 (3.31)

AWG12 (3.31)

AWG14 (2)

Servo Drive

Encoder Cable - Wire Gauge AWG (mm2)

Wire Size

Core Number

UL Rating

IC800VMA012

AWG26 (0.13)

10 core (4 pair)

UL2464

IC800VMA022

AWG26 (0.13)

10 core (4 pair)

UL2464

IC800VMA042

AWG26 (0.13)

10 core (4 pair)

UL2464

IC800VMA072

AWG26 (0.13)

10 core (4 pair)

UL2464

IC800VMA102

AWG26 (0.13)

10 core (4 pair)

UL2464

IC800VMA202

AWG26 (0.13)

10 core (4 pair)

UL2464

IC800VMA302

AWG26 (0.13)

10 core (4 pair)

UL2464

3.1.7 Cable Specifications Power Cable

Power Cable

The following table lists recommended wire gauges for power cables of 30m (98.4ft.) or less.

Encoder Cable

The following table lists recommended wire gauges for encoder cables of 20m (65.62ft) or less. For
lengths greater than 20m (65.62ft.), the wire gauge should be doubled to avoid signal attenuation.

Notes:

1) Please use shielded twisted-pair cables for wiring to prevent voltage coupling and eliminate
electrical noise and interference.

2) The shield of shielded twisted-pair cables should be connected to the ground terminal (marked

) of the servo drive.

3-8 VersaMotionServo Motors and Amplifiers User’s Manual – October 2012 GFK-2480A

3

3.2 Basic Wiring

3.2.1 Basic Wiring Schematic of 100W — 1.0kW Models

GFK-2480A Chapter 3 Equipment Connections and Wiring 3-9

3

3.2.2 Basic Wiring Schematic of 2kW — 3kW Models

3-10 VersaMotionServo Motors and Amplifiers User’s Manual – October 2012 GFK-2480A

3

3.3 Input/Output Interface Connector CN1

The CN1 Interface Connector provides access to three signal groups:

 General interface for the analog speed and torque command, encoder reference signal

from the motor, pulse / direction inputs, and reference voltages.

 Eight programmable Digital Inputs (DI), can be set using parameters P2-10 — P2-17 
 Five programmable Digital Outputs (DO), can be set using parameters P2-18 — P2-22

A detailed explanation of each group is provided in “3.3.3 CN1 Signal Description” on page 3-13

3.3.1 CN1 Terminal Identification

GFK-2480A Chapter 3 Equipment Connections and Wiring 3-11

3

2

DO3-

Digital
output

4

DO2-

Digital
output

6

DO1-

Digital
output

8

DI4-

Digital
input

10

DI2-

Digital
input

12

GND

Analog
input
signal
ground

14

NC

NC

16

MON1

Analog
monitor
output 1

18

T_REF

Analog
torque
Input

20

VCC

+12V
power
output (for
analog
command)

22

/OA

Encoder
/A pulse
output

24

/OZ

Encoder
/Z pulse
output

1

DO4+

Digital
output

3

DO3+

Digital
output

5

DO2+

Digital
output

7

DO1+

Digital
output

9

DI1-

Digital
input

11

COM+

Power
input
(12 —
24V)

13

GND

Analog
input
signal
ground

15

MON2

Analog
monitor
output 2

17

VDD

+24V
power
output (for
external
I/O)

19

GND

Analog
input
signal
ground

21

OA

Encoder
A pulse
output

23

/OB

Encoder
/B pulse
output

25

OB

Encoder
B pulse
output

27

DO5-

Digital
output

29

NC

NC

31

DI7-

Digital
input

33

DI5-

Digital
input

35

PULL
HI

Pulse
applied
power

37

SIGN

Position
sign (-)

39

NC

NC

41

PULSE

Pulse
input (-)

43

/PULSE

Pulse
input (+)

45

COM-

VDD(24V)
power
ground

47

COM-

VDD(24V)
power
ground

49

COM-

VDD(24V)
power
ground

26

DO4-

Digital
output

28

DO5+

Digital
output

30

DI8-

Digital
input

32

DI6-

Digital
input

34

DI3-

Digital
input

36

/SIGN

Position
sign (+)

38

NC

NC

40

NC

NC

42

V_REF

Analog
speed
input (+)

44

GND

Analog
input
signal
ground

46

NC

NC

48

OCZ

Encoder
Z pulse
Open-coll
ector
output

50

OZ

Encoder
Z pulse
Line-drive
r output

3.3.2 CN1 Terminal Signal Identification

CAUTION

The terminals marked NC (No Connection) must be left unconnected. The NC
terminals are used within the servo drive. Any outside connection to the NC
terminals will result in damage to the drive.

3-12 VersaMotionServo Motors and Amplifiers User’s Manual – October 2012 GFK-2480A

3

Signal

Pin

No.

Details

Wiring

Diagram

Analog

Signal

INPUT

V_REF

42

Motor speed command: -10V to +10V. Corresponds to
the maximum speed programmed. P1-55 Maximum
Speed Limit (Factory default 3000 RPM).

C1

T_REF

18

Motor torque command: -10V to +10V. Corresponds to ­100% to +100% rated torque command.

C1

Analog

Monitor

OUTPUT

MON1

16

The MON1 and MON2 can be assigned drive and motor
parameters that can be monitored via an analogue
voltage.

C2

MON2

15

Please refer to parameter P0-03 for monitoring
commands and P1-04 / P1-05 for scaling factors.

Output voltage is reference to the power ground.

Position

Pulse

INPUT

PULSE (A)

41

The drive can accept two types of pulse inputs: Open
Collector and Line Driver.

Three different pulse commands can be selected via
parameter P1-00: Quadrature, CW + CCW pulse, and
Pulse/Direction.

C3/C4

/PULSE (/A)

43

SIGN (B)

37

/SIGN (/B)

36

PULL HI

35

If an Open Collector type of pulse is used, this terminal
must be pulled high to pin 17.

C3

Position

Pulse

OUTPUT

OA

21

The motor encoder signals are available through these
terminals. The encoder output pulse count can be set
using parameter P1-46.

C11/C12

/OA

22

OB

25

/OB

23

OZ

50

/OZ

24

Power

VDD

17

VDD is the +24V source voltage provided by the drive.
Maximum permissible current 500mA.

-

COM+

11

COM+ is the common voltage rail of the Digital Input and
Digital Output signals. Connect VDD to COM+ for source
mode. For external applied power sink mode (+12V to
+24V), the positive terminal should be connected to
COM+ and the negative to COM-.

COM-

45

47

49

3.3.3 CN1 Signal Description

The tables in this section detail the three groups of signals on the CN1 connector: General Signals,
Digital Output (DO) signals and Digital Input (DI) signals. The General Signals are set by the factory
and cannot be changed, reprogrammed or adjusted. The Digital Input and Digital Output signals can be
programmed by the users.

General Signals (non-configurable)

For wiring diagrams, see “3.3.5 Wiring Diagrams of I/O Signals (CN1)” on page 3-29.

GFK-2480A Chapter 3 Equipment Connections and Wiring 3-13

3

Signal

Pin

No.

Details

Wiring

Diagram

Power

VCC

20

VCC is a +12V power rail provided by the drive. It can be
used for the input on an analog speed or torque
command. Maximum permissible current 100mA.

-

GND

12,13,

The polarity of VCC is with respect to Ground (GND).

19,44

Other

NC

14,29,
38,39,
40,46,

See previous note for NC terminals CN1 connector on
page 3-12.

-

48

DO

Signal

Name

DO

Parameter

Value

Assigned

Control

Mode

CN1 Pin

No.

(Default)

Details

Associated

Parameters

Wiring

Diagram

+

-

SRDY

01

ALL 7 6

Servo Ready (SRDY) is
activated when the servo
drive is ready to run. All
fault and alarm
conditions, if present,
have been cleared.

P2-51

C5/C6/C7/C8
SON

02
Not
assigned

- - Servo On (SON) is
activated when control
power is applied to the
servo drive.

C5/C6/C7/C8

Caution

Any outside connection to the NC terminals will result in damage to the drive.

Configurable Signals

The Digital Inputs (DI) and Digital Outputs (DO) have factory default settings that correspond to the
servo drive control modes, which are listed in chapter 1. However, both the DI and DO signals can be
configured independently to meet the requirements of the application.

The factory default settings of the DI and DO signals are listed in on pages 3-22 and 3-25.
The DI and DO signals and their corresponding pin numbers are factory set and cannot be changed.

However, the assigned signals and control modes are user configurable. For example, the factory
default function of DO5 (pins 28/27) can be assigned to DO1 (pins 7/6) and vice versa.

Digital Output (DO) Signals

For wiring diagrams, see “3.3.5 Wiring Diagrams of I/O Signals (CN1)” on page 3-29.
Functions of the digital outputs DO1 through DO5 can be selected using parameters P2-18 through

P2-22. For information on setting these parameters, refer to “Output Function Definitions” in chapter 7.

3-14 VersaMotionServo Motors and Amplifiers User’s Manual – October 2012 GFK-2480A

3

DO

Signal

Name

DO

Parameter

Value

Assigned

Control

Mode

CN1 Pin

No.

