JPS JUPITER-STD, JMD-STD-90A, JMD-STD-90A-H User Manual

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User Manual

VERSION：1.15

1



CONTENTS

1. PRODUCT INTRODUCTION ......................................................................................................................................................... 8

1.1 CHECK ITEMS ............................................................................................................................................................................... 8

1.2 DESCRIPTION OF NAMEPLATE CONTENT ...................................................................................................................................... 8

1.2.1 The Label on the Packing Case ................................................................................................................................... 8

1.2.2 The Driver Rating Label ................................................................................................................................................ 9

1.3 THE SPECIFICATION OF JUPITER SERIES ................................................................................................................................... 10

1.3.1 The Rating ...................................................................................................................................................................... 10

1.3.2 The Specification of Hardware ................................................................................................................................. 11

2. CONDITION OF STORAGE ENVIRONMENT ............................................................................................................................ 12

3. ATTENTION OF INSTALLATION ............................................................................................................................................... 12

4. OUTLINE DIMENSION ................................................................................................................................................................ 13

5. DESCRIPTION OF WIRING ......................................................................................................................................................... 15

5.1 POWER TERMINAL ..................................................................................................................................................................... 15

5.1.1 The Power Input Terminals (R， S， T) ................................................................................................................ 15

5.1.2 The Output Terminals (U， V， W to Motor) ...................................................................................................... 15

5.2 THE CONTROL SIGNAL TERMINALS ............................................................................................................................................ 15

5.3 BRAKE RESISTOR TERMINALS ..................................................................................................................................................... 16

5.4 THE INPUT REACTOR .................................................................................................................................................................. 17

5.5 THE PROPER SCREW DRIVE FOR POWER TERMINALS .................................................................................................................. 18

6. BASIC WIRING DIAGRAM FOR IRIS SERIES DRIVE ................................................................................................................ 19

6.1 INTERNAL BLOCK ....................................................................................................................................................................... 19

6.2 BASIC WIRE： 220V (3A~15A) ........................................................................................................................................ 20

6.2.1 COMM-DB9 PIN Terminal： 220V Type (3A~15A) ................................................................................... 21

6.2.2 I/O-SCSI36 PIN Terminal：

6.2.3 ENCODER-SCSI20 PIN Terminal： 220V Type (3A~15A) ............................................................................. 23

6.2.2 Hardware Terminal Construction

6.3 BASIC WIRE： 220V/380V OTHER TYPE ........................................................................................................................... 26

6.3.1 Terminal Definition： 220V/380V Other Type .................................................................................................. 27

6.3.2 Hardware Terminal Construction： 220V/380V Other Type ..................................................................... 28

6.4 XYSIGAL INPUT DESCRIPTION： ............................................................................................................................................. 30

8. BASIC START METHOD(QUICK START) .................................................................................................................................. 31

8.1 JOINT-PROGRAMMER EXECUTE MOTOR AUTOTUNING .................................................................................................... 31

8.2 JOINT-PROGRAMMER SOFTWARE TO EXECUTE SPEED MODE ........................................................................................... 32

8.3 JOINT-PROGRAMMER SOFTWARE EXCHANGE DIRECTION .................................................................................................. 32

9. PARAMETER DESCRIPTION....................................................................................................................................................... 33

9.1 STD MODE：STANDARD MODE PARAMETER LIST ................................................................................................................. 33

9.2 EGEAR MODE：STANDARD PULSE COMMAND PARAMETER LIST .......................................................................................... 40

9.3 BP2P MODE：BASIC POINT TO POINT PARAMETER LIST ....................................................................................................... 41

9.4 PARAMETER TYPE ...................................................................................................................................................................... 44

10. JMD GROUP DESCRIPTION..................................................................................................................................................... 45

220V Type (3A~15A) .......................................................................................... 22

220V Type (3A~15A) ............................................................................. 24

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10.1 AMP STATUS GROUP ............................................................................................................................................................. 45

10.2 COMM PORT GROUP ........................................................................................................................................................... 48

10.3 OPERATION MODE GROUP ...................................................................................................................................................... 48

10.4 MOTOR / ENCODER GROUP ..................................................................................................................................................... 49

10.5 PID GAIN GROUP ................................................................................................................................................................. 51

10.6 ANALOG INPUT GROUP ........................................................................................................................................................... 54

10.7 ANALOG OUTPUT GROUP ....................................................................................................................................................... 55

10.8 DIGITAL INPUT GROUP ............................................................................................................................................................ 57

10.9 DIGITAL OUTPUT GROUP ........................................................................................................................................................ 59

10.10 MISCELLANEOUS GROUP ...................................................................................................................................................... 60

11. DIGITAL INPUT FUNCTION ..................................................................................................................................................... 61

11.1 STD MODE - DIX (DIGITAL INPUT FUNCTION) ...................................................................................................................... 61

11.2 EGEAR MODE - DIX(DIGITAL INPUT FUNCTION) ................................................................................................................. 64

11.3 BP2P MODE - DIX(DIGITAL INPUT FUNCTION) .................................................................................................................... 65

12. DIGITAL OUTPUT FUNCTION ................................................................................................................................................. 66

12.1 STD MODE - DOX(DIGITAL OUTPUT FUNCTION) ................................................................................................................. 66

12.2 EGEAR MODE - DOX(DIGITAL OUTPUT FUNCTION) ............................................................................................................ 71

12.3 BP2P MODE - DOX(DIGITAL OUTPUT FUNCTION) ............................................................................................................... 71

13. BUILT-IN MULTI-FUNCTION ................................................................................................................................................... 72

13.1 32 BIT COUNTER FUNCTION ............................................................................................................................................. 72

13.1.2 32 BIT COUNTER：Digital Input .......................................................................................................................... 72

13.1.3 32 BIT COUNTER：Digital Output ...................................................................................................................... 72

13.2 FLIPFLOP FUNCTION ............................................................................................................................................................... 73

13.2.1 FlipFlop1 ...................................................................................................................................................................... 73

13.2.2 FlipFlop2 ...................................................................................................................................................................... 73

13.2.3 FlipFlop3 ...................................................................................................................................................................... 74

13.2.4 FlipFlop4(D-Type) ...................................................................................................................................................... 75

13.2.5 FlipFlop5(T-Type)....................................................................................................................................................... 75

13.3 TIMER FUNCTION .................................................................................................................................................................... 76

13.2.1 Timer1(Standard Type) ......................................................................................................................................... 76

13.3.2 Timer2(Standard Type) ......................................................................................................................................... 76

13.3.3 Timer3(Mono Type / Delay-On Type) ................................................................................................................ 77

13.3.4 Timer4(Mono Type / Delay-On Type) ................................................................................................................ 78

13.3.5 Timer5(Mono Type) ............................................................................................................................................... 79

13.8 ECAM FUNCTION ................................................................................................................................................................... 80

13.8.1 ECAM-Type1：Start Angle-End Angle.................................................................................................................. 80

13.8.2 ECAM-Type2：Start Angle-Range Angle ............................................................................................................. 81

13.20 16BIT SHIFTER BLOCK FUNCTION ................................................................................................................................... 82

13.20.1 16 BIT SHIFTER Block：Parameter ................................................................................................................... 82

13.20.2 16 BIT SHIFTER Block：Digital Input ............................................................................................................... 82

13.20.3 16 BIT SHIFTER Block：Digital Output ............................................................................................................ 82

13.22 XY/AB-INDEX FUNCTION ................................................................................................................................................ 86

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13.22.1 XY-INDEX Function .............................................................................................................................................. 86

13.22.2 AB-INDEX Function .............................................................................................................................................. 86

14. CONTROL MODE DESCRIPTION ............................................................................................................................................ 87

14.1 SPEED MODE：STANDARD SPEED MODE ............................................................................................................................ 87

14.1.1 Speed Mode：Standard Speed Mode：Parameter ....................................................................................... 87

※ 14.1.1.1 Speed Source Select=0【Speed Set from RAM_Speed_Set(Pr.260)】 ................................................ 87

※ 14.1.1.2 Speed Source Select=1【Speed Set from AI-1 (Set Speed= Pr.119 * 0.1rpm)】 ............................... 88

※ 14.1.1.3 Speed Source Select=2【Speed Set from AI-2 (Set Speed= Pr.131 * 0.1rpm)】 ............................... 88

※ 14.1.1.4 Speed Source Select=3【Speed Set from JOG Speed (Pr.259)】 .......................................................... 89

※ 14.1.1.5 Speed Source Select =4【Speed Set from AI-1 ( 10V => Max Speed(Pr.203))】 .............................. 89

※ 14.1.1.6 Speed Source Select=5【Speed Set from AI-2 ( 10V => Max Speed(Pr.203) )】............................... 90

※ 14.1.1.7 Speed Source Select=6【Speed Set from AI-x ( Control by DIx(13)：AIxSW)】 ............................... 90

※ 14.1.1.8 Speed Source Select=7【Speed Set from AI-1 (with Pr.124 & Pr.125 as limit)】 .............................. 91

14.1.2 Speed Mode：Standard Speed Mode：Digital Input ................................................................................... 93

14.1.3 Speed Mode：Standard Speed Mode：Digital Output ............................................................................... 95

14.1.7 Speed Mode：Standard Speed Mode：PID Gain .......................................................................................... 96

※ 14.1.7.1 Speed Mode：Standard Speed Mode：PID Gain .................................................................................. 96

14.2 TORQUE MODE：STANDARD TORQUE MODE ...................................................................................................................... 97

14.2.1 Torque Mode：Standard Torque Mode：Parameter ................................................................................... 97

※ 14.2.1.1 Torque Limit Source =0【Torque Limit =Torque Limit-0】 ................................................................... 97

※ 14.2.1.2 Torque Limit Source =1【Torque Limit =AI-1*Torque Limit-0】.......................................................... 97

※ 14.2.1.3 Torque Limit Source =2【Torque Limit =AI-2*Torque Limit-0】.......................................................... 97

14.2.2 Torque Mode：Standard Torque Mode：Digital Input................................................................................ 98

14.2.3 Torque Mode：Standard Torque Mode：Digital Output ............................................................................ 99

14.2.7 Torque Mode：Standard Torque Mode：PID Gain ....................................................................................... 99

※ 14.2.7.1 Torque Mode：Standard Torque Mode：PID Gain ............................................................................... 99

14.3 EGEAR MODE：STANDARD PULSE COMMAND MODE ..................................................................................................... 100

14.3.1 EGEAR Mode：Standard Pulse Command Mode：Parameter ................................................................. 100

14.3.2 EGEAR Mode：Standard Pulse Command Mode：Digital Input ............................................................. 102

14.3.3 EGEAR Mode：Standard Pulse Command Mode：Digital Output .......................................................... 103

14.3.4 EGEAR Mode：Standard Pulse Command Mode：Block ........................................................................... 104

※ 14.3.4.1 EGEAR Mode：Standard Pulse Command Mode：Connection ....................................................... 104

※ 14.3.4.2 EGEAR Mode：Standard Pulse Command Mode：Internal Block ................................................... 104

14.3.5 EGEAR Mode：Standard Pulse Command Mode：Example ..................................................................... 105

※ 14.3.5.1 EGEAR Mode：Standard Pulse Command Mode：Demo JOG-FWD/JOG-REV ........................ 105

※ 14.3.5.2 EGEAR Mode：Standard Pulse Command Mode：DemoEGEAR Tracking ............................... 105

14.3.7 EGEAR Mode：Standard Pulse Command Mode：PID Adjustment ....................................................... 106

※ 14.3.7.1 EGEAR Mode：Standard Pulse Command Mode：PID Gain ............................................................ 106

※ 14.3.7.2 EGEAR Mode：Standard Pulse Command Mode：PID Demo .......................................................... 108

14.4 BP2P MODE：BASIC POINT TO POINT .............................................................................................................................. 110

14.4.1 BP2P Mode：Basic Point To Point：Parameter ............................................................................................ 110

※ 14.4.1.1 BP2P Mode：Basic Point To Point：Parameter  Search Home Related ..................................... 110

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※ 14.4.1.2 BP2P Mode：Basic Point To Point：Parameter  Mark Related .................................................... 111

※ 14.4.1.3 BP2P Mode：Basic Point To Point：Parameter  Standard Related ............................................. 112

14.4.2 BP2P Mode：Basic Point To Point：Digital Input ........................................................................................ 116

※ 14.4.2.1 BP2P Mode：Basic Point To Point：Digital Input  Search Home Related ................................. 116

※ 14.4.2.2 BP2P Mode：Basic Point To Point：Digital Input  Mark Related ................................................ 116

※ 14.4.2.3 BP2P Mode：Basic Point To Point：Digital Input  Standard Related ......................................... 117

14.4.3 BP2P Mode：Basic Point To Point：Digital Output .................................................................................... 119

※ 14.4.3.1 BP2P Mode：Basic Point To Point：Digital Output  Search Home Related.............................. 119

※ 14.4.3.2 BP2P Mode：Basic Point To Point：Digital Output  Mark Related ............................................. 119

※ 14.4.3.3 BP2P Mode：Basic Point To Point：Digital Output  Standard Related ..................................... 120

14.4.4 BP2P Mode：Basic Point To Point：Block ..................................................................................................... 121

※ 14.4.4.1 BP2P Mode：Basic Point To Point：Connection ................................................................................. 121

※ 14.4.4.2 BP2P Mode：Basic Point To Point：Internal Block ............................................................................. 121

14.4.5 BP2P Mode：Basic Point To Point：Example ............................................................................................... 122

※ 14.4.5.1 BP2P Mode：Basic Point To Point：Example  Search Home ........................................................ 122

※ 14.4.5.2 BP2P Mode：Basic Point To Point：Example  P2P JOG Runing................................................... 122

※ 14.4.5.3 BP2P Mode：Basic Point To Point：Example  P2P Trigger (Incremental ) ................................ 123

※ 14.4.5.4 BP2P Mode：Basic Point To Point：Example  P2P Trigger (Absolutely ) .................................. 123