(Default)

Details

Associated

Parameters

Wiring

Diagram

+

-

ZSPD

03

ALL 5 4

Zero Speed (ZSPD) is
activated when the drive
senses the motor speed
is equal to or below the
Zero Speed Range as
defined in parameter P1-

38. For example, at the
factory default setting,
ZSPD will be activated
when the drive detects
the motor rotating at or
below 10 rpm. ZSPD will
remain active until the
motor speed increases
above 10 RPM.

P1-38

C5/C6/C7/C8

TSPD

04

ALL 3 2

Target Speed (TSPD) is
activated once the drive
has detected the motor
has reached the Target
Speed setting as defined
in parameter P1-39.
TSPD will remain active
until the motor speed
drops below the Target
Speed.

P1-39.

C5/C6/C7/C8

TPOS

05

Pt, Pr, Pt­S, Pt-T,
Pr-S, Pr-T

1

26

When the drive is in Pt
mode, Target Position
(TPOS) will be activated
when the position error is
equal to or less than the
value of parameter P1-

54. When the drive is in
Pr mode, TPOS will be
activated when the drive
detects that the position
of the motor is in the
range between -P1-54
and +P1-54 of the target
position. For example, at
the factory default
setting, TPOS will
activate when the motor
is within -99 pulses of the
target position, then
deactivate after it
reaches +99 pulses of
the desired position.

P1-54

C5/C6/C7/C8

GFK-2480A Chapter 3 Equipment Connections and Wiring 3-15

3

DO

Signal

Name

DO

Parameter

Value

Assigned

Control

Mode

CN1 Pin

No.

(Default)

Details

Associated

Parameters

Wiring

Diagram

+

-

TQL

06

Not
assigned

- - Torque Limit (TQL) is
activated when the drive
has detected that the
motor has reached the
torque limits set by either
the parameters P1-12 to
P1-14 or by an external
analog voltage.

P1-12 P1-

13 P1-14

C5/C6/C7/C8

ALRM

07

ALL

28

27

Alarm (ALRM) is
activated when the drive
has detected a fault
condition. However,
when a Reverse limit
error, Forward limit error,
Emergency stop, Serial
communication error, or
Undervoltage fault
occurs, Warning (WARN)
is activated first.

C5/C6/C7/C8

BRKR

08

ALL

1

26

BRKR is used to control
operation of the motor
brake. When BRKR is
ON, the brake is
activated, allowing the
motor to move.

C5/C6/C7/C8

HOME

09

Pt, Pr

3

2

HOME is activated when
the servo drive has
detected that the HOME
sensor (Digital Input 24)
is detected and the home
conditions set in
parameters P1-47, P1-50
and P1-51 are satisfied.

P1-47 P1-

50 P1-51

C5/C6/C7/C8
OLW

10

ALL

- - Output Overload (OLW)
is activated when the
servo drive detects that
the motor has reached
the output overload level
set by the parameter
P1-56.

P1-56

C5/C6/C7/C8

3-16 VersaMotionServo Motors and Amplifiers User’s Manual – October 2012 GFK-2480A

3

DO

Signal

Name

DO

Parameter

Value

Assigned

Control

Mode

CN1 Pin

No.

(Default)

Details

Associated

Parameters

Wiring

Diagram

+

-

WARN

11

ALL

- - Warning output (WARN)
is activated when the
drive detects a Reverse
limit error, Forward limit
error, Emergency stop,
Serial communication
error, or an Undervoltage
fault condition.

C5/C6/C7/C8

DI Signal

DI

Parameter

Value

Control

Mode

CN1 Pin

No.

(Default)

Details

Wiring

Diagram

SON

01

ALL

9

Servo On. Switch
servo to "Servo
Ready". Check
parameter P2-51.

C9/C10

ARST

02

ALL

33

A number of Faults
(Alarms) can be
cleared by activating
ARST. For details,

see “Clearing Faults”

in chapter 10. The
cause of the fault
should be
investigated if the
Fault does not clear
or the fault
description warrants
closer inspection of
the drive system.

C9/C10

GAINUP

03

ALL

-

Gain switching

C9/C10

Notes:

Pins 3 and 2 are assigned to either TSPD or HOME, depending upon control mode selected.
Pins 1 and 26 assigned to either BRKR or TPOS, depending on the control mode selected.

Digital Input (DI) Signals

For wiring diagrams, see “3.3.5 Wiring Diagrams of I/O Signals (CN1)” on page 3-29.
Functions of the digital inputs DI1 through DI8 can be selected using parameters P2-10 through P2-18.

For information on setting these parameters, refer to “Input Function Definitions” in chapter 7.

GFK-2480A Chapter 3 Equipment Connections and Wiring 3-17

3

DI Signal

DI

Parameter

Value

Control

Mode

CN1 Pin

No.

(Default)

Details

Wiring

Diagram

CCLR

04

Pt

10

When CCLR is
activated the pulse
number is cleared.
The Pulse Clear
Mode is determined
by parameter P2-50.

C9/C10

ZCLAMP

05

ALL

-

When this signal is
On and the motor
speed value is lower
than the value of
P1-38, the motor is
locked in the instant
position.

C9/C10

CMDINV

06

Pr, T, S

-

When this signal is
On, the motor is in
reverse rotation.

C9/C10

HOLD

07

Not

assigned

Internal position
control command
pause

C9/C10

CTRG

08

Pr, Pr-S,

Pr-T

10

When the drive is in
Pr mode and CTRG
is activated, the drive
will command the
motor to move to the
stored position that
corresponds to the
POS 0, POS 1 and
POS 2 settings.
Activation is
triggered on the
rising edge of the
pulse.

C9/C10

TRQLM

09

S, Sz

10

ON indicates the
torque limit
command is valid.

C9/C10

SPDLM

10

T, Tz

10

ON indicates the
speed limit command
is valid.

C9/C10

3-18 VersaMotionServo Motors and Amplifiers User’s Manual – October 2012 GFK-2480A

3

DI Signal

DI

Parameter

Value

Control

Mode

CN1 Pin

No.

(Default)

Details

Wiring

Diagram

POS0

11

Pr

34

When the Pr Control
Mode is selected, the
eight stored positions
are selected via a
combination of the
POS 0, POS 1, and
POS 2 commands.
For details, see

“Source of Position

Command (Pr Mode
Only)“ on page 3-21.

C9/C10

POS1 POS112Pr-S, Pr-

T

POS1

12

Pr-S, Pr-

T

8

POS2 POS213--

POS2

13 - -

SPD0

14

S, Sz,

34

Select the source of
speed command.

C9/C10

SPD1

15

Pt-S, Pr­S, S-T

8

For details, see

“Source of Speed

Command“ on page

3-22.

C9/C10

TCM0

16

Pt, T, Tz,
Pt-T, Pr­T, S-T

34

Select the source of
torque command.
For details, see

“Source of Torque
Command“ on page

3-22.

C9/C10

TCM1

17

Pt, T, Tz,
Pt-T, Pr­T, S-T

31

Select the source of
torque command.
For details, see

“Source of Torque

Command“ on page

3-20.

C9/C10

S-P

18

Pt-S, Pr­S

31

Speed / Position
mode switching OFF:
Speed, ON: Position

C9/C10

S-T

19

S-T

31

Speed / Torque
mode switching OFF:
Speed, ON: Torque

C9/C10

T-P

20

Pt-T, Pr­T

31

Torque / Position
mode switching OFF:
Torque, ON: Position

C9/C10

TRLM

26

Not
assigned

-

Forward operation
torque limit (Torque
limit function is valid
only when P1-02 is
enabled)

C9/C10

SHOM

27

Not
assigned

-

When SHOM is
activated, the drive
will command the
motor to move to
“Home”.

C9/C10

GFK-2480A Chapter 3 Equipment Connections and Wiring 3-19

3

DI Signal

DI

Parameter

Value

Control

Mode

CN1 Pin

No.

(Default)

Details

Wiring

Diagram

INDEX0

28

Not
assigned

-

Feed step selection
input 0 (bit 0)

C9/C10

INDEX1

29

Not
assigned

-

Feed step selection
input 1 (bit 1)

C9/C10

INDEX2

30

Not
assigned

-

Feed step selection
input 2 (bit 2)

C9/C10

INDEX3

31

Not
assigned

-

Feed step selection
input 3 (bit 3)

C9/C10

INDEX4

32

Not
assigned

-

Feed step selection
input 4 (bit 4)

C9/C10

MD0

33

Not
assigned

-

Feed step mode
input 0 (bit 0)

C9/C10

MD1

34

Not
assigned

-

Feed step mode
input 1 (bit 1)

C9/C10

MDP0

35

Not
assigned

-

Manually continuous
operation

C9/C10

MDP1

36

Not
assigned

-

Manually single step
operation

C9/C10

JOGU

37

Not
assigned

-

Forward JOG input.
When JOGU is
activated, the motor
will JOG in forward
direction. (See
parameter P4-05, in
chapter 7.)

C9/C10

JOGD

38

Not
assigned

-

Reverse JOG input.
When JOGD is
activated, the motor
will JOG in reverse
direction. (See
parameter P4-05 in
chapter 7.)

C9/C10

STEPU

39

Not
assigned

-

Step up input. When
STEPU is activated,
the motor will run to
next position.

C9/C10

STEPD

40

Not
assigned

-

Step down input.
When STEPD is
activated, the motor
will run to previous
position.

C9/C10

STEPB

41

Not
assigned

-

Step back input.
When STEPB is
activated, the motor
will return to first
position.

C9/C10

3-20 VersaMotionServo Motors and Amplifiers User’s Manual – October 2012 GFK-2480A

3

DI Signal

DI

Parameter

Value

Control

Mode

CN1 Pin

No.

(Default)

Details

Wiring

Diagram

AUTOR

42

Not
assigned

-

Auto run input. When
AUTOR is activated,
the motor will run
automatically
according to internal
position command.
For time interval
setting, please see
the descriptions of
parameters P2-52 to
P259 in chapter 7.

C9/C10

GNUM0

43

Not
assigned

-

Electronic gear ratio
(Numerator)
selection 0 [See
descriptions of
parameters P2-60 to
P2-62 in chapter 7.]

C9/C10

GNUM1

44

Not
assigned

-

Electronic gear ratio
(Numerator)
selection 1 [See
descriptions of P2-60
to P2-62 in chapter

7.]

C9/C10

INHP

45

Not
assigned

-

Pulse inhibit input.
When the drive is in
position mode, if
INHP is activated,
the external pulse
input command is
not valid.

C9/C10

POS2

POS1

POS0

Parameter

OFF

OFF

OFF

P1-15, P1-16

OFF

OFF

ON

P1-17, P1-18

OFF

ON

OFF

P1-19, P1-20

OFF

ON

ON

P1-21, P1-22

ON

OFF

OFF

P1-23, P1-24

ON

OFF

ON

P1-25, P1-26

ON

ON

OFF

P1-27, P1-28

ON

ON

ON

P1-29, P1-30

Source of Position Command (Pr Mode Only)

GFK-2480A Chapter 3 Equipment Connections and Wiring 3-21

3

SPD1

SPD0

Parameter

OFF

OFF

S mode: analog input Sz
mode: 0

OFF

ON

P1-09

ON

OFF

P1-10

ON

ON

P1-11

TCM1

TCM0

Parameter

OFF

OFF

T mode: analog input Tz
mode: 0

OFF

ON

P1-12

ON

OFF

P1-13

ON

ON

P1-14

Signal

DI

Parameter

Value

Function

Pt

Pr

S

T

Sz

Tz

Pt-

S

Pt-

T

Pr-

S

Pr-

T

ST

SON

01

Servo On

DI1

DI1

DI1

DI1

DI1

DI1

DI1

DI1

DI1

DI1

DI1

ARST

02

Reset

DI5

DI5

DI5

DI5

DI5

DI5

GAINUP

03

Gain switching in
speed and position
mode

CCLR

04

Pulse clear (See P2­50 in chapter 7.)

DI2

DI2

DI2

ZCLAMP

05

Low speed CLAMP

CMDINV

06

Command input
reverse control

HOLD

07

Internal position
control command
pause

CTRG

08

Command triggered
(available in P mode
only)

DI2

DI2

DI2

TRQLM

09

Torque limit enabled

DI2 DI2

SPDLM

10

Speed limit enabled

DI2 DI2

POS0

11

Position command
selection (1 — 8)

DI3

DI3

DI3

POS1

12

Position command
selection (1 — 8)

DI4

DI4

DI4

Source of Speed Command

Source of Torque Command

The default DI and DO signals used for different control modes are listed in the tables on pages 3-22
and 3-25.

Default Digital Input (DI) Signals for Each Control Mode

3-22 VersaMotionServo Motors and Amplifiers User’s Manual – October 2012 GFK-2480A

3

Signal

DI

Parameter

Value

Function

Pt

Pr

S

T

Sz

Tz

Pt-

S

Pt-

T

Pr-

S

Pr-

T

ST

POS2

13

Position command
selection (1 — 8)

SPD0

14

Speed command
selection (1 — 4)

DI3 DI3 DI3 DI5 DI3

SPD1

15

Speed command
selection (1 — 4)

DI4 DI4 DI4 DI6 DI4

TCM0

16

Torque command
selection (1 — 4)

DI3

DI3 DI3 DI3 DI5

DI5

TCM1

17

Torque command
selection (1 — 4)

DI4

DI4 DI4 DI4 DI6

DI6

S-P

18

Position / Speed
mode switching (OFF:
Speed,
ON: Position)

DI7 DI7

S-T

19

Speed / Torque mode
switching (OFF:
Speed, ON: Torque)

DI7

T-P

20

Torque / Position
mode switching (OFF:
Torque, ON: Position)

DI7 DI7

EMGS

21

Emergency stop
(Normally Closed)

DI8

DI8

DI8

DI8

DI8

DI8

DI8

DI8

DI8

DI8

DI8

CWL

22

Reverse inhibit limit
(Normally Closed)

DI6

DI6

DI6

DI6

DI6

DI6

CCWL

23

Forward inhibit limit
(Normally Closed)

DI7

DI7

DI7

DI7

DI7

DI7

ORGP

24

Reference “Home”

sensor

TLLM

25

Reverse operation
torque limit (torque
limit function is valid
only when P1-02 is
enabled)

TRLM

26

Forward operation
torque limit (torque
limit function is valid
only when P1-02 is
enabled)

SHOM

27

Move to “Home”

INDEX0

28

Feed step selection
input 0 (bit 0)

INDEX1

29

Feed step selection
input 1 (bit 1)

INDEX2

30

Feed step selection
input 2 (bit 2)

INDEX3

31

Feed step selection
input 3 (bit 3)

INDEX4

32

Feed step selection
input 4 (bit 4)

GFK-2480A Chapter 3 Equipment Connections and Wiring 3-23

3

Signal

DI

Parameter

Value

Function

Pt

Pr

S

T

Sz

Tz

Pt-

S

Pt-

T

Pr-

S

Pr-

T

ST

MD0

33

Feed step mode input
0

MD1

34

Feed step mode input
1

MDP0

35

Manually continuous
operation

MDP1

36

Manually single step
operation

JOGU

37

Forward JOG input

JOGD

38

Reverse JOG input

STEPU

39

Step up input
(available in Pr mode
only)

STEPD

40

Step down input
(available in Pr mode
only)

STEPB

41

Step back input.
(available in internal
auto running mode
only)

AUTOR

42

Auto run input

GNUM0

43

Electronic gear ratio
(Numerator) selection
0 [See P2-60 — P2­62 in chapter 7.]

GNUM1

44

Electronic gear ratio
(Numerator) selection
1 [See P2-60 — P2­62 in chapter 7.]

INHP

45

Pulse inhibit input

Note: For pin numbers of DI1 to DI8 signals, refer to “3.3.2 CN1 Terminal Signal Identification” on

3-24 VersaMotionServo Motors and Amplifiers User’s Manual – October 2012 GFK-2480A

page 3-12.

3

Signal

DO

Parameter

Value

Function

Pt

Pr

S

T

Sz

Tz

Pt-S

Pt-T

Pr-S

Pr-T

S-T

SRDY

01

Servo ready

DO1

DO1

DO1

DO1

DO1

DO1

DO1

DO1

DO1

DO1

DO1

SON

02

Servo On

ZSPD

03

Zero speed

DO2

DO2

DO2

DO2

DO2

DO2

DO2

DO2

DO2

DO2

DO2

TSPD

04

Speed reached

DO3

DO3

DO3

DO3

DO3

DO3

DO3

DO3

DO3

TPOS

05

Positioning
completed

DO4

DO4

DO4

DO4

DO4

DO4

DO4

TQL

06

Reached torque
limits

ALRM

07

Servo alarm
output (Servo
fault)

DO5

DO5

DO5

DO5

DO5

DO5

DO5

DO5

DO5

DO5

DO5

BRKR

08

Electromagnetic
brake

DO4

DO4

DO4

DO4

HOME

09

Home
completed

DO3

DO3

OLW

10

Output overload
warning

WARN

11

Servo warning
output

Default Digital Output (DO) Signals for Each Control Mode

Note: For Pin numbers of DO1 to DO5 signals, refer to “3.3.2 CN1 Terminal Signal Identification” on

page 3-12.

GFK-2480A Chapter 3 Equipment Connections and Wiring 3-25

3

Signal Name

Pin No.

Parameter

Signal Name

Pin No.