14.4.6 BP2P Mode：Basic Point to Point：Description of Curve .......................................................................... 124

※ 14.4.6.0 BP2P Mode：Basic Point to Point：Description of Curve ................................................................. 124

※ 14.4.6.0.1 BP2P Mode：Basic Point to Point：Phases of the motion profile ........................................ 126

※ 14.4.6.0.2 BP2P Mode：Basic Point to Point：Dynamically-shaped Short Target Length ............... 128

※ 14.4.6.1 BP2P Mode：Basic Point to Point (Description of Curve = Search Home) .................................... 129

14.4.6.1.1 Search Home Curve：Standard Acc/Dec / S curve ..................................................................... 129

14.4.6.1.2 Search Home Mode：=0 (Assigns the servomotor’s present location as HOME) .............. 129

14.4.6.1.3 Search Home Mode：=1 (P2P HOME, Forward DOG Switch & check PG-INDEX) ............... 130

14.4.6.1.4 Search Home Mode：=1 (P2P HOME, Reverse DOG Switch & check PG-INDEX) ................ 131

14.4.6.1.5 Search Home Mode：=3 (P2P HOME, Forward DOG Switch) .................................................. 132

14.4.6.1.6 Search Home Mode：=4 (P2P HOME, Reverse DOG Switch) ................................................... 133

14.4.6.1.7 Search Home Mode：=5 (P2P HOME, Forward DOG Pulse) ..................................................... 134

14.4.6.1.8 Search Home Mode：=6 (P2P HOME, Reverse DOG Pulse) ...................................................... 135

14.4.6.1.9 Search Home Mode：=7 (P2P HOME, Forward DOG Pulse ( NonStop )) ............................... 136

14.4.6.1.10 Search Home Mode：=8 (P2P HOME, Reverse DOG Pulse ( NonStop )) ............................. 137

※ 14.4.6.2 BP2P Mode：Basic Point To Point：Mode Curve Description ......................................................... 138

14.4.6.2.1 Mode-Curve：=0 P2P Relative-Incremental Mode ........................................................................ 138

14.4.6.2.2 Mode Curve：=1 P2P Absolute Mode ............................................................................................... 138

14.4.6.2.3 Mode Curve：=5 P2P Half Sine Mode ................................................................................................ 139

14.4.6.2.4 Mode Curve：=6 P2P Full Sine Mode ................................................................................................ 139

※ 14.4.6.3 BP2P Mode：Mark Mode Application & Curve Description .............................................................. 140

14.4.6.3.1 BP2P Mark Adjustment-1 ...................................................................................................................... 140

14.4.6.3.2 BP2P Mark Adjustment-2 ...................................................................................................................... 141

14.4.7 BP2P Mode：Basic Point To Point：PID Gain ............................................................................................... 142

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※ 14.4.7.1 BP2P Mode：Basic Point To Point  PID Gain Curve ......................................................................... 142

15. ALARM MESSAGE AND MAINTENANCE ............................................................................................................................ 144

15.1 ALARM MESSAG：PANEL DISPLAY ....................................................................................................................................... 144

15.2 ALARM LAMP DISPLAY .......................................................................................................................................................... 144

15.2 ALARM MESSAGE DISPLAY：BIT OF BINARY ........................................................................................................................ 144

15.3 ALARM PROCESS ................................................................................................................................................................... 145

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Safety Precautions and Warnings!

!

CAUTION! WARNING!

Pay attention to these They indicate danger to human body or damage to the device. Before installing and putting the device into operation， please read the safety precautions and warnings following this page.

1. Make sure that the warning signs are kept in a legible condition and replace missing or damaged signs.

2. Before starting， familiarize yourself with the operation of the inverter. It may be too late if you start

working with the inverter before read this instruction manual.

3. Never permit unqualified personnel to operate the inverter.

WARNING!

 This inverter produces dangerous electrical voltages and controls rotating mechanical parts.  Death， severe injury or substantial damage to property can occur if the instructions in this operating

manual are not completed with.

 Only personnel with appropriate qualifications should work with this inverter. These personnel must be

familiar with all the warning signs and precautions laid out in these operating instructions for the transport， installation and operation of this device.

 The successful and safe use of this inverter depends on the correct installation， commissioning，

operation and maintenance of the device.

 This device operates at high voltages.

CAUTION， WARNING， and

signals on the device or instruction documents.

CAUTION!

 The DC-link capacitors remain charged to dangerous voltages even the power is removed. For this reason it

is not permissible to open the inverter cover until five (5) minutes after the power has been turned off.

 When handling the open inverter it should be noted that live parts are exposed. Do not touch these live

parts.

 The terminals R， S， T， U， V， W， P， N， B， PR， and BR can carry dangerous voltages even if the

motor is inoperative.

 Only qualified personnel may connect， start the system up and repair faults. These personnel must be

thoroughly acquainted with all the warnings and operating procedures contained with this manual.

 Certain parameter settings may cause the device to start up automatically after power on or power recover.

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DEFINITIONS

!

 Qualified Person

For the purposes of this manual and product labels，a qualified person is one who is familiar with the installation， construction， operation and maintenance of this device and with hazards involved. In addition， the person must be:  Trained and authorized to energize， de-energize， clear，ground and tag circuits and equipment in

accordance with established safety practices.

 Trained in the proper care and use of protective equipment in accordance with established safety

practices.

 Trained in rendering first aid.

 DANGER

For the purposes of this manual and product labels，DANGER indicates that loss of life， severe personal injury or substantial property damage WILL result if proper precautions are not taken.

 WARNING

For the purposes of this manual and product labels，WARNING indicates that loss of life， severe personal injury or substantial property damage CAN result if proper precautions are not taken.

 CAUTION

For the purpose of this manual and product labels，CAUTION indicates that minor personal injury or property damage CAN result if proper precautions are not taken.

 NOTE

For the purpose of this manual and product labels，NOTES merely call attention to information that is especially significant in understanding and operating the inverter.

DANGER and WARNING

 Make sure that the location selected for installation is safe，protected from moisture and splash and

drip-proof!

 Children and the general public must be prevented from accessing or approaching the equipment!  The equipment may only be used for the purpose specified by the manufacturer. Unauthorized

modifications and the use of spare parts and accessories that are not sold or recommended by the manufacturer of the equipment can cause fires，electric shocks and injuries.

 Keep these operating instructions within easy reach and give them to all users!

WARNING This is a Class A product. In a domestic environment this product may cause radio interference in which case the user may be required to take adequate measures.

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1. Product Introduction

JMD

-STD-90A

-(H)

380V

1.1 Check Items

To avoid the carelessness during packing and delivery， please check the list below carefully。

Items Amount Contents

Jupiter Manual 1 book Please read carefully and keep with care for referring usage.

Check the spec. of the device with the case label is same or not.

JupiterDriver 1set

If any miss or defect happened， please contact with the agency to get resolve of the problem.

1.2 Description of Nameplate Content

1.2.1 The Label on the Packing Case

Check the out looking of the device to make sure that there is no defect on it. All screws should be tighten and exist.

The contents of indication:

1. JMD  Jupiter Series。

2. STD  Fireware Function（STD/RC/FS/FC/PRT/VRC）。

3. 90A  Rated Current。

4. H  sign=(H)：380V type； without sign(H)：220V type。

5. 380V  380V AC Input Suitable。

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1.2.2 The Driver Rating Label

Joint Peer Systec Corp.

UNIVERSAL SERVO DRIVE

MODEL

JMD-STD-90A-(H)

INPUT

3ψ 380V AC 50/60

HZ

OUTPUT

3ψ

380V

90A

MOTOR

90A/22.5KW

Serial NO.

11121312

Series

Jupiter Series

Firmware

Function

STD：Standard type PRT：Pulse Register Tracking

RC：Rotary-Cut VRC：Volcano Rotary-Cut FC：Fly Catch FS：Fly Saw

Output

Current

Rated Current

(H)

With (H)：220V

type

Without(H)

：380V type

MODEL：JMD - STD

- 90A- (H)

Power-Type

A.C. 1 or 3 Phase, 220Volt.

Power Frequency

50Hz/60Hz

INPUT ：3Ø220AC

/ 50/60HZ

Rated Voltage

3phase / 220V

Rated Current

90A

OUTPUT : 3Ø 220V / 90A

The figure below is a sample of the rating label that is put on the outside of the driver.

The contents of rating label are showed below:

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1.3 The Specification of JUPITER Series

1.3.1 The Rating

220V Series：

Horse Power(HP) 1 1.5 3 5 7.5 10 15 20 30

JMD-XXX-□ 3 6 9 15 24 33 46 61 90

Output Current(A) 3 6 9 15 24 33 46 61 90

Rated Capacity(KVA) 1.3 1.8 4 6.5 9.5 13 19 25 34

Rated Power(KW) 0.75 1 2.2 3.7 5.5 7.5 11 15 22.5

Max Output Voltage Match 3 phase Input Voltage

Dimension P1 P2 P3

380V Series：

Horse Power(HP) 7.5 10 15 20 30 40 50 60 73 100 120 147 176 224

JMD-XXX-□(H) 12 17 23 31 45 60 75 90 110 152 176 210 253 300

Output Current(A) 12 17 23 31 45 60 75 90 110 152 176 210 253 300

Rated

Capacity(KVA)

Rated Power(KW) 5.5 7.5 11 15 22.5 30 37 45 55 75 90 110 132 160

Max Output

Voltage

Dimension

9.5 13 19 25 34 46 50 60 72 100 116 138 167 197

Match 3 phase Input Voltage

P2 P3 P4 P5 P6 P7

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1.3.2 The Specification of Hardware

220V / 380V Series

Hardware Set Description

Digital Input(Signal) 8 Belong to digital Input(signal)

Digital Output(Signal) 4 Belong to digital Output(signal)

Analog Input -AI 2 12 bit

Analog Output -AO 2 12 bit RS232 Communication Interface Included RS485 Communication Interface Included

Follow

Brake Discharge MOS-FET

Type

Over Heat Protect Function Included

PG Feedback Interface 1 Belong to Line-Drive 5V

PG Encoder Output 1 Divide from /1~ /64

External Received Interface 1 Belong to 5V Photocoupler Input

Location at the same communication connector (use hardware wire to switch)

220V： 1HP-10HP include 380V：7.5HP-10HP include

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!

>10cm

>4cm

>10cm

>4cm

Cooling Air

!

2. Condition of Storage Environment

This driver should be contained in the packing case. If do not use this driver temporarily， in order to ensure this driver in our warranty scope， please follow the items below:

 Ambient temperature must be in - 20℃ to +65℃，relative humidity 0% to 95%，and no dew clings.  Must be preserved in the environment that is dustless， stainless， and dry.  Avoid to store under the environment that has caustic gas or liquid.

3. Attention of Installation

WARNING To guarantee the safe operation of the equipment it must be installed and commissioned properly by qualified personnel in compliance with warnings laid down in these operating instructions. Take particular note of the general and regional installation and safety regulations regarding work on high voltage regulations，as well as the relevant regulations regarding the correct use of tools and personal protective gear. Make sure that the unobstructed clearance for each of the cooling inlets and outlets above and below the inverter is at least 100mm. Make sure that a space of 40mm is kept free at the sides of the inverter to permit the cooling air to escape from the side slits.

Ensure that the temperature does not exceed the specified level when the inverter is installed in cubicle. Avoid excessive vibration and shaking of the equipment. Do not be obstructing the cooling fan that installed on the inverter， it is used to build proper airflow for heat sink thermo dissipation. And do not touch the fan hole when it is running. Please consider the possible use of options， such as RFI suppression filters at the planning stage.

WARNING

To prevent electrical shock， do not open cover for at least 5 minutes after removing AC power to allow

capacitors to discharge.

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4. Outline Dimension

P1：1HP~5HP Unit：mm P２：7.5 HP~10HP Unit：mm

P３：15HP~30HP Unit：mm P４：40HP Unit：mm

P５：50HP~60HP Unit：mm P６： 73~120HP Unit：mm

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P7：147HP~224HP Unit：mm

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!

5. Description of Wiring

The upper cover must be removed in order to connect the electrical leads.

5.1 Power Terminal

The power terminals are divided into three portions:

1. The power input terminals (R， S， T) receives power for the operation of the inverter.

2. The output terminals (U， V， and W) deliver output power to motor.

3. Brake resistor should be connects to icon

NOTE: The terminal has icon should be connected to Earth properly.

WARNING: Never connect power source line to U， V， W， P， N， B terminals.

5.1.1 The Power Input Terminals (R， S， T)

WARNING! NOTE!

 The power input terminals are R， S， and T. Never connect power source line to U， V， W， P， N， B

terminals.

 Between the power source and driver， add NFB for system protection.  There are static sensitive components inside the Printed Circuit Board. Avoid touching the boards or

components with your hands or metal objects.

 Make sure to connect the power terminals tight and correctly.  Make sure that the power source supplies the correct voltage and is designed for the necessary current.

.

 The terminal has icon

should be connected to Earth properly.

5.1.2 The Output Terminals (U， V， W to Motor)

 Make sure the motor’s rated voltage and current are suitable with driver’s specification.

WARNING: Do not insert contactors between driver and motor; the U， V， W terminals should be connected to motor directly.

5.2 The Control Signal Terminals

WARNING! NOTE!

All the input/output control signal lines， or remote panel lines and communication lines must be laid separately from the high current power/motor/brake lines. They must not be fed through the same cable conduit/trucking.

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5.3 Brake Resistor Terminals

!

NOTE: This driver contains braking discharge circuits. The terminals have icon

connect external resistor to discharge the re-generating energy when in braking condition. Refer to the list below when choosing resistor for braking discharge. The wattage of resistor can be increased for heavier re-generating energy or higher discharge duty.