Parameter

DI

DI1 9 P2-10

DO

DO1+

7

P2-18
DI2

10

P2-11

DO1

6

DI3

34

P2-12

DO2+

5

P2-19
DI4 8 P2-13

DO2

4

DI5

33

P2-14

DO3+

3

P2-20
DI6

32

P2-15

DO3

2

DI7

31

P2-16

DO4+

1

P2-21
DI8

30

P2-17

DO4

26

DO5+

28

P2-22

DO5

27

DI

Parameter

Value

Signal

Description

00

Disable

Input function disabled

01

SON

Servo On

02

ARST

Reset

03

GAINUP

Gain switching in speed and position mode

04

CCLR

Pulse clear (see P2-50 in chapter 7)

05

ZCLAMP

Low speed CLAMP

06

CMDINV

Command input reverse control

07

HOLD

Internal position control command pause

08

CTRG

Command triggered (available in Pr mode only)

09

TRQLM

Torque limit enabled

10

SPDLM

Speed limit enabled

11

POS0

Position command selection (1 — 8)

12

POS1

Position command selection 1 — 8)

13

POS2

Position command selection 1 — 8)

14

SPD0

Speed command selection (1 — 4)

15

SPD1

Speed command selection (1 — 4)

16

TCM0

Torque command selection (1 — 4)

3.3.4 User-defined DI and DO Signals

The default DI and DO signals assignments can be changed using parameters P2-10 to P2-17 and P2­18 to P2-22.

User-defined DI and DO signals

Setting Parameters P2-10 to P2-17

3-26 VersaMotionServo Motors and Amplifiers User’s Manual – October 2012 GFK-2480A

3

DI

Parameter

Value

Signal

Description

17

TCM1

Torque command selection (1 — 4)

18

S-P

Position / Speed mode switching (OFF: Speed, ON: Position)

19

S-T

Speed / Torque mode switching (OFF: Speed, ON: Torque)

20

T-P

Torque / Position mode switching (OFF: Torque, ON: Position)

21

EMGS

Emergency stop (Normally Closed)

22

CWL

Reverse inhibit limit (Normally Closed)

23

CCWL

Forward inhibit limit (Normally Closed)

24

ORGP

Reference “Home” sensor

25

TLLM

Reverse operation torque limit (Torque limit function is valid only
when P1-02 is enabled)

26

TRLM

Forward operation torque limit (Torque limit function is valid only
when P1-02 is enabled)

27

SHOM

Move to “Home”

28

INDEX0

Feed step selection input 0 (bit 0)

29

INDEX1

Feed step selection input 1 (bit 1)

30

INDEX2

Feed step selection input 2 (bit 2)

31

INDEX3

Feed step selection input 3 (bit 3)

32

INDEX4

Feed step selection input 4 (bit 4)

33

MD0

Feed step mode input 0

34

MD1

Feed step mode input 1

35

MDP0

Manually continuous operation

36

MDP1

Manually single step operation

37

JOGU

Forward JOG input

38

JOGD

Reverse JOG input

39

STEPU

Step up input (available in Pr mode only)

40

STEPD

Step down input (available in Pr mode only)

41

STEPB

Step back input. (Available in internal auto running mode only.)

42

AUTOR

Auto run input

43

GNUM0

Electronic gear ratio (Numerator) selection 0 [See P2-60 — P2-62
in chapter 7.]

44

GNUM1

Electronic gear ratio (Numerator) selection 1 [See P2-60 — P2-62
in chapter 7.]

45

INHP

Pulse inhibit input

DI Signal Example

To assign the servo on (SON) signal to DI1, set parameter P2-10 to a value of 101 (refer to chapter 7).

GFK-2480A Chapter 3 Equipment Connections and Wiring 3-27

3

DO

Parameter

Value

Signal

Description

00

Disabled

Output function disabled

01

SRDY

Servo ready

02

SON

Servo On

03

ZSPD

Zero speed

04

TSPD

Speed reached

05

TPOS

Positioning completed

06

TQL

Reached torque limits

07

ALRM

Servo alarm output (Servo fault)

08

BRKR

Electromagnetic brake

09

HOME

Home completed

10

OLW

Output overload warning

11

WARN

Servo warning output

Setting Parameters P2-18 to P2-22

DO Signal Example

To assign the servo ready (SRDY) function to DO1, set parameter P2-18 to a value of 101.

3-28 VersaMotionServo Motors and Amplifiers User’s Manual – October 2012 GFK-2480A

3

C1: Speed / Torque analog signal input

C2: Analog monitor output (MON1, MON2)

C3-1: Pulse input, for the use of internal power

supply (Open-collector input)

C3-2: Pulse input, for the use of external power

supply (Open-collector input)

3.3.5 Wiring Diagrams of I/O Signals (CN1)

The voltage range of the analog input command for speed and torque control mode is -10V to +10V.

There are two kinds of pulse inputs, line driver input and open-collector input. The maximum input
pulse frequency of a line driver input is 500kpps and maximum input pulse frequency of an open­collector input is 200kpps.

GFK-2480A Chapter 3 Equipment Connections and Wiring 3-29

3

C4: Pulse input (Line driver)

Caution

Because this
photocoupler is a
unidirectional
optocoupler,
please pay close
attention on the
current direction
of input pulse
command.

C5: Wiring of DO signal, for the use of internal

power supply, general load

C6: Wiring of DO signal, for the use of internal

power supply, inductive load

VDD

DC24V

DOX-

COM-

R

Servo Drive

DOX: (DOX+, DOX-)

DO1: ( 7, 6)

X=1,2,3,4,5

DO2: ( 5, 4)
DO3: ( 3, 2)
DO4: ( 1, 26)
DO5: (28, 27)

17

45

VDD

DC24V

DOX-

COM-

Servo Drive

Ensure the polarity(+,-)
of Diode is correct or it
may damage the drive.

DOX: (DOX+, DOX-)

DO1: ( 7, 6)

X=1,2,3,4,5

DO2: ( 5, 4)
DO3: ( 3, 2)
DO4: ( 1, 26)
DO5: (28, 27)

17

45

Caution

Do not use dual power supply. Failure to observe this caution may result in
damage to the servo drive and servo motor.

Connect a diode when the drive is applied to an inductive load.
(Continuous maximum current: 40mA, Instantaneous peak current: max. 100mA)

3-30 VersaMotionServo Motors and Amplifiers User’s Manual – October 2012 GFK-2480A

3

C7: Wiring of DO signal, for the use of external

power supply, general load

C8: Wiring of DO signal, for the use of external

power supply, inductive load

DC24V

DOX-

R

Do not connect
VDD-COM+

DC24V
50mA

Servo Drive

DOX: (DOX+, DOX-)

DO1: ( 7, 6)

X=1,2,3,4,5

DO2: ( 5, 4)
DO3: ( 3, 2)
DO4: ( 1, 26)
DO5: (28, 27)

X=1,2,3,4,5

DOX-

DC24V

Do not connect
VDD-COM+

Servo Drive

Ensure the polarity (+, -)
of the Diode is correct or
it may damage the drive.

DOX: (DOX+, DOX-)

DO1: ( 7, 6)

X=1,2,3,4,5

DO2: ( 5, 4)
DO3: ( 3, 2)
DO4: ( 1, 26)
DO5: (28, 27)

C9: Wiring of DI signal, for the use of internal

power supply

C10: Wiring of DI signal, for the use of external

power supply

Approx. 5mA
for a transistor

VDD

DC24V

COM+

COM-

SON

Vces

=

<

1.0V

Iceo

=

<

100uA

TR

Servo Drive

17

11

9

45

R: Approx.

4.7K

Use a relay or open-collector transistor to input signal.

GFK-2480A Chapter 3 Equipment Connections and Wiring 3-31

Do not use dual power supply. Failure to observe this caution may result in
damage to the servo drive and servo motor.

Caution

3

C11: Encoder output signal (Line driver)

C12: Encoder output signal (Photocoupler)

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3

CN2

Pin

No.

Signal Name

Terminal

Identification

100W to

750W Motor

Pin No.

1KW to 3KW

Motor Pin No.

Description

2

/Z phase input

/Z

A6

G

Encoder /Z phase
output

4

/A phase input

/A

A2

B

Encoder /A phase
output

5

A phase input

A

A1

A

Encoder A phase
output

7

B phase input

B

A3

C

Encoder B phase
output

9

/B phase input

/B

A4

D

Encoder /B phase
output

10

Z phase input

Z

A5

F

Encoder Z phase
output

14, 16

Encoder power

+5V

A7

S

Encoder 5V power

13, 15

Encoder power

GND

A8

R

Grounding

3.4 Encoder Connector CN2

The servo motor contains an integrated incremental encoder that provides 2,500 pulses per revolution
(PPR) and a commutation signal. Within approximately 500msec after power is applied to the servo
drive, control algorithms detect the motor's rotor position through imbedded sensors in the motor.

After the rotor position has been detected, the amplifier automatically switches to using the encoder for
commutation control.

The 2500 PPR encoder output is multiplied to 10000PPR by X4 logic for increased control resolution.

3.4.1 Layout of CN2 Encoder Connector

3.4.2 CN2 Terminal Signal Identification

GFK-2480A Chapter 3 Equipment Connections and Wiring 3-33

3

CN3

Pin
No.

Terminal

Identification

Description

1

GND

Ground

2

RS-232-TX

Servo drive data transmit. Connected to the RS-232 interface of the
PC.

3

RS-422-RX+

Servo drive data receive (differential line driver + end).