220V 380V

JMD

Rated

(HP)

Current

1 3 100 200 - - - - - -

1.5 6 60 250 - - - - - - 3 9 60 250 - - - - - - 5 15 40 300 - - - - - -

7.5 24 30 500 12 100 500

10 33 20 600 17 75 750 15 46 15 1000 23 50 1000 20 61 10 1500 31 40 1500

Resistance

（ohm）

Wattage

(W)）

JMD

Rated

Current

Resistance

（ohm）

Wattage

are used to

(W)）

30 90 45 40 - - - - - - 60 50 - - - - - - 75 60 - - - - - - 90

73 - - - - - - 110 100 - - - - - - 152 120 - - - - - - 176 147 - - - - - - 210 176 - - - - - - 253 224 - - - - - - 300

The discharge duty is 10 ％

Recommand Use

Brake

Module

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17

5.4 The Input Reactor

When power supply capacity is larger than 500KVA and /or using thyrister， phase advance capacitor etc. from same power supply， must fit an A.C.L. in front of R.S.T. power input to curb instantaneous current and to improve power efficient ratio. Refer to the list below to choose proper reactance.

(HP)

220V

(Arms)

Current

(Arms)

Inductance

(mH)

1 3 6 1.8

1.5 6 6 1.8 3 9 9 0.71 5 15 17 0.53

7.5 24 24 0.35

10 33 33 0.26 15 46 46 0.18 20 61 61 0.13 30 90 120 0.09

(HP)

220V

(Arms)

Current

(Arms)

Inductance

(mH)

7.5 12 15 1.42

10 17 20 1.0 15 23 30 0.7 20 31 40 0.53 30 45 60 0.36 40 60 80 0.26 50 75 100 0.21 60 90 120 0.18

73 110 150 0.14 100 152 200 0.11 120 176 220 0.058 147 210 265 0.048 176 253 300 0.042 224 300 400 0.032

＊Attend：220V and 380V do not mix。

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18

5.5 The Proper Screw Drive for Power Terminals

It is necessary to choose proper tool for wiring connection to avoid screw stripped or burst. Please refer to the list below to choose a proper screw drive for driving power terminals.

A - B mm C mm D mm P mm L mm

0.6 - 3.3 3.3 - - -

B C mm D mm P mm L mm

#0 3.3 - - -

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19

S/S

DOx+

DOx-

CKA+

CKA-

CKB+

CKB-

T

S

R U V W P

B

+

-

AOx+

AOx

-

DI9-

DI9+

DI10-

DI10+

-

+

AIx+

AIx-

AO

Pulse\ Frequency Monitor  0 to 2VDC Output

A+

A-

B+

B-

RS485 IC

RS422 IC

TX

RX

COMMUNICATION PORT

RS232\RS485\RS422

 MODBUS RTU  MAX:115200 BPS 

PC\HUMAN\PLC.......

RS232 IC

DIx

DOx=1~4

DI11-

DI11+

DI12-

DI12+

Multi-Function Digital Input  24 VDC Open Collector

Multi-Function Digital Output  24 VDC Open Collector

DOx=1~8

AIx=1~2

AOx=1~2

Multi-Function Analog Input

 ±10 VDC INPUT

ENCODER BUFFER OUTPUT

(PG*4)/N ; N=1,2,4,8,16,32,64

(Line Driver 5V) QEP OUTPUT

OR 250K,125K,62.5K OUTPUT

Fast Digital Input X/Y

Line Speed Input

Max:10M Hz Speed

Photocoupler Isolation

5V Line Receiver

BKE Resistance

AC Servo Motor

Fast Digital Input CUT/MARK

 CUT\MARK Signal Input  Max:10M Hz Speed  5V Line Driver Input

FG

220 VAC INPUT

DI13 & DI14 Virtual Digital Input/Output

DI15 & DI16 (Internal Link) DO15 & DO16

Set By Communication

6. Basic Wiring Diagram for IRIS Series Drive

6.1 Internal Block

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20

IGBT

0V ~ +10V RANGE

-10V ~ +10V RANGE G24

DI6

DI5

DI4

DI3

DI2

DI1

PHOTO

ISOLATED

DIGITAL INPUT

MOTOR

R

S

T

E

OPEN

COLLECTER

U

V

W

BRAKE

S/S

ENCODER

DI7

DI8

24V

9,27

1

2

3

4

5

6

7

8

DIGITAL OUTPUT

10

11

28

29

12

13

30

31

DO3-

DO3+

DO2-

DO2+

DO1-

DO1+

DO4+

DO4-

15

17

AI1+

AI1-

16

18

AI2+

AI2-

35

36

AO1

AO2

34

ACOM

23

25

X+

X-

24

26

Y+

Y-

XY 外部接收介面

19

21

LA+

LA-

20

22

LB+

LB-

PG 分頻輸出

I/O SCSI36 PIN

9

11

232TX

232RX

2,4

VSS

RS232 通信界面

1

3

485A

485B

RS485 通信界面

RS422 通信界面

5

7

422TX

422RX

8,10

6

V5

RXSW

COMM SCSI14 PIN

1

2

A+

A-

3

B+

4

5

B-

C+

6

7

C-

U+

8

9

U-

V+

10

19

V-

W+

20

W

-

12,14

11,13

5V

0V

ENCODER 5V LINE DRIVE

PG SCSI20 PIN

DI9/DI10 5V LINE DRIVE

16

DI9

-

17

18

DI10+

DI10-

15

DI9+

6.2 Basic Wire： 220V (3A~15A)

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COMM

( D-SUB-9

PIN)

Signal

1

V5

2

232TX

3

232RX

4

RXSW

5

VSS

6

V5

7

485-A-

8

485-B

9

VSS

RS232 Connection Recommend

Signal Description

4

RXSW

Do not care

2

232TX

3 232RX

5,9

VSS

0V (internal Gnd)

RS485 Connection Recommend

Signal Description

4

RXSW

Connect V5(Pin1 or Pin6)

7

485-A

8 485-B

5,9

VSS

0V (internal Gnd)

6.2.1 COMM-D-SUB 9 PIN Terminal：. 220V Type (3A~15A)

D-SUB9 PIN terminal，define communication signals，include RS232 / RS485 / RS422，

Switch to a different communication by Hardware wire，please refer to wiring as below。

21

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22

I/O

(SCSI 36 PIN)

Signal

1

DI1

27

S/S

2

DI2

28

DO2+

3

DI3

29

DO2

-

4

DI4

30

DO4+

5

DI5

31

DO4-

6

DI6

32

7

DI7

33

VSS

8

DI8

34

ACOM

9

S/S

35

AO1

10

DO1+

36

AO2

11

DO1-

12

DO3+

13

DO3-

14

15

AI1+

16

AI2+

17

AI1-

18

AI2-

19

LA+

20

LB+

21

LA-

22

LB-

23

X+

24

Y+

25

X-

26

Y-

6.2.2 I/O-SCSI36 PIN Terminal： 220V Type (3A~15A)

SCSI36 PIN terminal，define I/O signals， include DI(digital input) /DO(digital output) / AI(analog input)/AO(analog output) / LAB(PG divided output) / XY(external signal)，about detail， please refer to as below。

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23

ENCODER

(SCSI 20 PIN)

Signal

1

A+

2

A-

3

B+

4

B-

5

C+

6

C-

7

U+

8

U-

9

V+

10

V-

11

0V

12

V5

13

0V

14

V5

15

DI9+

16

DI9-

17

DI10+

18

DI10-

19

W+

20

W-

6.2.3 ENCODER-SCSI20 PIN Terminal： 220V Type (3A~15A)

SCSI20 PIN terminal，define ENCODER and DI9/DI10(fast capture input signals)，include ENCODER(5V LINE-DRIVE) / DI9/DI10(fast capture photocoupler input )，about how to connect，please refer To as below。

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24

6.2.2 Hardware Terminal Construction 220V Type (3A~15A)

TE

VCC

TX

VCC

R

GND

RE

DE D B

A

VCC

485-

485-B

RX

GND

A

!

the stability

Signal from CPU

G24

Open Collector

DO-(x)

Digital Output

DOx

-

DOx+

Terminal Function Hardware construction

I/O

(SCSI36)

485A

I/O

(SCSI36)

485B

I/O

(SCSI36)

AO1

I/O

(SCSI36)

A02

RS485 Communication Port

Analog Output D/A CONVERTER switch signal (Reference Potential：ACOM)

I/O

(SCSI36)

AI1

Analog Input Input Range=+ / - 10V

I/O

(Reference Potential：ACOM)

(SCSI36)

AI2

5V 5V Power Output

0V 5V Power Reference Potential

24V 24V Power Output

G24 24V Power Reference Potential

Digital Output。 (Reference Potential：G24)

I/O

Planning for 24V voltage only

(SCSI36)

to avoid affecting

DO1 ~ DO3

of the drive

Setting from parameters。

Attention！

1. ACOM and G24 not connect inside，do not confuse。

2. 5V and 24V only for signals，please do not supply for Other heavy loading。

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25

I/O

the stability

4.7K

G24

+24V

GND

To CPU

G24

DI-(x)

Digital Input

220,1/4W

A+

A-

A

Vcc

(SCSI36) DI1~DI6

PG

(SCSI20)

ENCODER

Digital Intput。 (Reference Potential：G24)

Planning for 24V voltage only to avoid affecting of the drive

Setting from parameters。

SignalA、B and C，circuit are totally different inside。

Onlyuse 5VLineDriver Encoder to avoid noise effected。

(SCSI36)

I/O

LAB signal is buffered output。 Belong to 5V LINE-DRIVE signal。

LAB

I/O

X and Y circuit are the same。 XY pulse input use 5V fast

XYI

Capture photocoupler input。

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26

IGBT

0V ~ +10V RANGE

-10V ~ +10V RANGE

G24

DI6

DI5

DI4

DI3

DI2

DI1

PHOTO

ISOLATED

DIGITAL INPUT

MOTOR

R

S

T

E

OPEN

COLLECTER

U

V

W

BRAKE

S/S

DI7

DI8

24V

9,10

1

2

3

4

5

6

7

8

DIGITAL OUTPUT

11

12

13

14

15

16

17

18

DO3-

DO3+

DO2-

DO2+

DO1-

DO1+

DO4+

DO4-

19

20

AI1

AI2

22

23

AO1

AO2

21

ACOM

XY 外部接收介面

1

2

LA+

LA-

3

4

LB+

LB-

PG 分頻輸出

3

2

232TX

232RX

5

0V

RS232 通信界面

5

7

485A

485B

RS485 通信界面

COMM (DB9F)

1

2

A+

A-

3

B+

4

5

B-

C+

6

7

C-

U+

8

9

U-

V+

10

11

V-

W+

12

W

-

13

14,15

5V

0V

ENCODER 5V LINE DRIVE

PG(DB15M)

DI9/DI10(24V) PHOTOCOUPLER

6

DI10

9

G24

5

DI9

RJ1 (RJ45)

3,4

0V

1,2

5V

1

X+

2

X-

3

Y+

4

Y-

7

5V

8

0V

XYI (DB9F)

5

6

LC+

LC-

8

0V

LAB(DB9M)

24

25

24V

G24

I/O(DB25F)

PB

P

6.3 Basic Wire： 220V/380V Other Type

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27

COMM(DB9/F) PIN

Signal

1 2

232RX

3

232TX

4 5

0V

6 7 8 9

I/O(DB25/F)

Signal

1

DI1

13

DO2+

2

DI2

14

DO2-

3

DI3

15

DO3+

4

DI4

16

DO3-

5

DI5

17

DO4+

6

DI6

18

DO4-

7

DI7

19

AI1+

8

DI8

20

AI2+

9

S/S

21

ACOM

10

S/S

22

AO1

11

DO1+

23

AO2

12

DO1-

24

+24V

25

G24

PG

(DB15/M)

Signal

1

A+

2

A-

3

B+

4

B-

5

C+

6

C-

7

U+

8

U-

9

V+

10

V-

11

W+

12

W-

13

V5

14

0V

15

0V

LAB(DB9/M)

Signal

1

LA+

2

LA-

3

LB+

4

LB-

5

LC+

6

LC-

7 8

0V

9

XYI(DB9/F)

Signal

1

X+

2

X-

3

Y+

4

Y-

5

DI9

6

DI10

7

V5

8

0V

9

G24

COMM=COMMUNICATION LAB=PG BUFFER OUTPUT I/O=INPUT/OUTPUT XYI=XY & DI9/DI10 INPUT PG:ENCODER SIGNAL INPUT FFEMALE ; MMALE

RJ1(RJ45) (Pin8 Pin1)

1

V5

5

485A

2

V5

6

3

0V

7

485B

4

0V

8

6.3.1 Terminal Definition： 220V/380V Other Type

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28

6.3.2 Hardware Terminal Construction： 220V/380V Other Type

TE

VCC

TX

VCC

R

GND

RE

DE D B

A

VCC

485-

485-B

RX

GND

A

!

the stability

Signal from CPU

G24

Open Collector

DO-(x)

Digital Output

DOx

-

DOx+

Terminal Function Description Hardware Construction

RJ1

(RJ45)

485A

RJ1

(RJ45)

485B

I/O

(DB25F)

AO1

I/O

(DB25F)

A02

RS485 Communication Port

Analog Output D/A CONVERTER switch signal (Reference Potential：ACOM)

I/O

(DB25F)

AI1

Analog Input Input Range=+ / - 10V

I/O

(Reference Potential：ACOM)

(DB25F)

AI2

5V 5V Power Output

0V 5V Power Reference Potential

24V 24V Power Output

G24 24V Power Reference Potential

Digital Output。 (Reference Potential：G24)

I/O

Planning for 24V voltage only

(DB25F)

to avoid affecting

DO1 ~ DO3

of the drive

Setting from parameters。

Attention！

3. ACOM and G24 not connect inside，do not confuse。

4. 5V and 24V only for signals，please do not supply for

Other heavy loading。

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29

I/O

the stability

4.7K

G24

+24V

GND

To CPU

G24

DI-(x)

Digital Input

220,1/4W

A+

A-

A

Vcc

(DB25F)

DI1~DI6

PG

(DB15M)

Digital Intput。 (Reference Potential：G24)

Planning for 24V voltage only to avoid affecting of the drive

Setting from parameters。

SignalA、B and C，circuit are totally different inside。

Onlyuse 5VLineDriver Encoder to avoid noise effected。

LAB

LAB signal is buffered output。 Belong to 5V LINE-DRIVE signal。

(DB9M)

X and Y circuit are the same。

XYI

XY pulse input use 5V fast

(DB9F)

Capture photocoupler input。

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30

6.4 XYSigal Input Description：

220,1/4W

X+

X-

X

Vcc

220,1/4W

+24V X-

X

Vcc

X+

2K,1W

X+

X-

X

5V

0V

5V

0V

5V

0V

X

-

X

5V

0V

24V

0V

5V Line Driver Type Signal +24V Open Collector Type Signal

 If use 5V Line Deiver signal as digital input ，

Just connect to terminal。

ps：Y signal & X signal 。

Use 5V Line Driver signal，please refer to： Open Collector Signal，please refer to：

 If use 24V Open Collector signal as digital input ，

Need to connect limit resistance(2K，1W)。

ps：Y signal & X signal 。

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31

8. Basic Start Method(Quick Start)

!

Under the conditions established in the connection, click execute motor AutoTuning。

1

2

3

4

5

6



8.1 JOINT-PROGRAMMER Execute Motor AutoTuning

Attention！ JOINT-PROGRAMMER release download，please visit our website http://www.jps.com.tw This action must be use JOINT-PROGRAMMER by under communication online status。

Make sure that the motor encoder feedback device specification meets the necessary requirements, then the next step

to download。

 step1：select motor connection。  step 2：select motor type。  step 3：comfirm motor type，and download release parameters from comfirm button 。  step 4：decide Digital-Input / Digital-Output function，reversed or not。

 when execute action，driver will clear Digital-Input / Digital-Output to zero，to avoid error action。

 step 5：Execute selected actionbutton by user。

 click All Execute button，Joint-Programmer will execute  user can also click independent button to run action。

 step 6：observemessage text and wait steps finished。

item step by step。

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32



  

!

8.2 JOINT-PROGRAMMER Software To Execute Speed Mode

 Pr.001=0  set operational mode = Torque/Speed Mode。

Please Reset the driver after finish setting。

 Pr.002=3  set speed source = JOG Speed (Pr.259)。

 Pr.248=100  set accelement ramp。  Pr.249=100  set decelement ramp。  Pr.259=100.0  set Jog speed。

 Pr.003=0  set Torque sorce = Torque-limit-1。

 Pr.004=100.0  set Torque-limit-0。  Pr.065=073  set DI5 = Cmd-Run forward。  Pr.068=102  set DI8 = Cmd-servo-on。

Please Reset the driver after finish setting。 enable DI8  the driver get into servo-on status。 trigger DI5  the driver execute Run-forward command。 the driver running , according to accelement & decelement ramp setting…

【Attention】if want to use external control after finish all the settings，could connect hardware wiring。

8.3 JOINT-PROGRAMMER Software exchange direction

Attention！

If in regular condition， the driver can drive motor normally and want to change the direction definition of

motor. Please following the steps listed below:

 Make sure all th Digital-Input / Digital-Output function disabled。  Turn off th power。  Exchange motor wire：V / W。  Follow chapter 8.1 JOINT-PROGRAMMER JOINT-PROGRAMMER Execute Motor AutoTuning。

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33

9. Parameter Description

9.1 STD Mode：Standard Mode Parameter List

AMP Staus Group <Refer to chapter-10.1> * There is different setting for different model

No. Name Default Min. Max. Unit Type *W

17 I_RMS( % Motor) 0.00 0.00 327.67 M 1 18 I_RMS( Ampere) 0.0 0 3276.7 M 1 20 ID(Field Current, %Amp) 0.00 -327.68 327.67 M 1 21 IQ(Torque Current, %Amplifier) 0.00 -327.68 327.67 M 1 34 ALARM Status 0 0 65535 M 1 40 Mode Registration Information 0 0 65535 M 1 43 UP AUTO RECOVER Eanble 0 0 1 FR/W 1 53 PARAMETER WRITE LEVEL 0 0 1 FR/W；R 1 84 DCBUS Rated Voltage 310 20 30000 Volts FR/W；R 1 85 AMP_Rated_Current 5.0 0.5 3000.0 Ampere FR/W；R 1 89 AMP board Version 0 0 65535 Version M 1 97 MAIN board Version 0 0 65535 Version M 1

133 Thermal Time 3 0 120 sec FR/W 1

AMP Status #4 Selection

154

(shown at Pr.424) AMP Status #5 Selection

155

(shown at Pr.425) 169 I/O Scan Time 0.1 0.0 6553.5 ms/scan M 1 424 AMP_Data4 (by Pr.154 selection) 0 0 65535 M 1 425 AMP-Data5 (by Pr.155selection) 0 0 65535 M 1 495 Digital Input Qualifier 2.0 0.0 2.0 us FR/W；R 1

COMM PORT Group < Refer to chapter-10.2>

No. Name Default Min. Max. Unit Type *W

71 Unit Address 1 1 63 FR/W；R 1 77 BaudRate 2 1 7 FR/W；R 1 81 Error Counts 0 0 65535 M 1

Operation Mode Group < Refer to chapter-10.3>

No. Name Default Min. Max. Unit Type *W

1 Servo Mode Select 0 0 100 R/W；R 1

0 0 65535 FR/W 1

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34

Motor / Encoder Group < Refer to chapter -10.4>

No. Name Default Min. Max. Unit Type *W

8 CT2 Counter (Encoder A/B input) 0 0 65535 counts M 1 56 Actual-RPM 0.0 -3276.7 3276.7 rpm M 1 86 MOTOR_Rated_Current 5.0 0.5 3000.0 Ampere FR/W；R 1 88 MOTOR_Peak_Current 100 0 300 % FR/W；R 1

134 Lph (Winding Inductance per Phase) 0.00 0.00 500.00 mH FR/W 1 135 Rph (Winding Resistance per Phase) 0.000 0.000 50.000 OHM FR/W 1 189 ENCODER TYPE 0 0 100 R/W 1 190 ENCODER PPR 2500 60 65000 pulses/rev FR/W；R 1 191 ENCODER Direction 0 0 1 FR/W；R 1 192 ENCODER Shift 0 0 65535 pulses FR/W；R 1 193 Motor Type 3 3 3 F 1 194 Motor Pole No. 8 2 100 FR/W；R 1 196 ENCODER PPR CHECK 10000 0 65535 pulses/rev FR/W；R 1 197 Hall UVW Sequence 2 0 65535 FR/W；R 1 198 Motor Ke(Back Emf constant) 0.0 0.0 6000.0 Volts/1000rpm FR/W 1 199 Motor De(Decoupling constant) 0.0 0.0 6000.0 Volts/1000rpm*I FR/W 1 200 Motor Rated Speed 1000 0 30000 rpm FR/W；R 1 201 ENCODER ABC CHECK 0 0 7 M 1 202 ENCODER UVW CHECK 0 0 7 M 1 203 Motor Maximum Speed 1000 0 30000 rpm R/W；R 1 204 ENCODER Present Position 0 0 65535 M 1 205 Present Position in Electrical Angle 0.0 0.0 359.9 degree M 1 207 Rated Torque 0.0 0.0 6000.0 Kgf*cm FR/W 1 208 Rated Inertia(Jm) 0.00 0.00 600.00 Kg*cm*cm FR/W 1

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35

PID Gain Group < Refer to chapter -10.5>

No. Name Default Min. Max. Unit Type *W 160 Current loop P-Gain 0 0 30000 FR/W 1 161 Current loop I-Gain 0 0 30000 FR/W 1 171 Position Error Limit

( for Speed Loop Stiffness ) 172 1'st Position loop F gain 100 0 100 % FR/W 1 173 PositionLoop Gain Type Selection 0 0 1 R/W 1 174 1'st Position loop P gain 0.00 0.00 300.00 Rpm/Pulse R/W 1 175 1'st Position loop I gain 0.00 0.00 300.00 Rpm/(sec*Pulse) 176 1'st Position loop D gain(motion) 0.00 0.00 300.00 Rpm/(Krpm/sec) FR/W 1 177 2'st Position loop P gain 0.00 0.00 300.00 Rpm/Pulse R/W 1 178 2'st Position loop I gain 0.00 0.00 300.00 Rpm/(sec*Pulse) 179 2'st Position loop D gain(motion) 0.00 0.00 300.00 Rpm/(Krpm/sec) FR/W 1 180 Position Loop D-Time 2.0 0.0 12.7 ms FR/W 1 181 ACC Torque compensation 0 0 30000 R/W 1 182 Speed loop D-Gain 0 0 30000 FR/W 1 183 Speed Loop D-Time 0.5 0.5 12.7 ms FR/W 1 184 Threshold Rpm for SPZ 100 0 1000 rpm R/W 1 185 Speed Error Limit 1000 0 60000 rpm FR/W 1 186 Speed Estimator Filter 0 0 3 FR/W 1 187 Torque Command Filter 0 0 4 FR/W 1 237 Speed Loop Base Pgain (Pbase) 100 0 1000 R/W 1 238 Speed Loop Base Igain (Ibase) 100 0 1000 R/W 1 239 SpeedLoopGain Switch Selection 0 0 100 R/W 1 242 1'st Speed Loop Pgain 100 0 1000 % base Pgain R/W 1 243 1'st Speed Loop Igain 100 0 1000 % base Igain R/W 1 246 2'st Speed Loop Pgain 100 0 1000 % base Pgain R/W 1 247 2'st Speed Loop Igain 100 0 1000 % base Igain R/W 1

100 0 60000 pulse FR/W 1

R/W 1

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36

Analog Input Group < Refer to chapter -10.6>

No. Name Default Min. Max. Unit Type *W 116 AI1 Filter 2 0 4 Filter Level FR/W；R 1 117 AI1 DRIFT 0 -32768 32767 R/W 1 118 AI1 GAIN 100.0 0.0 1000.0 % R/W 1 119 AI1 Result Value 0 -32768 32767 count M 1 124 AI1 UPPER LIMIT 32767 0 32767 R/W 1 125 AI1 LOWER LIMIT 0 0 32767 R/W 1 128 AI2 Filter 2 0 4 Filter Level FR/W；R 1 129 AI2 DRIFT 0 -32768 32767 R/W 1 130 AI2 GAIN 100.0 0.0 1000.0 % R/W 1 131 AI2 Result Value 0 -32768 32767 count M 1 132 AI1 & AI2 Range Select 0 0 3 R/W；R 1

Analog Output Group < Refer to chapter -10.7>

No. Name Default Min. Max. Unit Type *W 100 Analog Output AO1 Data Select 0 0 250 R/W 1 101 AO1 Offset Adjustment 0 -2000 2000 mV R/W 1 102 AO1 Span Adjustment 100.0 0.0 110.0 % Gain R/W 1 103 Analog Output AO2 Data Select 0 0 250 R/W 1 104 AO2 Offset Adjustment 0 -2000 2000 mV R/W 1 105 AO2 Span Adjustment 100.0 0.0 110.0 % Gain R/W 1 106 RAM-SET1 0 -2000 2000 mV RAM 1 107 RAM-SET2 0 -2000 2000 mV RAM 1 108 EAROM-SET1 / or Wave Frequency 0 -2000 2000 mV / Hz R/W 1 109 EAROM-SET2 / or Cosine Phase Lag 0 -2000 2000 mV / Degree R/W 1 157 Analog Output AO1 Monitor 0 -2048 2048 mV M 1 158 Analog Output AO2 Monitor 0 -2048 2048 mV M 1

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Digital Input Group < Refer to chapter -10.8>

No. Name Default Min. Max. Unit Type *W

11 DI Status 0 0 65535 M 1 60 DI-x Simulation Inputs 0 0 65535 FR/W 1 61 DI-1 function Select 0 0 255 R/W 1 62 DI-2 function Select 0 0 255 R/W 1 63 DI-3 function Select 0 0 255 R/W 1 64 DI-4 function Select 0 0 255 R/W 1 65 DI-5 function Select 0 0 255 R/W 1 66 DI-6 function Select 0 0 255 R/W 1 67 DI-7 function Select 0 0 255 R/W 1 68 DI-8 function Select 0 0 255 R/W 1 69 DI-9 function Select 0 0 255 R/W 1

70 DI-10 function Select 0 0 255 R/W 1 167 DI-11 function Select (FDIX) 0 0 10 R/W 1 168 DI-12 function Select (FDIY) 0 0 10 R/W 1 473 DI-13 function Select (Firmeare Modify) 0 0 255 R/W 1 474 DI-14 function Select (Firmeare Modify) 0 0 255 R/W 1 475 DI-15 function Select (Firmeare Modify) 0 0 255 R/W 1 476 DI-16 function Select (Firmeare Modify) 0 0 255 R/W 1

Digital Output Group < Refer to chapter -10.9>

No. Name Default Min. Max. Unit Type *W

12 DOStatus 0 0 65535 M 1

13 DO Simulation 0 0 65535 FR/W 1 111 DO-1 function Select 0 0 255 R/W 1 112 DO-2 function Select 0 0 255 R/W 1 113 DO-3 function Select 0 0 255 R/W 1 114 DO-4 function Select 0 0 255 R/W 1 165 DO-15 function Select (Firmeare Modify) 0 0 255 R/W 1 166 DO-16 function Select (Firmeare Modify) 0 0 255 R/W 1

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Torque / Speed Mode Group < Refer to chapter -14.1>

No. Name Default Min. Max. Unit Type *W

2 Speed Source Select 3 0 8 R/W；R 1 3 Torque Limit Source 0 0 2 R/W；R 1 4 Torque Limit-0 (EAROM) 100.00 0.00 100.00 % R/W 1 5 Torque Limit-1 (EAROM) 0.00 0.00 100.00 % R/W 1 6 Torque Limit-2 (EAROM) 0.00 0.00 100.00 % R/W 1 7 Torque Limit-3 (EAROM) 0.00 0.00 100.00 % R/W 1