4

RS-232_RX

Servo drive data receive. Connected to the RS-232 interface of PC.

RS-422_RX-

Servo drive data receive (differential line driver - end).

5

RS-422-TX+

Servo drive data transmit (differential line driver + end).

6

RS-422-TX-

Servo drive data transmit (differential line driver - end).

3.5 Serial Communication Connector CN3

3.5.1 CN3 Terminal Layout and Identification

The servo drive can be connected to a PC or host controller via a serial communication cable
connected to CN2. You can operate the servo drive using the VersaMotion Configuration Software. The
communication connector/port of the servo drive provides three serial communication interfaces: RS­232, RS-485, and RS-422 connection. RS-232 is the most common interface used, but is somewhat
limited. The maximum cable length for an RS-232 connection is 15 meters (50 feet). An RS-485
interface allows longer cable distances and supports multidrop, which allows multiple drives to be
connected simultaneously. However, an adapter is required for converting current and voltage when
using RS-485 interface.

Layout of CN3 Drive Connector

CN3 Terminal Signal Identification

Note: For RS-485 connections, refer to Chapter 8.

3-34 VersaMotionServo Motors and Amplifiers User’s Manual – October 2012 GFK-2480A

3

3.5.2 Connection between PC and Serial Connector CN3

GFK-2480A Chapter 3 Equipment Connections and Wiring 3-35

3

3.6 Standard Connection Example

3.6.1 Position (Pt) Control Mode

Note: For line driver pulse input, refer to the C4 wiring diagram on page 3-30. For open-collector
input, refer to the C3 wiring diagram on page 3-29.

3-36 VersaMotionServo Motors and Amplifiers User’s Manual – October 2012 GFK-2480A

3

3.6.2 Position (Pr) Control Modes

GFK-2480A Chapter 3 Equipment Connections and Wiring 3-37

3

3.6.3 Speed Control Modes

3-38 VersaMotionServo Motors and Amplifiers User’s Manual – October 2012 GFK-2480A

3

3.6.4 Torque Control Modes

GFK-2480A Chapter 3 Equipment Connections and Wiring 3-39

Chapter

4

Display and Operation

This chapter describes the basic operation of the digital keypad and the features it offers.

Page

4.1 Description of the Digital Keypad ...................................................................................... 4-2

4.2 Display Flowchart .............................................................................................................. 4-3

4.3 Status Display ................................................................................................................... 4-4

4.4 General Function Operation.............................................................................................. 4-8

GFK-2480A 4-1

4

Mode key

Shift key

Charge LED

Set key

Up arrow key

Down arrow key

Name

Function

LCD Display

The LCD Display (5-digit, 7-step display panel) shows the monitor codes,
parameter settings and operation values of the AC servo drive.

Charge LED

The Charge LED lights to indicate the power is applied to the circuit.

MODE Key. Pressing MODE key can enter or exit different parameter groups, and
switch between Monitor mode and Parameter mode.

SHIFT Key. Pressing SHIFT key scroll through parameter groups. After a
parameter is selected and its value displayed, pressing SHIFT key can move the
cursor to the left and then change parameter settings (blinking digits) by using
arrow keys.

UP and DOWN arrow Key. Pressing the UP and DOWN arrow key can scroll
through and change monitor codes, parameter groups and various parameter
settings.

SET Key. Pressing the SET key can display and save the parameter groups and
the various parameter settings. During diagnostic operation, pressing SET key can
execute the function in the last step. (The parameter settings changes are not
effective until the SET key is pressed.)

4.1 Description of the Digital Keypad

The digital keypad includes the display panel and function keys.

Digital Keypad Functions

4-2 VersaMotionServo Motors and Amplifiers User’s Manual – October 2012 GFK-2480A

4

4.2 Display Flowchart

Keypad Operation

1. When the power is applied to the servo drive, the LCD display will show the monitor function codes
for approximately one second, then enter into the monitor mode.

2. In monitor mode, pressing UP or DOWN arrow key can switch monitor parameter code. At this
time, monitor display symbol will display for approximately one second.

3. In monitor mode, pressing the MODE key enters the parameter mode. Pressing the SHIFT key
switches the parameter groups (P0 to P4) and pressing the UP or DOWN arrow keys changes the
parameter codes within a group.

4. In parameter mode, the system enters the setting mode immediately after the Set key is pressed.
The LCD display will display the current value of the selected parameter. At this point, you can use
the UP or DOWN arrow key to change the parameter value or press Mode to exit the setting mode
and return to the parameter mode.

5. In parameter setting mode, the users can move the cursor to left by pressing the SHIFT key and
changing the selected digit (blinking) by pressing the UP or DOWN arrow key.

6. After the parameter value change is completed, press the SET key to save parameter settings or
execute the command (if applicable).

7. When parameter setting is completed, the LCD display will show the code “-END-“ and
automatically return to the parameter mode.

GFK-2480A Display and Operation 4-3

4

Display Message

Description

The setting value is saved correctly.

This parameter is read only. (Write-protected and cannot be
changed.)

Invalid password or no password was input.

The setting value is invalid.

The servo system is running and parameter values cannot be
changed.

This parameter will not be stored in EEPROM (volatile
parameter).

This parameter change will only be valid after cycling power on
the drive.

Display Message

Description

In parameter mode, pressing the MODE key will abort
parameter changes and return to monitor mode. In parameter
setting mode, pressing the MODE key will return the drive to
parameter mode. After returning to parameter mode, pressing
the MODE key again will abort any parameter setting changes.

Display Message

Description

When the servo drive has a fault, the LCD display will display

“ALEnn”. “ALE” indicates the alarm and “nn” indicates the fault
code. The display range of alarm code “nn” is 1 to 23. For a list
of drive fault codes, refer to “Chapter 10, Troubleshooting.”

4.3 Status Display

4.3.1 Save Setting Display

After the SET key is pressed, the LCD display will show the following display messages for
approximately one second, depending on the drive status.

4.3.2 Abort Setting Display

4.3.3 Fault Message Display

4-4 VersaMotionServo Motors and Amplifiers User’s Manual – October 2012 GFK-2480A

4

Display Message

Description

Positive value display. In parameter setting mode, pressing the UP
or DOWN arrow key will increase or decrease the display value. The
SHIFT key is used to select the digit you wish to edit. (The selected
digit will blink.)

Negative value display. When the selected parameter is greater than
four digits, the lit decimal points are used to indicate a negative
value.

To indicate a negative value, first set the display value, and then
continuously press the SHIFT key until all the decimal points are lit.

Negative value display. When the selected parameter is less than
five digits, first set the display value, and then continuously press
SHIFT key until the negative sign appears.

P0-02

Setting

Display Message

Description

Unit

0

Motor feedback pulse number (Absolute
value)

pulse

1

Motor feedback rotation number
(Absolute value)

rev

2

Pulse counts of the pulse command

pulse

3

Rotation number of the pulse command

rev

4

Position error counts

pulse

5

Input frequency of the pulse command

rpm

4.3.4 Polarity Setting Display

4.3.5 Monitor Setting Display

When power is applied to the AC servo drive, the LCD display will show the monitor function codes for
approximately one second and then enter the monitor mode. In monitor mode, in order to change the
monitor status, you can press the UP or DOWN arrow keys or change parameter P0-02 directly to
specify the desired monitor status. When power is applied, the monitor status depends on the value of
P0-02. For example, if the value of P0-02 is 2 when the power is applied, the monitor function will be
Pulse counts of the pulse command, the C.P monitor codes will appear first and then the pulse number
will appear.

GFK-2480A Display and Operation 4-5

4

P0-02

Setting

Display Message

Description

Unit

6

Motor speed

rpm

7

Speed command input

volt

8

Speed command input

rpm

9

Torque command input

volt

10

Torque command input

N-m

11

Average load

%

12

Peak load

%

13

Main circuit voltage

volt

14

Ratio of load inertia to Motor inertia

times

15

Motor feedback pulses (Relative value) /
Position latch pulse number

pulse

16

Motor feedback rotation (Relative value)
/ Position latch rotation number

rev

4-6 VersaMotionServo Motors and Amplifiers User’s Manual – October 2012 GFK-2480A

4

Display Message

Description

Positive value display. No positive sign is displayed to
indicate it is a positive value.

Display value: +1234.

Negative value display (less than five decimal places). The
negative sign is displayed to indicate a negative value.

Display value: -1234.

Negative value display (more than four decimal places). The
lit decimal points are used to indicate a negative value.

Display value: -12345.

Decimal value display.
Display value: 12.34.

The following table lists the display examples of monitor value:

GFK-2480A Display and Operation 4-7

4

4.4 General Function Operation

4.4.1 Fault Code Display Operation

After entering the parameter mode P4-00 to P4-04 (Fault Record), press the SET key to display the
corresponding fault code history for the selected parameter. Once in the fault code history display (H1
to H5), press the UP arrow key to display the fault code of H1 to H5 in order. H1 indicates the most
recent fault code; H2 is the fault code that occurred before H1 and so on.

Fault Code Display Example

In this example, the most recently occurred error code is 10.