24 Torque DROOP Range 100 0 3000 rpm R/W 1 248 ACC Time 100 0 60000 ms/Krpm R/W 1 249 DEC Time 100 0 60000 ms/Krpm R/W 1 250 Scurve T1 time (ACC Start) 10 0 60000 ms R/W 1 251 Scurve T2 time (ACC End) 10 0 60000 ms R/W 1 252 Scurve T3 time (DEC Start) 10 0 60000 ms R/W 1 253 Scurve T4 time (DEC End) 10 0 60000 ms R/W 1 254 EMG STOP Ramp Down Time 100 0 3000 ms R/W 1 255 RUN/STOP/FOR/REV Command Type 0 0 2 R/W 1 259 JOG Speed Set 5.0 -3276.8 3276.7 rpm R/W 1 260 Speed Set0 (RAM) 0.0 -3276.8 3276.7 rpm R/W 1 261 Speed Set1 (EAROM) 0.0 -3276.8 3276.7 rpm R/W 1 262 Speed Set2 (EAROM) 0.0 -3276.8 3276.7 rpm R/W 1 263 Speed Set3 (EAROM) 0.0 -3276.8 3276.7 rpm R/W 1 264 Speed Set4 (EAROM) 0.0 -3276.8 3276.7 rpm R/W 1 265 Speed Set5 (EAROM) 0.0 -3276.8 3276.7 rpm R/W 1 266 Speed Set6 (EAROM) 0.0 -3276.8 3276.7 rpm R/W 1 267 Speed Set7 (EAROM) 0.0 rpm R/W 1

Miscellaneous Group < Refer to chapter -10.10>

No. Name Default Min. Max. Unit Type *W

10 Speed Compare Level 10 0 32767 rpm R/W 1

16 Torque Compare Level 50.00 0.00 300.00 % R/W 1 115 CKA/CKB Output Clock Select 0 0 10 type R/W 1

Position Error Warning Level

170

(for DO compare )

32 BIT-COUNTER Group < Refer to chapter -13.1>

No. Name Default Min. Max. Unit Type *W 214 32 Bit Counter Content 0 0 4294967295 counts R/W 2 216 32 Bit Counter Compare Level 0 0 4294967295 counts R/W 2

100 0 65535 pulses R/W 1

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TIMER Group < Refer to chapter -13.3>

No. Name Default Min. Max. Unit Type *W 230 Timer1：ON-Time 500 1 30000 ms R/W 1 231 Timer1：OFF-Time 500 1 30000 ms R/W 1 232 Timer2：ON-Time 500 1 30000 ms R/W 1 233 Timer2：OFF-Time 500 1 30000 ms R/W 1 234 Timer3：Delay-Period-Time 500 1 30000 ms R/W 1 235 Timer4：Delay-Period-Time 500 1 30000 ms R/W 1 236 Timer5：Mono-Pulse-Time 500 1 30000 ms R/W 1

ECAM Group < Refer to chapter -13.8>

No. Name Default Min. Max. Unit Type *W 318 PPRC (Pulses Per Rotary/ECAM Cycle) 10000 0 1000000 pulses R/W 2 331 (M) ECAM/ROTARY Angle 0.0 0.0 360.0 Degree M 1 332 ECAM1：Start Angle 0.0 0.0 360.0 Degree R/W 1 333 ECAM1：End Angle (or Range Angle) 0.0 0.0 360.0 Degree R/W 1 334 ECAM2：Start Angle 0.0 0.0 360.0 Degree R/W 1 335 ECAM2：End Angle (or Range Angle) 0.0 0.0 360.0 Degree R/W 1 336 ECAM3：Start Angle 0.0 0.0 360.0 Degree R/W 1 337 ECAM3：End Angle (or Range Angle) 0.0 0.0 360.0 Degree R/W 1 338 ECAM4：Start Angle 0.0 0.0 360.0 Degree R/W 1 339 ECAM4：End Angle (or Range Angle) 0.0 0.0 360.0 Degree R/W 1

16 BIT-SHIFTER Group < Refer to chapter -13.20>

No. Name Default Min. Max. Unit Type *W 213 16 bit Shifter：Content 0 0 65535 Bit Pattern 219 16 bit Shifter：SR_PPF (Past-Present-Future Bits) 228 16 bit Shifter：Effective Bits Set value 16 1 16 Bits R/W 1 229 16 bit Shifter：Leading-Zeros in Effective Bits 0 0 16 Bits R/W 1

XY / AB Index Group < Refer to chapter -13.22>

No. Name Default Min. Max. Unit Type *W 459 XY_INDEX1：ON pulses(Simulation) 100 1 30000 pulses R/W 1 460 XY_INDEX1：OFF pulses(Simulation) 100 1 30000 pulses R/W 1 461 XY_INDEX2：ON pulses(Simulation) 100 1 30000 pulses R/W 1 462 XY_INDEX2：OFF pulses(Simulation) 100 1 30000 pulses R/W 1 463 AB_INDEX1：ON pulses(Simulation) 100 1 30000 pulses R/W 1 464 AB_INDEX1：OFF pulses(Simulation) 100 1 30000 pulses R/W 1 465 AB_INDEX2：ON pulses(Simulation) 100 1 30000 pulses R/W 1 466 AB_INDEX2：OFF pulses(Simulation) 100 1 30000 pulses R/W 1

0 0 7 Bits R/W 1

R/W 1

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9.2 EGEAR Mode：Standard Pulse Command Parameter List

EGEAR(Standard Pulse Command ) Group < Refer to chapter -14.3>

No. Name Default Min. Max. Unit Type *W 009 CT4 Counter (Pulse Command X/Y input) 0 0 65535 count M 1 036 EGEAR(STD) / PRT(Special) Mode Selection 0 0 1 FR/W；R 1 037 E-GEAR Mul-0 (EGEAR Mode) 10000 0 50000 R/W 1 038 E-GEAR Div-0 (EGEAR Mode) 10000 0 50000 R/W；R 1 039 E-GEAR Mul-1(EGEAR Mode) 10000 0 50000 R/W 1 054 E-GEAR Mul-2(EGEAR Mode) 10000 0 50000 R/W 1 055 E-GEAR Mul-3(EGEAR Mode) 10000 0 50000 R/W 1 110 E-GEAR X/Y Input Pulse Input Type 0 0 2 R/W；R 1 209 E-GEAR JOG Rpm( EGEAR Mode) 60 0 3000 rpm R/W 1 210 E-GEAR Maximum Speed Limit 1000 0 3000 rpm R/W 1 211 E-GEAR Ramp Rate 100 0 10000 ms/Krpm R/W 1 212 PRT High Gain Lock Time 500 0 1000 ms R/W 1

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9.3 BP2P Mode：Basic Point To Point Parameter List

BP2P (Basic Point to Point) Group < Refer to chapter -14.4>

No. Name Default Min. Max. Unit Type *W 218 P2P In-Position_Rage 0 0 30000 pulses R/W 1 269 Search Home Mode 0 0 8 R/W；R 1 270 Home Offset 0.000 -1000.000 1000.000 mm R/W 2 273 P2P High Gain Lock Time 500 0 1000 ms R/W 1 274 Position Set0 (POSx SW=0000) 0.000 -1000000.000 1000000.000 276 Position Set1 (POSx SW=0001) 0.000 -1000000.000 1000000.000 278 Position Set2 (POSx SW=0010) 0.000 -1000000.000 1000000.000 280 Position Set3 (POSx SW=0011) 0.000 -1000000.000 1000000.000 282 Position Set4 (POSx SW=0100) 0.000 -1000000.000 1000000.000 284 Position Set5 (POSx SW=0101) 0.000 -1000000.000 1000000.000 286 Position Set6 (POSx SW=0110) 0.000 -1000000.000 1000000.000 288 Position Set7 (POSx SW=0111) 0.000 -1000000.000 1000000.000 290 Position Set8 (POSx SW=1000) 0.000 -1000000.000 1000000.000 292 Position Set9 (POSx SW=1001) 0.000 -1000000.000 1000000.000 294 Position Set10 (POSx SW=1010) 0.000 -1000000.000 1000000.000 296 Position Set11 (POSx SW=1011) 0.000 -1000000.000 1000000.000 298 Position Set12 (POSx SW=1100) 0.000 -1000000.000 1000000.000 300 Position Set13 (POSx SW=1101) 0.000 -1000000.000 1000000.000 302 Position Set14 (POSx SW=1110) 0.000 -1000000.000 1000000.000 304 Position Set15 (POSx SW=1111) 0.000 -1000000.000 1000000.000 306 P2P Mark Reference Position 0.000 0.000 1000000.000

MOTOR side PPM

310

(Input Pulses Per Meter)

50000 0 100000000 Pls/Meter

mm R/W 2 mm R/W 2 mm R/W 2 mm R/W 2 mm R/W 2 mm R/W 2 mm R/W 2 mm R/W 2 mm R/W 2 mm R/W 2 mm R/W 2 mm R/W 2 mm R/W 2 mm R/W 2 mm R/W 2 mm R/W 2 mm R/W 2

FR/W；R 2

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No. Name Default Min. Max. Unit Type *W 356 P2P Profile-A : Half-Sine Period Time 5.0 1.0 5000.0 ms R/W 1

P2P Profile-A : Top Speed Set

357

(For JOG & HOME) P2P Profile-A : Acc/Dec Ramp Time

358

(For JOG & HOME) P2P Profile-A : S-Curve Jerk Time

359

(For JOG & HOME) 360 P2P Profile-B : Half-Sine Period Time 5.0 1.0 5000.0 ms R/W 1 361 P2P Profile-B : Top Speed Set 10 1 3000 rpm R/W 1 362 P2P Profile-B : Acc/Dec Ramp Time 10.0 1.0 6000.0 ms/Krpm R/W 1 363 P2P Profile-B : S-Curve Jerk Time 5.0 1.0 3000.0 ms R/W 1 364 P2P Profile-C : Half-Sine Period Time 5.0 1.0 5000.0 ms R/W 1 365 P2P Profile-C : Top Speed Set 50 1 3000 rpm R/W 1 366 P2P Profile-C : Acc/Dec Ramp Time 10.0 1.0 6000.0 ms/Krpm R/W 1 367 P2P Profile-C : S-Curve Jerk Time 5.0 1.0 3000.0 ms R/W 1 368 P2P Profile-D : Half-Sine Period Time 5.0 1.0 5000.0 ms R/W 1 369 P2P Profile-D : Top Speed Set 100 1 3000 rpm R/W 1 370 P2P Profile-D : Acc/Dec Ramp Time 10.0 1.0 6000.0 ms/Krpm R/W 1 371 P2P Profile-D : S-Curve Jerk Time 5.0 1.0 3000.0 ms R/W 1

5 1 3000 rpm R/W 1

10.0 1.0 6000.0 ms/Krpm R/W 1

5.0 1.0 3000.0 ms R/W 1

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BP2P (Basic Point to Point) Group < Refer to chapter -14.4>

No. Name Default Min. Max. Unit Type *W 372 P2P Run Profile-0 0 0 3 R/W 1 373 P2P Run Profile-1 0 0 3 R/W 1 374 P2P Run Profile-2 0 0 3 R/W 1 375 P2P Run Profile-3 0 0 3 R/W 1 376 P2P Run Profile-4 0 0 3 R/W 1 377 P2P Run Profile-5 0 0 3 R/W 1 378 P2P Run Profile-6 0 0 3 R/W 1 379 P2P Run Profile-7 0 0 3 R/W 1 380 P2P Run Profile-8 0 0 3 R/W 1 381 P2P Run Profile-9 0 0 3 R/W 1 382 P2P Run Profile-10 0 0 3 R/W 1 383 P2P Run Profile-11 0 0 3 R/W 1 384 P2P Run Profile-12 0 0 3 R/W 1 385 P2P Run Profile-13 0 0 3 R/W 1 386 P2P Run Profile-14 0 0 3 R/W 1 387 P2P Run Profile-15 0 0 3 R/W 1 388 P2P Position Mode-0 0 0 9 R/W 1 389 P2P Position Mode-1 0 0 9 R/W 1 390 P2P Position Mode-2 0 0 9 R/W 1 391 P2P Position Mode-3 0 0 9 R/W 1 392 P2P Position Mode-4 0 0 9 R/W 1 393 P2P Position Mode-5 0 0 9 R/W 1 394 P2P Position Mode-6 0 0 9 R/W 1 395 P2P Position Mode-7 0 0 9 R/W 1 396 P2P Position Mode-8 0 0 9 R/W 1 397 P2P Position Mode-9 0 0 9 R/W 1 398 P2P Position Mode-10 0 0 9 R/W 1 399 P2P Position Mode-11 0 0 9 R/W 1 400 P2P Position Mode-12 0 0 9 R/W 1 401 P2P Position Mode-13 0 0 9 R/W 1 402 P2P Position Mode-14 0 0 9 R/W 1 403 P2P Position Mode-15 0 0 9 R/W 1

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BP2P (Basic Point to Point) Group < Refer to chapter -14.4>

No. Name Default Min. Max. Unit Type *W 404 P2P FORWARD Travel Limit 1000000.000 -1000000.000 1000000.000 mm R/W 2 406 P2P REVERSE Travel Limit -1000000.000 -1000000.000 1000000.000 mm R/W 2 411 (M) Productivity (Sheet Per Minute) 0 0 65536 SPM M 1 413 P2P Specify STATUS for DO check 0 0 65535 FR/W 1 415 (M) P2P STATUS for Monitor 0 0 65535 M 1 416 (M) P2P Machine Position(mm) 0.000 -1000000.000 1000000.000 mm M 2 426 (M) Motor Travel Length(mm) 0.000 0.000 1000000.000 mm M 2 428 (M) P2P MARK Position(mm) 0.000 0.000 1000000.000 mm M 2 430 P2P MARK-Window 5 1 30000 mm FR/W 1

P2P ARC(Auto-Registration-Control)

431

Ratio P2P ARC(Auto-Registration_Control)

432

Limit

478 (M) P2P Cycle End Position 0.000 -1000000.000 1000000.000 mm M 2

*W：mean 1 word or 2 word of parameter 。

25 0 100 % FR/W 1

5.0 1.0 100.0 mm FR/W 1

9.4 Parameter Type

The table showed below describing the different type of all the parameter of this manual:

Type Description

R/W The parameter is Readable and Writable， and can be stored in EAROM.