4-8 VersaMotionServo Motors and Amplifiers User’s Manual – October 2012 GFK-2480A

4

4.4.2 Jog Operation

After entering parameter mode P4-05, the following steps can be used to perform a JOG operation.

1. Press the SET key to display the JOG rpm speed. (The default value is 20 r/min).

2. Press the UP or DOWN arrow keys to increase or decrease the desired JOG speed. The speed
can also be changed by using the SHIFT key to move the cursor to the desired digit (the selected
number will blink) then using the UP and DOWN arrow keys to change the value.

3. Press the SET key when the desired JOG speed is set. The Servo Drive will display "JOG".

4. Press the UP or DOWN arrow keys to jog the motor either CCW or CW. The motor will only rotate
while the arrow key is activated and will stop when the key is released.

5. To change the JOG speed again, press the MODE key. The servo Drive will display P4-05. Repeat
the process from step 1.

Note: JOG operation is effective only when Servo On (when the servo drive is enabled).

Jog Operation Example

The sample display shown in the following figure is adjusted to 100rpm.

GFK-2480A Display and Operation 4-9

4

4.4.3 Position Learning Operation

Use the following steps to perform the position learning operation. Also refer to the example on
page 4-11.

1. Activate the internal position learning function. (Set P2-30 to 4.)

2. Select parameter P4-05 and press the Set key. The LCD display will show the jog speed that will
be used to move the motor to the desired position. The default value is 20 r/min.

3. Press the UP or DOWN arrow key to set the desired moving speed value. In the example, the value
is adjusted to 10 r/min.

4. Press the Set key then JOG o1 will display and the amplifier will enter the position learning mode.

5. While in the position learning mode (display JOGox), pressing the UP or DOWN arrow key will
rotate the Servo motor in forward or reverse direction. The servo motor will immediately stop
running if the UP or DOWN arrow key is released. This operation is available only when the Servo
system is On (Servo On active).

6. After the motor is moved to the desired position, press the Set key. The display JOGo1 will change
to JOGo2 and the absolute position of the servo motor will be stored in memory for the internal
position 01 in parameters P1-15 (rotation numbers) and P1-16 (pulses).

7. In the position learning mode (display JOGox), pressing the Shift key will directly change the “x”
value of the display JOGox, allowing a quick selection of the particular position to be learned.

8. Repeat this process for each of the eight internal positions you wish to teach.

4-10 VersaMotionServo Motors and Amplifiers User’s Manual – October 2012 GFK-2480A

4

Learning Position

Stored Internal Position

JOGo1

P1-15 (Position rotation number), P1-16 (Position pulse number)

JOGo2

P1-17 (Position rotation number), P1-18 (Position pulse number)

JOGo3

P1-19 (Position rotation number), P1-20 (Position pulse number)

JOGo4

P1-21 (Position rotation number), P1-22 (Position pulse number)

JOGo5

P1-23 (Position rotation number), P1-24 (Position pulse number)

JOGo6

P1-25 (Position rotation number), P1-26 (Position pulse number)

JOGo7

P1-27 (Position rotation number), P1-28 (Position pulse number)

JOGo8

P1-29 (Position rotation number), P1-30 (Position pulse number)

Position Learning Example

The learning position and stored internal positions are listed below:

GFK-2480A Display and Operation 4-11

4

Force DO0 ON

Force DO1 ON

Force DO2 ON

Force DO3 ON

Force DO4 ON

Force DO5 ON

4.4.4 Forcing Digital Outputs

For testing, the digital outputs can be forced to be forced (ON or OFF) by using parameter P4-06.
Follow themethod in the following figure to enter the force output diagnostic mode (OP xx where “xx”
indicates the parameter range from 00 to 1F). Pressing the UP or DOWN arrow key will change the “xx”
value from 00 to 1F (hexadecimal format) and force digital outputs DO1 to DO5 to be activated (ON) or
inactivated (OFF). The DO function and status are determined by parameters P2-18 to P2-22. This
function is enabled only when the servo drive is disabled (Servo Off).

Force Outputs Diagnostics Mode

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4

4.4.5 Digital Input (DI) Diagnostics Mode

The VersaMotion digital amplifier can display the state of the eight digital inputs to facilitate machine
diagnostics and setup.

1. Select parameter P4-07 and press the Set key.

2. The drive display will indicate the ON/OFF state of DI1 to DI8 according to the following diagram.

When a segment is lit, the corresponding digital input is ON.

DI Diagnostics Mode

GFK-2480A Display and Operation 4-13

4

4.4.6 Digital Output (DO) Diagnostic Mode

The VersaMotion digital amplifier can display the state of the five digital outputs to facilitate machine
diagnostics and setup.

1. Select parameter P4-09 and press the Set key.

2. The drive display will indicate the ON/OFF state of DO1 to DO5 according to the following diagram.

When a segment is lit, the corresponding digital input is ON.

DO Diagnostics Mode

4-14 VersaMotionServo Motors and Amplifiers User’s Manual – October 2012 GFK-2480A

Chapter

5

Trial Run and Tuning Procedure

This chapter describes how to perform a trial run and tuning for the servo drive and motor.
A trial run without load should be completed first. After the servo motor is running normally without a

load, then perform the tuning procedure with a load.

Page

5.1 Trial Run Without Load 5-2

5.2 Tuning Procedure 5-15

Warning

Do not approach or touch any rotating parts while the motor is running. Failure
to observe this precaution may cause serious personal injury.

Warning

The initial trial run for servo motor should be conducted under no load
conditions (separate the motor from its couplings and belts). Do not operate the
servo motor while it is connected to its mechanical system. Connecting the
motor to its mechanical system may cause damage or result in personal injury
during the trial run. Connect the servo motor only after it has successfully
completed a trial run.

Warning

Do not touch the drive heat sink or the motor during operation as they may
become hot and personal injury may result.

Caution

Frequent power cycling of the drive is not recommended. Do not turn the drive
off and on more than once per minute because high currents within the internal
capacitors may cause damage.

GFK-2480A 5-1

5

5.1 Trial Run without a Load

5.1.1 Inspection without a Load

To prevent accidents and avoid damaging the servo drive and mechanical system, the trial run should
be performed under No Load conditions (with no load connected, including disconnecting all couplings
and belts). Do not run the servo motor for the first time while it is connected to a load or a mechanical
system because damage to the mechanical system or personnel injury may occur. Once it is
determined that the servo motor runs correctly when it is not connected to a load, you can run the servo
motor with the load and the mechanical system connected.

Warning

To prevent accidents, the initial trial run for servo motor should be conducted
under No Load conditions (separate the motor from its couplings and belts).

It is recommended that you perform a trial run without a load first and then a
perform trial run with a load connected. After the servo motor is running
normally without a load, run the servo motor with a load connected.

After power is connected to the servo drive, the charge LED will light, indicating that the drive is ready.
Before the trial run, check the items listed on page 5-3.

5-2 VersaMotionServo Motors and Amplifiers User’s Manual – October 2012 GFK-2480A

5

Inspection before operation (Control power is not applied)

 Inspect the servo drive and servo motor to insure they are not damaged.
 To avoid an electric shock, be sure to connect the ground terminal of servo drive to the ground

terminal of control panel.

 Before making any connection, wait 10 minutes for capacitors to discharge after the power is

disconnected, alternatively, use an appropriate discharge device to discharge.

 Ensure that all wiring terminals are correctly insulated.
 Ensure that all wiring is correct or damage and or malfunction may result.
 Visually check to ensure that there are not any unused screws, metal strips, or any conductive or

inflammable materials inside the drive.

 Never put inflammable objects on the servo drive or close to the external regenerative resistor.
 Make sure control switch is OFF.
 If the electromagnetic brake is to be used, ensure that it is correctly wired.
 If required, use an appropriate electrical filter to eliminate noise to the servo drive.
 Ensure that the external applied voltage to the drive is correct and matched to the drive rating.

Inspection during operation (Control power is applied)

 Ensure that the cables are not damaged, stressed excessively or loaded heavily. When the motor

is running, pay close attention on the connection of the cables and notice that if they are damaged,
frayed or over extended.

 Check for abnormal vibrations and sounds during operation. If the servo motor is vibrating or

there are unusual noises while the motor is running, please contact your local distributor or
Technical Support for assistance.

 Ensure that all user-defined parameters are set correctly. Since the characteristics of various

machinery equipment are different, in order to avoid accident or cause damage, do not adjust the
parameter abnormally and ensure the parameter setting is not an excessive value.

 Ensure to reset some parameters when the servo drive is off (For details, refer to Chapter 7).

Otherwise, it may result in malfunction.

 If there is no contact sound or if there are any unusual noises when the relay of the servo drive is

operating, please contact your local distributor or Technical Support for assistance.

 Check for abnormal conditions of the power indicators and LED display. If there is any abnormal

condition of the power indicators and LED display, please contact your local distributor or Technical
Support for assistance.

GFK-2480A Trial Run and Tuning Procedure 5-3

5

5.1.2 Applying Power to the Drive

Observe the following steps when applying power supply to the servo drive.
 Confirm that the wiring connection between the drive and motor is correct.

- Terminal U, V, W and FG (frame ground) must connect to Red, White, Black and Green wires

(U: Red, V: White, W: Black, FG: Green), or the wires tagged with the same letter designation.
If not connect to the specified cable and terminal, the drive cannot control the motor. The motor
grounding lead, FG must connect to the drive grounding terminal. For more information on
cables, refer to chapter 3.

- Make sure the encoder cable is connected to connector CN2 correctly. If you only want to

execute a JOG operation, it is not necessary to make any connections to the CN1 and CN3
connectors. For more information on the encoder connection (CN2 connector), refer to chapter

3.

Caution

Do not connect the AC input power (R, S, T) to the (U, V, W) output terminals.
This will damage the AC servo drive.

 Connect input power.

- Connect power to the servo drive. (Refer to chapter 3.)

 Turn the power on
The drive power includes single phase control circuit power (L1, L2) and main circuit power (R, S, T).

When the power is on, the display should be as shown in the following figure:

The default settings of digital inputs DI6, DI7 and DI8 are Reverse Inhibit Limit (CWL), Forward Inhibit
Limit (CCWL) and Emergency Stop (EMGS) respectively. These default settings can be changed using
parameters P2-15 to P2-17. When the value of parameters P2-15 to P2-17 is 0, it indicates the function
of this DI signal is disabled. For more information on parameters P2-15 to P2-17, refer to Chapter 7,
“Parameters”.

If the parameter P0-02 is set as motor speed (07), the display should be as shown in the following
figure:

If there is no text or character displayed on the LED display, check if the voltage of the control circuit
terminal (L1and L2) is below the specified low voltage limit.

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5

Possible Errors and Warnings for Powerup

When the AC servo drive has a fault, the LCD display will display “ALEnn”. “ALE” indicates the alarm
and “nn” indicates the drive fault code. For the list of drive fault codes, please refer to “P0-01” in
chapter 7 or refer to Chapter 10, “Diagnostics.”

ALE02, Over Voltage Alarm

The main circuit voltage has exceeded its maximum allowable value or input power is connected
incorrectly.

Corrective Actions:

 Use voltmeter to check whether the input voltage falls within the rated input voltage.
 Use voltmeter to check whether the input voltage is within the specified limit.

ALE11, Encoder Error Alarm

Check if the encoder wiring is correct. Check if the encoder wiring (CN2) of servo motor is loose or
incorrect.

Corrective Actions:

 Confirm that the encoder connection conforms to the recommended wiring configuration.
 Examine the encoder connector and cable for damage.
 Inspect to determine if cable connectors are loose.
 Check to determine if the encoder is damaged. If so, replace motor with a spare.

GFK-2480A Trial Run and Tuning Procedure 5-5

5

ALE13, Emergency Stop is activated

Check if any of the digital inputs (DI1—DI8) is set to “Emergency Stop” (EMGS) function.

Corrective Actions:

 If an emergency stop function is not required, confirm that none of the digital inputs (DI1—DI8)

are set to Emergency Stop (EMGS) by confirming that parameters P2-10 to P2-17 are not set to

21.

 If an emergency stop function is required, confirm which of the digital inputs (DI1 to DI8) is set to

“Emergency Stop (EMGS)” and ensure that the digital input signal is ON.

ALE14, Reverse Limit Switch Error

Check if any of the digital inputs (DI1—DI8) is set to Reverse Inhibit Limit (CWL).

Corrective Actions:

 If a reverse inhibit limit (Overtravel limit) is not required, confirm that none of the digital inputs

(DI1—DI8) are set to Reverse inhibit limit (CWL) by confirming that parameters P2-10 to P2-17 are
not set to 22.

 If a reverse inhibit limit (Overtravel limit) is required, confirm which of the digital inputs (DI1—DI8)

is set to Reverse inhibit limit (CWL) and check that the digital input signal is ON.

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5

ALE15, Forward Limit Switch Error

Check if any of the digital inputs (DI1—DI8) is set to Forward Inhibit Limit (CCWL).

Corrective Actions:

 If a forward inhibit limit (Overtravel limit) is not required, confirm that none of the digital inputs

(DI1—DI8) are set to Forward inhibit limit (CCWL) by confirming that parameters P2-10 to P2-17
are not set to 23.

 If a forward inhibit limit (Overtravel limit) is required, confirm which of digital inputs (DI1—DI8) is

set to Forward inhibit limit (CCWL” and check that the digital input signal is ON.

Note: When Digital Input 1 (DI1) is set to the Servo On (SON) function and DI1 is set to ON the
following fault messages may appear on the display:

ALE01, Overcurrent Alarm

Corrective Actions:

 Check the power wiring connections between the servo drive and motor for damage or short

circuits..

 Check for solder bridges in the motor power cable connectors.
 Remove the short-circuited condition.

ALE03, Undervoltage Alarm

Corrective Actions:

 Use voltmeter to check whether input voltage of main circuit is within the specified range.

Note: If there are any unknown fault codes or abnormal display when applying power to the drive or
when the servo on input is activated (without giving any command), please inform your local distributor
or contact Technical Support for assistance.

GFK-2480A Trial Run and Tuning Procedure 5-7

5

5.1.3 JOG Trial Run without Load

The JOG trial run without load is a convenient way to test the servo drive and motor because the
external I/O wiring is not necessary to perform this function. For safety, it is recommended to that the
JOG speed be set to a low value. Use the following steps to perform a JOG trial run without load.

1. Turn the drive ON using the configuration software. Ensure that the value of parameter P2-30

is set to 1 (Servo On).

2. Set the desired JOG speed using parameter P4-05 (unit: RPM). After the desired JOG speed is

set, press the SET key. The drive will enter into JOG operation mode automatically.

3. Press the UP and DOWN keys to change JOG speed. Press the SHIFT key to select the digit

of the displayed value you wish to change.

4. Press the SET key to lock in the new Jog speed displayed.

5. Pressing the UP key will cause the servo motor to run in the CCW direction. After releasing the

UP key, the motor will stop.

6. Pressing the DOWN key will cause the servo motor to run in the CW direction. After releasing

the DOWN key, the motor will stop.
CW and CCW Definition:

CCW (Counterclockwise): when facing the servo motor shaft, CCW rotation of the shaft is
reverse direction.

CW (Clockwise): when facing the servo motor shaft, CW rotation of the shaft is forward
direction.

7. Press the MODE key, to exit JOG operation mode.

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5

CCW

CW

SET

SET

Press

Release

Press

Speed

CW

CCW

CW

0

Jog Example

In the example below, the JOG speed is adjusted from 20 RPM (Default setting) to 100 RPM.

 If the servo motor does not rotate, ensure that the U, V and W terminals, and encoder are

connected correctly.

 If the servo motor does not rotate in the correct direction, ensure that the U, V and W cables are

connected with the correct phase.

GFK-2480A Trial Run and Tuning Procedure 5-9

5

Digital Input

Parameter Value

Function

Function Description

CN1 Pin No.

DI1

P2-10=101

SON

Servo On

DI1=9

DI2

P2-11=109

TRQLM

Torque limit enabled

DI2=10

DI3

P2-12=114

SPD0

Speed command selection 0

DI3=34

DI4

P2-13=115

SPD1

Speed command selection 1

DI4=8

DI5

P2-14=102

ARST

Reset

DI5=33

DI6

P2-15=0

Disabled

This DI function is disabled

-

DI7

P2-16=0

Disabled

This DI function is disabled

-

DI8

P2-17=0

Disabled

This DI function is disabled

-

Speed

Command No.

DI signal on CN1

Command Source

Content

Range

SPD1

SPD0

S1

0

0

External analog
command

Voltage between V-REF
and GND

+/-10V

S2

0

1

Internal speed
parameter

P1-09

0—5000RPM

S3

1 0 P1-10

0—5000RPM

S4

1 1 P1-11

0—5000RPM

5.1.4 Speed Trial Run without Load

Before performing the speed trial run, secure the motor to avoid danger from the reacting force when
motor speed changes.

Complete the following steps to perform this operation.
Step 1: Set the value of parameter P1-01 to 02 for speed (S) control mode. Cycle the drive power off

and then on for the new value of P1-01 to become effective.
Step 2: Set the relevant Digital Inputs for speed control mode using the parameter values listed below:

By default, the DI6 function is reverse inhibit limit, the DI7 function is forward inhibit limit, and
the DI8 function is emergency stop. If parameters P2-15 to P2-17 to are not set to 0 (Disabled),
the Overtravel limit and E-Stop faults, ALE13, 14 and 15, will occur. (For information on fault
messages, refer to chapter 10). Therefore, if these functions are not required, set parameters
P2-15 to P2-17 to 0 (Disabled) as shown.

All digital inputs are user-defined. Refer to the definitions of the DI signal functions before
configuring them (For descriptions of the available DI signal functions, refer to “Parameter
Summary” in Chapter 7). If any alarm code appears after the parameter setting is completed,
you can cycle power on the drive or set DI5 ON to clear the fault. Refer to “Applying Power to
the Drive” on page 5-4.