The parameter is Readable and Writable， and can be stored in EAROM.

FR/W

RAM

M The parameter is Monitor type. Only readable and no effect for writing this parameter.

F Factory set parameter， and should not be changed.

R

This type of parameter is specially set by Factory and not for user normally usage. This type of parameter only can be modified by authorized person. The parameter is Readable and Writable， but it uses the RAM to temporally store the change of parameter. After power on or reset it will be recover to be default value.

To indicate that any change of this type of parameter have to Reset the driver to enable the change.

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10. JMD Group Description



10.1 AMP Status Group

 Pr.017

 Pr.018

 Pr.020

 Pr.021

 Pr.034

 Pr.040

 Pr.043

 Pr.053

I_RMS( % Motor)

This parameter displays the actual current / motor rated current percentage of cases。

I_RMS( Ampere)

This parameter displays the actual current drive。

ID(Field Current, %Amp)

This parameter shows the synthesis of the field current drive。

IQ(Torque Current, %Amplifier)

This parameter shows the synthesis of the drive torque current.

ALARM Status

This parameter displays the current drive abnormal state.

【Note】on the analysis of exception code, refer to chapter 15

Mode Registration Information

This parameter displays the drive mode version。

UP AUTO RECOVER Eanble

This parameter can be set when the UP low voltage faults, you can enable or disable startup: UP automatic recovery 【Note】When you start the UP automatic recovery function, the drive automatically performs

an internal reset software reset, all belonging to the communication virtual I / O

Will restore the initial state.

Setting Description

0 Disable UP AUTO RECOVER 1 Enable UP AUTO RECOVER

PARAMETER WRITE LEVEL

Setting Description

0 Parameter setting, the setting values are stored to

EAROM

1 Parameter setting, the setting value is not stored into

EAROM, only written to RAM, Reset or power off, the settings will be restored.

【Note】After the reset, the set value of this parameter will be automatically cleared to 0。

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

Pr.133

150%

110% (Irms / Pr.017)

TIME

 Pr.084 This parameter defines the input AC power voltage level: For 220V driver， it should set 315； For 380V driver， it should set 537。

 Pr.085

 Pr.089

 Pr.097

This parameter defines the firmware version of MASTER-CPU。  Pr.133

DCBUS Rated Voltage

This parameter has been defined well before leaving factory. User should not change it. If necessary to adjust it， please measure the R， S， T voltage and get the average to write into this parameter. ※ If the R， S， T input voltage is different form the designed level exceed 10%， please contact

with the agency or producer to confirm. Rashly change this parameter may cause damage to this driver or public danger.

The driver will follow this parameter’s setting to calculate the followed voltage check level:

※ Over Potential trip level = 1.414 ＊ Pr.130 ＊ 130 ％。 ※ OP recover level = 1.414 * Pr.130 * 120%。 ※ Under Potential trip level = 1.414 * Pr.130 * 70%。 ※ UP recover level = 1.414 * Pr.130 * 80%。 ※ CONTACTOR ON level = 1.414＊Pr.130＊69％。 ※ CONTACTOR OFF = 1.414＊ Pr.130＊65％。

【NOTE】The Contactor is inside the driver to short the charging resistor.

Brake Discharge start level = 1.414＊Pr.130＊117％。

AMP_Rated_Current

This parameter defines the rated output current of driver. 【NOTE】This parameter is set as the specification of driver， and there is no need to change it. AMP board Version

This parameter defines the firmware version of SLAVE-CPU。

MAIN board Version

Thermal Time

This Driver has built an electronic thermo function. If the driver volume is large then the motor which is used， this function can prevent the motor overload. If this parameter sets to be 0， the Electronic Thermo protect function is disabled。

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

 Pr.154  Pr.155

 Pr.169

 Pr.424  Pr.425

 Pr.495

AMP Status #4 Selection(shown at Pr.424) AMP Status #5 Selection(shown at Pr.425)

Pr.154 can set the drive's internal observation information AMP-Status4, after pointing to the observed value will be displayed on Pr.424 Pr.155 can set the drive's internal observation information AMP-Status5, after pointing to the observed value will be displayed on Pr.425

Setting Description

16 DC-BUS ( xxx.x Volt) 50 Temperature

I/O Scan Time

This parameter Display the once scan time of internal I/O。 AMP-Data4 (by Pr.154 selection) AMP-Data5 (by Pr.155 selection)

This parameters for the drive internal state of the state, refer to Pr.154 / Pr.155's instructions.

Digital Input Qualifier

This parameter adjusts the digital input signal filtering capacity。

【NOTE】Drive at the factory pre-set this parameter, user should not need to set。

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10.2 COMM PORT Group



    



 



 



 



 Pr.071

 Pr.077

 Pr.081

Unit Address

You can set the drive mailing address (1 to 63). If the same set of RS485 communication line, there are two or more drive units are connected，Then each drive must be given to the different communication address for identification purposes, or communication data will be uncontrollable chaos.

【NOTE】Currently only open to 19200bps, 8bits, 1stop, no parity communication format.

BaudRate

This parameter determines the communication port communication speed.

Setting Description

1 BaudRate =9600 2 BaudRate =19200 3 BaudRate =38400 4 BaudRate =57600 7 BaudRate =115200

Error Counts

This parameter shows that when a communication failure or error, every communication

fails on plus 1。

10.3 Operation Mode Group

 Pr.001

Setting Description Include Mode STD PRT RC VRC FS FC

0 Torque/Speed

2

3 SP2P(Smart Point To Point) 4 BP2P(Basic Point To Point)

9

Servo Mode Select

This parameter determines the drive control mode.

【NOTE】If you do not choose the appropriate models, in some modes, not working properly,，

Relevant purchase pattern contained models, please refer to the following table.

EGEAR(STD)/PRT(Special) include：(switch parameter=Pr.036)

RC(Rotary Cut) / VRC(Vocano Rotary Cut) include：(switch parameter=Pr.313)

(STD)EGEAR Mode (Special)PRT Mode

(STD)RC Mode (Special)VRC Mode

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10.4 Motor / Encoder Group



 Pr.008

 Pr.056

 Pr.086

 Pr.088

 Pr.134  Pr.135

 Pr.189

 Pr.190

 Pr.191

 Pr.192

CT2 Counter (Encoder A/B input)

This parameter displays counter status feedback signal, the counter counts from 0 to 65535.

Forward received a per pulse counter is incremented by 1;

Each received a reverse rotation pulse counter is decremented by 1.

Actual-RPM

This parameter displays the drive from the feedback signal detected on the actual speed.

MOTOR_Rated_Current

This parameter must be set on the actual motor nameplate current.

MOTOR_Peak_Current(%)

This parameter must be set to the motor driver provides the maximum current. For example: When Pr.086 (motor rated current) = 5.0 A

Pr.088 (maximum motor current (percentage)) = 200%

Therefore, the drive can provide the maximum current = 10.0 A

Lph (Winding Inductance per Phase) Rph (Winding Resistance per Phase)

These two parameters are used to input motor parameters used, refer to the motor on the supplier does enter, Also available via the drive's auto-tuning function automatically detect settings.

ENCODER TYPE

This parameter is used to select proper encoder type for used.

Setting Description Memo

0 JBL- Standard( A/B/Z + U/V/W ) Suitable standard encoder 1 JBL-IRT 380 Series ( ABZ mix VWU 5ms delay) Suitable encoder：IRT380 type

2 JBL-TS5214 Series ( ABZ mix UVW 500ms delay ) Suitable encoder：TS5214 type ENCODER PPR

This parameter sets the feedback signal pulse number per revolution

【NOTE】Please set actual pulse feedback signal , do not multiply resolution magnification). ENCODER Direction

This parameter determines the encoder A / B signals ahead or behind.

Setting Description

0 A lead B

1 B lead A 【NOTE】This parameter changes will be reflected in Pr.008: CT2-AB Motor Encoder Counter ENCODER Shift

This parameter sets the motor: Mechanical zero and encoder: electrical zero angle of deviation pulse.

【NOTE】This parameter via automatic tuning, that the deviation of the motor and the

encoder pulse, do not set their own。

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

 Pr.193

 Pr.196

 Pr.197

 Pr.198

 Pr.199

 Pr.200

 Pr.201

 Pr.202

 Pr.203

 Pr.204

 Pr.205

 Pr.207

 Pr.208

Motor Type

This parameter displays the type of the drive motor.

Setting Description

3 Permanent magnet servo motor type 【Note】JUPITER can only control 3: permanent magnet servo motor types. ENCODER PPR CHECK

This parameter displays 2 C signals contained between A / B pulse.

For example: If the encoder is 2500 PPR; then this parameter value = 10000 PPR

【Note】This parameter stability will affect the driver controls the motor speed stability. Hall UVW Sequence

This parameter shows the operation, after point C, the detected timing UVW state.

【Note】This parameter will affect the drive controls the motor speed stability. Motor Ke(Back Emf constant)

According to information provided by the motor manufacturer to set: motor Ke values.

Motor De(Decoupling constant)

According to information provided by the motor manufacturer to set: motor De values.

Motor Rated Speed

According to information provided by the motor manufacturer to set: motor rated speed

ENCODER ABC CHECK

This parameter can be displayed on the feedback signal A / B / C state.

For example：AＯN(1) ；BOFF(0)；COFF(0) > this parameter display 4。 ENCODER UVW CHECK

This parameter can be displayed on the feedback signal U/V/W state。

For example：UＯN(0) ；VOFF(1)；WOFF(0) > this parameter display 2。【Note】Wire-saving encoder models only displayed once at boot time. Motor Maximum Speed

According to information provided by the motor manufacturer to set: motor maximum speed

ENCODER Present Position

This parameter indicates the current position encoder.

Present Position in Electrical Angle

This parameter indicates the current position encoder.

Rated Torque

According to information provided by the motor manufacturer to set: Rated Torque

Rated Inertia(Jm)

According to information provided by the motor manufacturer to set: Rated Inertia(Jm)。

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10.5 PID Gain Group



 Pr.160  Pr.161

 Pr.171

 Pr.172

 Pr.173

 Pr.174  Pr.175  Pr.176

 Pr.177  Pr.178  Pr.179

 Pr.180

 Pr.181

 Pr.182  Pr.183

Current loop P-Gain Current loop I-Gain

This two parameter sets: current loop P gain and I gain。

【Note】This parameter via auto-tuning, the drive is automatically set。

【Recommend】Current loop P gain> current loop I gain。 Position Error Limit ( for Speed Loop Stiffness )

This parameter setting: position error limit setpoint。

【Note】This parameter is only used in the speed mode to enhance the speed of flatness。

1'st Position loop F gain

This parameter setting: position loop (1): F gain.

PositionLoop Gain Type Selection

Setting Description

0 Linear Type(Recommend)

1 Square Root Type 1'st Position loop P gain 1'st Position loop I gain(motion) 1'st Position loop D gain(motion)

This three parameter settings: position loop (1) of the PID gains。

2'nd Position loop P gain 2'nd Position loop I gain(motion) 2'nd Position loop D gain(motion)

This three parameter settings: position loop (2) of the PID gains。

Position Loop D-Time

This parameter setting: position loop: D Time

ACC Torque compensation

This parameter sets: pre-fill volume deceleration torque, acceleration and deceleration when severe conditions, increase this parameter, to enhance the response speed compensation. 【Recommend】increment: 250

Speed loop D-Gain Speed Loop D-Time

This two parameter settings: Speed loop: D and D gain time.

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52







 Pr.184

 Pr.185

 Pr.186

 Pr.187

 Pr.237  Pr.238

 Pr.239

Threshold Rpm for SPZ

Actual speed <Pr.184: use the first (1) group gain

Actual speed> =. Pr.184: use the first (2) groups gain

【Note】This parameter applies mode, refer to the table series

Pr.001 Description Include Mode Suitable Mode

0 Torque/Speed

EGEAR(STD)/PRT(Special)

2

include：(switch parameter=Pr.036) 3 SP2P(Smart Point To Point) 4 BP2P(Basic Point To Point)

RC(Rotary Cut) / VRC(Vocano Rotary Cut) 9

include：(switch parameter=Pr.313)

Speed Error Limit

This parameter setting: speed loop: Wrong speed limit

Speed Estimator Filter

This parameter setting: Speed Loop: filtering level

Torque Command Filter

This parameter setting: Torque Loop: filtering level

Speed Loop Base Pgain (Pbase) Speed Loop Base Igain (Pbase)

This two parameter is the speed loop (Base) P / I gain parameter. A load of the motor to

achieve the best control performance in post And appropriate reaction speed, avoid system

shocks, etc., can be adjusted by this parameter.

【Note】This parameters will also affect speed loop (1)-P / I gain speed loop (2)-P / I gain。【Recommend】Speed Loop (Base)-P gain> Speed Loop (Base)-I-gain SpeedLoopGain Switch Selection

This parameter shows the gain of the type used in the model.

Setting Description

0 From Speed Loop (Base) Gain 1 From Speed Loop (2) Gain 3 From Speed Loop (1) Gain 6 From Pcmd Mode 7 From SP2P Mode

8 From RC Mode 10 From Speed loop gain switching point 11 From Speed Mode

【Note】Mode, the internal switch on their own, do not set their own.

(STD)EGEAR Mode (Special)PRT Mode

(STD)RC Mode (Special)VRC Mode

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

 Pr.242  Pr.243

 Pr.246  Pr.247

【Note】About how to adjust the PID, please refer to the relevant sections of 14 patterns, patterns PID

1'st Speed Loop Pgain 1'st Speed Loop Igain

This two parameter is the speed loop (1)-P / I gain parameter. A load of the motor to achieve the best control performance in post And appropriate reaction speed, avoid system shocks,

etc., can be adjusted by this parameter.

【Note】Average speed loop (1), defined as a low gain. 【Recommend】Speed Loop (1)-P gain> Speed Loop (1)-I-gain 2'nd Speed Loop Pgain 2'nd Speed Loop Igain

This parameter is the speed loop two (2)-P / I gain parameter. A load of the motor to achieve

the best control performance in post And appropriate reaction speed, avoid system shocks,

etc., can be adjusted by this parameter.

【Note】Average speed loop (2), defined as the speed gain。【Recommend】Speed Loop (2)-P gain> Speed Loop (2)-I-gain

tuning instructions.

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54

10.6 Analog Input Group



 Pr.116  Pr.128

 Pr.117  Pr.129

 Pr.118  Pr.130

This parameter setting: analog / digital (A / D) percentage gain.

 Pr.119  Pr.131

This parameter displays: analog / digital (A / D) converter value.

 Pr.124  Pr.125

This two parameter setting: analog / digital (A / D) of the upper / lower limit 【Note】This parameter can only be set at two AI1 analog input source This feature applies Pr.002 speed command source selection = 7

 Pr.132

AI1 Filter AI2 Filter

Setting Description

0 Filter Time= 0 ms 1 Filter Time = 0.15 ms 2 Filter Time = 0.35 ms 3 Filter Time = 0.75 ms

4 Filter Time = 1.5 ms(Recommend) AI1_DRIFT AI2_DRIFT

This parameter setting: analog / digital (A / D) of the level.

AI1 GAIN AI2 GAIN

AI1 Result Value AI2 Result Value

AI1 UPPER LIMIT AI1 LOWER LIMIT

【Speed Source = AI-1 (with Pr.124 & Pr.125 as limit)】

AI1 & AI2 Range Select

Setting Description

0 AI1=Full Range / AI2=Full Range 1 AI1=Postive Range / AI2=Full Range 2 AI1=Full Range / AI2=Postive Range 3 AI1=Postive Range / AI2=Postive Range

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10.7 Analog Output Group



 Pr.100  Pr.103

Analog Output AO1 Data Select Analog Output AO2 Data Select

Setting Description Memo

0 Vout = 0V 1 Vout = +2000 mV 2 Vout = -2000 mV 3 Vout = by RAM-SET1 4 Vout = by RAM-SET2 5 Vout = by EAROM-SET1

6 Vout = by EAROM-SET2 16 Vout = Vcmd, (Max. Speed=Pr.203, MOTION only) Only For Motion Type 21 Vout = Rpm(absolute), Max Vout when Rpm=Pr.203 22 Vout = Rpm(signed) 23 Vout = Motor-Torque(absolute), Max Torque=Pr.088 24 Vout = Motor-Torque(signed)

【Note】JUPITER models based on capacity, the mix of different AO output hardware,

refer to the following instructions：

※ 【1HP~3HP Type：】

  Use with the I / O board, you can achieve the output voltage +10 V

※ 【> 3HP Type:】

  Use without I / O board, you can achieve the output voltage +10 V

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

 Pr.101  Pr.104

 Pr.102  Pr.105

 Pr.157  Pr.158

 Pr.106

 Pr.107

 Pr.108

【Note】This parameter is power and memory type, after reversion to keep the original settings.  Pr.109

【Note】This parameter is power and memory type, after reversion to keep the original settings.

AO1 Offset Adjustment AO2 Offset Adjustment

This parameter setting: analog output zero level

AO1 Span Adjustment AO2 Span Adjustment

This parameter setting: the percentage of analog output gain.

Analog Output AO1 Monitor Analog Output AO2 Monitor

This parameter displays: analog output resulting value.

RAM-SET1

This parameter set AO output parameters: RAM-SET1; applicable function selection: Pr.100 = 3

【Note】This parameter is not retentive power, reset, it will automatically cleared to 0. RAM-SET2

This parameter set AO output parameters: RAM-SET2; applicable function selection: Pr.100 = 4

【Note】This parameter is not retentive power, reset, it will automatically cleared to 0. EAROM-SET1 / or Wave Frequency

This parameter set AO output parameters: EAROM-SET1; applicable function selection: Pr.100 = 5

EAROM-SET2 / or Cosine Phase Lag

This parameter set AO output parameters: EAROM-SET2; applicable function selection: Pr.100 = 6

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10.8 Digital Input Group



 Pr.011

 Pr.060

This parameter can be set to a decimal value, and then start the drive The DI startup / shutdown。 If = 0  Converted to binary is 0000 0000 0000 0000； Expanded bit by the binary state, you can perform communication:

If = 5 Converted to binary is 0000 0000 0000 0101

 Pr.061  Pr.062  Pr.063  Pr.064  Pr.065  Pr.066  Pr.067  Pr.068

This parameter group to set the status of the terminal options, if the state of the terminal is

【Note】The eight belonging 24V-OpenCollector generally optically coupled isolated digital input,

Related options, refer to Chapter 11: Digital input terminal function selection。

 Pr.069  Pr.070

This parameter defaults to two: a special mode of the CUT (DI9) / MARK (DI10), (general standard

【Note】The two belong to 5V-OpenCollector fast optical coupler isolated digital input, scan

 Pr.167  Pr.168

This parameter defaults to two: a special mode of the XY tracking input X / Y, (general standard

【Note】The two belong to 5V-OpenCollector fast optical coupler isolated digital input, scan

DI Status

This parameter shows the DI1 ~ DI16 status by hexadecimal numerical data. Converting this data

to be binary format， status of DI1 ~ DI16 will be presented from LSB to MSB of the data.

For example:

if Pr.011=0 Converting to binary is “0000 0000 0000 0000”. The DI1 ~ DI16 are OFF.

If Pr.011=5 Converting to binary is “0000 0000 0000 0101”. The DI1 and DI3 are ON，and others are OFF.

DI-x Simulation Inputs

All of the DI terminal status = OFF。

Expanded by the binary bit status, communication execution: DI1 and DI3 state is ON,

the remaining terminals are OFF。

DI-1 function Select DI-2 function Select DI-3 function Select DI-4 function Select DI-5 function Select DI-6 function Select DI-7 function Select DI-8 function Select

activated, the drive will perform the functions of the action。

scan execution time is 400us。

DI-9 function Select DI-10 function Select

mode, do not use)。

execution time is 100us。

DI-11 function Select (FDIX) DI-12 function Select (FDIY)

mode, do not use)。

execution time is 100us。

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58



 Pr.473  Pr.474  Pr.475  Pr.476

This parameter group can set the status of the terminal communication options, if the state of

【Note】The four belong internal firmware analog digital input, scan execution time is 400us。 Reset function can not be set options. (Related options, refer to Chapter 11: Digital input

DI-13 function Select (Firmeare Modify) DI-14 function Select (Firmeare Modify) DI-15 function Select (Firmeare Modify) DI-16 function Select (Firmeare Modify)

the terminal is activated, the drive will perform the functions of the action.

terminal function selection).

DI-15 and DO-15 internally connected together DI-16 and DO-16 are connected together internally

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10.9 Digital Output Group



 Pr.012

 Pr.013

This parameter can be set to a decimal value, and start the drive that DO startup / shutdown。 If = 0  Converting to binary is 0000 0000 0000 0000； Expanded bit by the binary state, you can perform communication: All of the DO

If = 5  Converting to binary is 0000 0000 0000 0101

 Pr.111  Pr.112  Pr.113  Pr.114

【Note】The four belonging 24V-OpenCollector generally optically coupled isolated digital input,

Related options, refer to Chapter 12: Digital output terminal function selection。

 Pr.165  Pr.166

【Note】The two belong internal firmware analog digital output, scan execution time is 400us。 Related options, refer to Chapter 12: Digital output terminal function selection。

DO Status

This parameter shows the DO1 ~ DO16 status by hexadecimal numerical data. Converting this data to be binary format， status of DI1 ~ DI16 will be presented from LSB to MSB of the data. For example: if Pr.012=0 Converting to binary is “0000 0000 0000 0000”. The DO1 ~ DO16 are OFF.

If Pr.012=5  Converting to binary is “0000 0000 0000 0101”. The DO1 and DO3 are ON， and

others are OFF.

DO Simulation

terminal status = OFF。

Expanded by the binary bit status, communication execution: DO1 and DO3 state is ON,

the remaining terminals are OFF。

DO-1 function Select DO-2 function Select DO-3 function Select DO-4 function Select

This parameter group to set the digital output terminal options。

scan execution time is 400us。

DO-15 function Select (Firmeare Modify) DO-16 function Select (Firmeare Modify)

This parameter group to set the digital output terminal options。

DI-15 and DO-15 internally connected together

DI-16 and DO-16 are connected together internally

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60

10.10 Miscellaneous Group



 Pr.010

This parameter setting speed comparison。【Note】About this parameter setting, refer to section 14.1。  Pr.016 Comparison of this parameter is torque setpoint。【Note】About this parameter setting, refer to section 14.2。  Pr.115 This parameter can be set Encoder AB phase-frequency output and generate scoring

hardware-based fixed oscillator output, refer to the following detailed settings：

 Pr.170 This parameter set value comparison of the position error。

Speed Compare Level

Torque Compare Level

CKA/CKB Output Clock Select

Setting Description Memo

0 CKA/CKB QEP Output= (PGA/PGB) / 1 1 CKA/CKB QEP Output = (PGA/PGB) / 2 2 CKA/CKB QEP Output = (PGA/PGB) / 4 3 CKA/CKB QEP Output = (PGA/PGB) / 8 4 CKA/CKB QEP Output = (PGA/PGB) / 16 5 CKA/CKB QEP Output = (PGA/PGB) / 32 6 CKA/CKB QEP Output = (PGA/PGB) / 64

CKA/CKB QEP Output = 62.50 Khz QEP clock

8

( x4 = 250.00Khz)

CKA/CKB QEP Output = 31.25 Khz QEP clock

9

( x4 = 125.00Khz)

CKA/CKB QEP Output = 15.625Khz QEP clock

10

( x4 = 62.50Khz) Position Error Warning Level (for DO compare )

Hardware-based

Oscillator output

divider

No slope

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61

11. Digital Input Function

【Note】Version：if function version >= version，the function can be used。

Example：CA23  C=2012 year / A=10 month /23 day

11.1 STD Mode - DIx (Digital Input Function)

Function

0 No Function

23 RESET 102 SERVO- ON 249 EMERGENCY STOP

Function

8 Zero Speed Holding 10 Speed Command SW0 11 Speed Command SW1 12 Speed Command SW2 13 Cmd-OFF=AI1 ; ON=AI2(Use Pr.002=6)

48 JOG Forward 49 JOG Reverse 60 Speed mode, FLSW (Forward Limit Switch, N.O.contact) 62 Speed mode, RLSW (Reverse Limit Switch, N.O.contact) 65 Speed mode, /FLSW (Forward Limit Switch, N.C.contact)

Function Description【Speed Mode】 Version Chapter

Function Description Version Chapter

14.1.2

67 Speed mode, /RLSW (Reverse Limit Switch, N.C.contact) 73 Speed RUN or (FWDRUN) 74 Speed REV or (REVRUN)

104 SPEED+AI2 Compensation ENABLE ( Speed +/- AI2*Pr.203/30000) 105 SPEED+AI2 Compensation POLARITY

Function

26 ON：TORQUE mode, OFF：SPEED Mode 27 ON：SPEED mode, OFF：TORQUE Mode 28 Torque Command SW0 29 Torque Command SW1

Function

75 32 Bit Counter：UP 76 32 Bit Counter：DN 77 32 Bit Counter：CLR

Function Description【Torque Mode】 Version Chapter

Function Description【32 BIT COUNTER Block】 Version Chapter

14.2.2

13.1

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62

11.1 STD Mode - DIx(Digital Input Function)

Function

46 FlipFlop1：SET 47 FlipFlop1：CLR 44 FlipFlop2：SET 45 FlipFlop2：CLR

144 FlipFlop3：SET 145 FlipFlop3：CLR

39 FlipFlop4(D-Type)：CLR(Auto CLR by 32-bit counter) 40 FlipFlop4(D-Type)：Data 41 FlipFlop4(D-Type)：SET 42 FlipFlop4(D-Type)：CLR 43 FlipFlop4(D-Type)：CK 51 FlipFlop5(T-Type)：SET 52 FlipFlop5(T-Type)：CLR 53 FlipFlop5(T-Type)：TOGGLE

Function

Function Description【FlipFlop Block】 Version Chapter

Function Description【TIMER Block】 Version Chapter

13.2.1

13.2.2

13.2.3

13.2.4

13.2.5

110 TIMER3 "START" input 13.3.3 106 TIMER4 "START" input 13.3.4 115 TIMER5 (Mono Pulse type) "Trig" input 13.3.5

Function

114 ECAM cycle Index Input 13.8

Function

120 16 bit Shifter：CLR 121 16 bit Shifter：SET 122 16 bit Shifter：DATA 123 16 bit Shifter：CK

Function Description【ECAM Block】 Version Chapter

Function Description【16 BIT SHIFTER Block】 Version Chapter

13.20

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63

11.1 STD Mode - DIx(Digital Input Function)



Speed

Pr.254

ms

 DIx _ Select

When you select this function, the function does not operate。

 DIx _ Select

When you select this function, perform reset reset。【Note】This feature does not apply to virtual input terminals must be set in the

 DIx _ Select

When you select this function, start the servo drive excitation。

 DIx _ Select

000，No Function

023，RESET

actual hardware digital input。

102，SERVO- ON

249，EMERGENCY STOP

When this function is selected, the drive according to Pr.254: Emergency stop deceleration time setting, down to zero speed and failure messages EMS。