The speed command is selected by two digital inputs, SPD0, SPD1, as shown in the following
table:

0: indicates OFF (Normally Open); 1: indicates ON (Normally Closed)

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Parameter Setting

Input Value Command

Rotation Direction

P1-09 is set to 3000

+

CW

P1-10 is set to 100

+

CW

P1-11 is set to -3000

-

CCW

For example, the speed command settings shown below will be used:

Step 3: Perform the following steps to test the digital input and parameter settings.

1) Use DI1 to enable the servo drive (Servo ON).

2) Set DI3 (SPD0) and DI4 (SPD1) to OFF. The S1 speed command is selected. The S1

command uses the external analog command to control the speed of the motor.

3) Set DI3 (SPD0) to ON and DI4 (SPD1) to OFF. The S2 speed command (P1-09 is set to 3000)

is selected, and the motor speed is 3000 RPM.

4) Set DI4 (SPD1) to ON and DI3 (SPD0) to OFF. The S3 speed command (P1-10 is set to 100)

is selected, and the motor speed is 100 RPM.

5) Set DI3 (SPD0) and DI4 (SPD1) ON. The S4 command (P1-01 is set to –3000) is selected, and

the motor speed is –3000 RPM.

6) Repeat steps (2) through (5) as desired.

7) To stop the speed trial run, use DI1 to disable the servo drive (Servo OFF).

GFK-2480A Trial Run and Tuning Procedure 5-11

5

Digital Input

Parameter Value

Function

Function Description

CN1 Pin No.

DI1

P2-10=101

SON

Servo On

DI1=9

DI2

P2-11=108

CTRG

Command trigged

DI2=10

DI3

P2-12=111

POS0

Position command selection 0

DI3=34

DI4

P2-13=112

POS1

Position command selection 1

DI4=8

DI5

P2-14=113

POS2

Position command selection 2

DI5=33

DI6

P2-15=0

Disabled

This DI function is disabled

-

DI7

P2-16=0

Disabled

This DI function is disabled

-

DI8

P2-17=0

Disabled

This DI function is disabled

-

5.1.5 Position Trial Run without Load

Before performing the position trial run, secure the motor to avoid danger from the acceleration force
when motor speed changes.

Step 1: Set the value of parameter P1-01 to 01 to configure the amplifier for position (Pr) control mode.
Cycle the drive power off and then on to activate the new control mode.

Step 2: Set the applicable Digital Inputs using the parameter values listed below:

Because POS2 is not the default function of DI15, the value of parameter P2-14 must be
changed to 113.

By default, DI6 is the reverse inhibit limit, DI7 is the forward inhibit limit, and DI8 is emergency
stop. If parameters P2-15 to P2-17 are not set to 0 (Disabled), the Overtravel limit and E-Stop
faults, ALE13, 14 and 15 will occur. (For information on fault messages, please refer to chapter

10.) If these functions are not required, these parameters should be set to P2-15 to P2-17 to 0
(Disabled) before attempting the trial run.

All digital inputs are user-defined and can be set as required by the application. Refer to the
definitions of the DI signal functions before defining them. (For descriptions of the DI signals,
refer to “Parameter Summary” in Chapter 7). If any alarm code displays after the parameter
changes are completed, cycle power on the drive or activate DI5 to clear the fault. Refer to
“Applying Power to the Drive” on page 5-4.

For a wiring diagram for the Pr control mode, refer to “Position (Pr) Control Mode” in chapter 3.

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Position

Command

POS2

POS1

POS0

CTRG

Parameters

Move Speed

Register

Description

Internal
Position 1

0 0 0

P1-15

P2-36 (V1)

Rotation No. (+/- 30000)

P1-16

Pulse No. (+/- max cnt)

Internal
Position 2

0 0 1

P1-17

P2-37 (V2)

Rotation No. (+/- 30000)

P1-18

Pulse No. (+/- max cnt)

Internal
Position 3

0 1 0

P1-19

P2-38 (V3)

Rotation No. (+/- 30000)

P1-20

Pulse No. (+/- max cnt)

Internal
Position 4

0 1 1

P1-21

P2-39 (V4)

Rotation No. (+/- 30000)

P1-22

Pulse No. (+/- max cnt)

Internal
Position 5

1 0 0

P1-23

P2-40 (V5)

Rotation No. (+/- 30000)

P1-24

Pulse No. (+/- max cnt)

Internal
Position 6

1 0 1

P1-25

P2-41 (V6)

Rotation No. (+/- 30000)

P1-26

Pulse No. (+/- max cnt)

Internal
Position 7

1 1 0

P1-27

P2-42 (V7)

Rotation No. (+/- 30000)

P1-28

Pulse No. (+/- max cnt)

Internal
Position 8

1 1 1

P1-29

P2-43 (V8)

Rotation No. (+/- 30000)

P1-30

Pulse No. (+/- max cnt)

The position command is selected by input signals, POS0—POS2, as shown in the following
table:

0 indicates OFF (Normally Open); 1 indicates ON (Normally Closed)
You can set the values of these eight groups of commands as required. The position command

mode can be absolute (P1-33=0) or relative (P1-33=1).

GFK-2480A Trial Run and Tuning Procedure 5-13

5

Position Command

Parameter Settings for

Rotation Numbers

Parameter Settings

Pulse Numbers

Internal Position 1

Set P1-15 to 1

Set P1-16 to 0

Internal Position 2

Set P1-17 to 10

Set P1-18 to 0

Internal Position 3

Set P1-19 to –10

Set P1-20 to 0

Internal Position 4

Set P1-21 to 100

Set P1-22 to 0

Internal Position 5

Set P1-23 to –1000

Set P1-24 to 0

Internal Position 6

Set P1-25 to 0

Set P1-26 to 100

Internal Position 7

Set P1-27 to 0

Set P1-28 to 1000

Internal Position 8

Set P1-29 to –10

Set P1-30 to 2500

Input command

Rotation direction

+

CW

-

CCW

Position Trial Run Example

Step 1: Select Absolute mode for the position command: Set P1-33 to 1. Cycle power to the drive so
that the new value of P1-33 becomes effective.

Step 2: Set the internal position parameters as shown in the following table.

Step 3: Perform the following steps to test the digital input and parameter settings.

1) Use DI1 to enable the servo drive (Servo ON).

2) With Internal Position 1 selected, set DI2 (CTRG) ON. The motor will rotate one turn in the CW

direction.

3) Set DI3 (POS0) ON to select Internal Position 2, and then set DI2 (CTRG) ON. The motor will

rotate ten turns in the CW direction.

4) Set DI3 (POS0), DI4 (POS1) and DI5 (POS2) ON to select Internal Position 8. Then set DI2

(CTRG) ON. The motor will rotate 10 turns in the CCW direction.

5) Repeat steps (2) through (4) as desired.

6) To stop the position trial run, set DI1 OFF to disable the servo drive (Servo OFF).

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Tuning Procedure

Display

1. After wiring is completed, when power is connected to the servo drive, the
LCD display will be in monitor mode and will appear as shown to the right.

2. Press the MODE key to enter parameter mode.

3. Press the SHIFT key twice to select parameter group P2.

4. Press the UP key to view each parameter and select parameter P2-17.

5. Press the SET key to display the parameter value as shown to the right.

6. Press the SHIFT key twice to change the parameter value. Use the UP key
to cycle through the available values and then press the SET key to save the
parameter settings.

7. Press the UP key to view each parameter and select parameter P2-30.

8. Press the SET key to display the parameter value as shown to the right.

9. Select parameter value 1. Use the UP key to cycle through the available
values.

10. Press the SET key to write the parameter value to the drive. The display will
appear as shown to the right.

11. At this point, the servo drive is ON.

12. Press the DOWN key three times to select the ratio of Load Inertia to Servo
Motor Inertia (J_load /J_motor).

13. Press the SET key to display the current ratio of Load Inertia to Servo Motor
Inertia (J_load /J_motor). (The default setting is 5.0.)

14. Press the MODE key to select parameter mode.

15. Press the SHIFT key twice to select parameter group P4.

16. Press the UP key to select parameter P4-05.

17. Press the SET key. The default JOG speed, 20 RPM, will be displayed.
Press the UP and DOWN keys to increase and decrease JOG speed. To
add a digit, press the SHIFT key once.

18. Select the desired JOG speed and press the SET key.

5.2 Tuning Procedure

Use the following procedure to estimate the ratio of Load Inertia to Servo Motor Inertia
(J_load / J_motor) in JOG mode.

GFK-2480A Trial Run and Tuning Procedure 5-15

5

Tuning Procedure

Display

Perform the JOG operation at a low speed first. JOG the motor at a higher speed only after you are

sure the motor is running smoothly.

The ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor) cannot be displayed when the

JOG parameter, P4-05, is selected. To view J_load /J_motor, press the MODE key twice.

To execute the JOG operation again, press the MODE key once and then press the SET key twice

to view the display. Check whether the value of J_load /J_motor is stabilized after repeated
acceleration and deceleration.

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