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64

11.2 EGEAR Mode - DIx(Digital Input Function)

Function

6 EGEAR/PRT：START 61 EGEAR：FLSW (Forward Limit Switch, N.O.contact) 63 EGEAR：RLSW (Reverse Limit Switch, N.O.contact) 64 EGEAR：Switch to Speed-REV (By Pr.002 selection) 66 EGEAR：/FLSW (Forward Limit Switch, N.C.contact) 68 EGEAR：/RLSW (Reverse Limit Switch, N.C.contact) 70 EGEAR：MULx_SW0 71 EGEAR：MULx_SW1 78 EGEAR：Switch to Speed-FWD (By Pr.002 selection) 82 EGEAR：JOG Forward 83 EGEAR：JOG Reverse 84 EGEAR：Master Clk > ON=XY； OFF= Simulation 85 EGEAR：Master Clk > ON=Simulation ；OFF=XY

Function Description【EGEAR：(STD) EGEAR Mode】 Version Chapter

14.3

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65

11.3 BP2P Mode - DIx(Digital Input Function)

Function

14 P2P Position Command SW0 15 P2P Position Command SW1 16 P2P Position Command SW2 17 P2P Position Command SW3 18 P2P TRIGGER , (select by POSx_SW0~3) 19 P2P ARC Enable (Auto Registration Control) 20 P2P Cancel & Save remaining distance 21 P2P Continue the Saved distance 25 P2P Repeat Sinusoidal Motion 30 P2P JOG Forward 31 P2P JOG Reverse 32 P2P HOME SEARCH Start 33 P2P HOME DOG Switch 34 P2P MARK Sensor Input ( DIx ) 36 P2P Enable Switch(For DIx(38)) 37 P2P Check Mark then Move POS[15](constant)

Function Description【Basic Point To Point Mode】 Version Chapter

14.4

38 P2P Check Mark then Move POS[15] (controlled by DIx(36))

124 P2P Trigger Control : ON=disable , OFF=enable 125 P2P Trigger Control : ON=enable , OFF=disable 135 P2P MARK Sensor Input ( DIx, for Multi-Cancel/Continue)

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66

12. Digital Output Function

【Note】Version：if function version >= version，the function can be used。

Example：CA23  C=2012 year / A=10 month /23 day

12.1 STD Mode - DOx(Digital Output Function)

Function

0 Always OFF

1 Always ON

2 SERVO-READY

3 OL Warning

4 ALARM

5 NO ALARM

8 PG-C(10ms INDEX Output)

Function

6 Forward Running ( ABS(Rpm) > Pr.184(SPZrpm) )

7 Reverse Running ( ABS(Rpm) > Pr.184(SPZrpm) )

9 SPZ:ABS(Rpm) <= Pr.184 10 NSPZ:ABS(Rpm) > Pr.184 14 Actual-Speed > Pr.010: Speed-Reference 15 Actual-Speed <= Pr.010:Speed-Reference

Function Description【Speed Mode】 Version Chapter

Function Description Version Chapter

14.1

Function

18 Driver Torque-Current(%) > Pr.016：Warning Level 19 Driver Torque-Current(%) <= Pr.016：Warning Level 83 Motor-Torque(%) > Pr.016：Warning Level 84 Motor-Torque(%) <= Pr.016：Warning Level

Function

112 32 bit Counter >= Pr.216：Compare Level 113 32 bit Counter < Pr.216：Compare Level

Function Description【Torque Mode】 Version Chapter

Function Description【32 BIT COUNTER Block】 Version Chapter

14.2

13.1

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67

12.1 STD Mode - DOx(Digital Output Function)

Function

115 FlipFlop1：Q 116 FlipFlop1：/Q

53 FlipFlop2：Q 54 FlipFlop2：/Q

144 FlipFlop3：Q 145 FlipFlop3：/Q 117 FlipFlop4(D-type)：Q 118 FlipFlop4(D-type)：/Q 119 FlipFlop5(T-type)：Q 120 FlipFlop5(T-type)：/Q

Function

11 TIMER1(On/Off)：Output

100 TIMER1：Output and SPDx_SWITCH Auto-Change

12 TIMER2(On/Off)：Output 13.3.2

108 Timer3(Mono Type)：Q

Function Description【FlipFlop Block】 Version Chapter

Function Description【TIMER Block】 Version Chapter

13.2.1

13.2.2

13.2.3

13.2.4

13.2.5

13.3.1

109 Timer3(Mono Type)：/Q 110 Timer3(Delay-On Type)：Q 111 Timer3(Delay-On Type)：/Q 104 Timer4(Mono Type)：Q 105 Timer4(Mono Type)：/Q 106 Timer4(Delay-On Type)：Q 107 Timer4(Delay-On Type)：/Q 122 Timer5(Mono Type)：Q 123 Timer5(Mono Type)：/Q

13.3.3

13.3.4

13.3.5

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68

12.1 STD Mode - DOx(Digital Output Function)

Function

95 ECAM1 (Type1: Set "Start-Angle & End-Angle) 96 ECAM2 (Type1: Set "Start-Angle & End-Angle) 97 ECAM3 (Type1: Set "Start-Angle & End-Angle) 98 ECAM4 (Type1: Set "Start-Angle & End-Angle) 99 ECAM4 (Type1) & Motor-Torque > Pr.016：Warning Level

193 ECAM4 (Type1) & Position-Error > Pr.170：Warning Level 194 ECAM4 (Type2) & Position-Error > Pr.170：Warning Level 195 ECAM1 (Type2: Start-Angle & Range-Angle) 196 ECAM2 (Type2: Start-Angle & Range-Angle) 197 ECAM3 (Type2: Start-Angle & Range-Angle) 198 ECAM4 (Type2: Start-Angle & Range-Angle) 199 ECAM4(Type2) & Motor-Torque > Pr.016：Warning Level

Function

38 XY-INDEX1：Output 39 XY-INDEX2：Output

Function Description【ECAM Block】 Version Chapter

Function Description【XY / AB INDEX Block】 Version Chapter

13.8.1

13.8.2

13.22.1

68 AB-INDEX1：Output 69 AB-INDEX2：Output

13.22.2

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69

12.1 STD Mode - DOx(Digital Output Function)

16 bit Shifter

16 bi

16 bit Shifter

16 bit Shift

16 bit Shifter

Function

150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165

Function Description【16 BIT SHIFTER Block】 Version Chapter ：Q bit- 0 ：Q bit-1 ：Q bit-2 ：Q bit-3 ：Q bit-4 ：Q bit-5 ：Q bit-6 ：Q bit-7 ：Q bit-8 ：Q bit-9 ：Q bit-10

t Shifter：Q bit-11

：Q bit-12 ：Q bit-13 ：Q bit-14 ：Q bit-15

13.20

166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 190

：/Q bit- 0 ：/Q bit-1 ：/Q bit-2

er：/Q bit-3

：/Q bit-4 ：/Q bit-5 ：/Q bit-6 ：/Q bit-7 ：/Q bit-8 ：/Q bit-9 ：/Q bit-10 ：/Q bit-11 ：/Q bit-12 ：/Q bit-13 ：/Q bit-14 ：/Q bit-15 ：PPF equal 7

191

：PPF not equal 7

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70

12.1 STD Mode - DOx(Digital Output Function)



 DOx _ Select

When you select this action, close the digital output。  DOx _ Select When you select this action, activate the digital output。  DOx _ Select When you select this action, when the drive is Ready, start digital output。

 DOx _ Select

When you select this action, when the drive fails to produce digital output。  DOx _ Select When you choose this action, when the drive is no fault, the resulting digital output。  DOx _ Select When you select this action, the signal is generated when the motor is at point C,

000，Always OFF

001，Always ON

002，SERVO-READY

003，OL Warning

When you reach the thermal relay operation time (Pr.133), generate a digital output。

004，ALARM

005，NO ALARM

008，PG-C(10ms INDEX Output)

the resulting digital output, fixed width 10ms。

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71

12.2 EGEAR Mode - DOx(Digital Output Function)

Function

16 EGEAR：Position Error > Pr.170:Warning Level 17 EGEAR：Position Error <= Pr.170:Warning Level 40 EGEAR：Standby 41 EGEAR：Ramp Up 42 EGEAR：Max Speed 43 EGEAR：Ramp Down 48 EGEAR：End 49 EGEAR：End & In-Range

Function Description【EGEAR Mode】 Version Chapter

12.3 BP2P Mode - DOx(Digital Output Function)

Function

16 P2P：Position Error > Pr.170：Warning Level 17 P2P：Position Error <= Pr.170：Warning Level 32 P2P：HOME Search OK 60 P2P：Ready 61 P2P：Ready & IN_POSITION

Function Description【Basic Point To Point Mode】 Version Chapter

14.3

62 P2P：Running 63 P2P：STATUS MATCH 66 P2P：Machine Position > FWD Travel Limit 67 P2P：Ready + Search HOME OK 78 P2P：MARK Window(Cancel/Continue mode) 79 P2P：Ready ( no Cancelled pulse remaining in the buffer ) 80 P2P：MARK Window 81 P2P：MARK Loss(no mark in MarkRef window) 82 P2P：Feed Length > POS[14]

14.4

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72

13. Built-In Multi-Function



32 BIT COUNTER

DIx(75)

DOx(113

)

DOx(112)

DIx(76)

UP

DN

/Q

Q

DIx(77)

Clr

COMPARE

Pr.214

Pr.216

13.1 32 BIT COUNTER Function

13.1.1 32 BIT COUNTER：Parameter

 Pr.214 32 BIT counter: current count value。  Pr.216 32 BIT counter: compare settings。

32 Bit Counter Content

32 Bit Counter Compare Level

13.1.2 32 BIT COUNTER：Digital Input

 DIx _ Select  DIx _ Select  DIx _ Select

32 Bit Counter: UP  when the input is rising edge, 32 BIT counters count +1 32 Bit Counter: DN  when input is rising edge, 32 BIT counter value -1 32 Bit Counter: CLR when input is rising edge,32 BIT counter has cleared = 0。

075，32 Bit Counter：UP 076，32 Bit Counter：DN 077，32 Bit Counter：CLR

13.1.3 32 BIT COUNTER：Digital Output

 DOx _ Select When Pr.214：32 Bit Counter Content >= Pr.216：32 Bit Counter Compare Level，

 DOx _ Select When Pr.214：32 Bit Counter Content < Pr.216：32 Bit Counter Compare Level，

112，32 bit Counter >= Pr.216：Compare Level

Output Action。

113，32 bit Counter < Pr.216：Compare Level

Output Action。

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73

13.2 FlipFlop Function



FlipFlop1

DIx(46)

DOx(116

)

DOx(115

)

DIx(47)

SET

CLR

/Q

Q

SET

CLR

Q

/ Q

FlipFlop2

DIx(44)

DOx(54)

DOx(53)

DIx(45)

SET

CLR

/Q

Q

SET

CLR

Q

/ Q

13.2.1 FlipFlop1

※ 13.2.1.1 FlipFlop1：Parameter

※ 13.2.1.2 FlipFlop 1：Digital Input

 DIx _ Select  DIx _ Select

※ 13.2.1.3 FlipFlop 1：Digital Output  DOx _ Select When SET is rising edge，output=1 When CLR is rising edge，output=0  DOx _ Select When SET is rising edge，output =0 When CLR is rising edge，output =1

046，FlipFlop1：SET 047，FlipFlop1：CLR

115，FlipFlop1：Q

116，FlipFlop1：/Q

13.2.2 FlipFlop2

※ 13.2.2.1 FlipFlop 2：Parameter

※ 13.2.2.2 FlipFlop 2：Digital Input

 DIx _ Select  DIx _ Select

※ 13.2.2.3 FlipFlop 2：Digital Output  DOx _ Select When SET is rising edge，output=1 When CLR is rising edge，output=0  DOx _ Select When SET is rising edge，output =0 When CLR is rising edge，output =1

044，FlipFlop2：SET 045，FlipFlop2：CLR

053，FlipFlop2：Q

054，FlipFlop2：/Q

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13.2.3 FlipFlop3



FlipFlop3

DIx(144)

DOx(145

)

DOx(144

)

DIx(145)

SET

CLR

/Q

Q

SET

CLR

Q

/ Q

※ 13.2.3.1 FlipFlop 3：Parameter

※ 13.2.3.2 FlipFlop 3：Digital Input

 DIx _ Select  DIx _ Select

※ 13.2.3.3 FlipFlop 3：Digital Output  DOx _ Select When SET is rising edge，output=1 When CLR is rising edge，output=0  DOx _ Select When SET is rising edge，output =0 When CLR is rising edge，output =1

144，FlipFlop3：SET 145，FlipFlop3：CLR

144，FlipFlop3：Q

145，FlipFlop3：/Q

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13.2.4 FlipFlop4(D-Type)



SET

FlipFlop4 (D-Type)

DIx(040)

DOx(118

)

DOx(117)

Q

/Q

CLR

DIx(043)

DATA

CK

DIx(042)

DIx(041)

DIx(039)

SET



FlipFlop5 (T-Type)

DOx(120)

DOx(119)

Q

/Q

CLR



DIx(053)

TOGGLE

DIx(051)

DIx(052)

DIx(51)

DOx(119)

DIx(52)

DOx(120)

DIx(53)

DIx(41)

DOx(117)

DIx(42)

DOx(118)

DIx(40)

DIx(43)

DIx(39)

※ 13.2.4.1 FlipFlop4：Parameter ※ 13.2.4.2 FlipFlop 4：Digital Input

 DIx _ Select  DIx _ Select  DIx _ Select  DIx _ Select  DIx _ Select

※ 13.2.4.3 FlipFlop 4：Digital Output

 DOx _ Select  DOx _ Select

【Note】 When trigger DIx(43)，will get DIx(40) status， And send to DOx(117) When trigger DIx(41)，DOx(117) = ON。 When trigger DIx(42)，DOx(117) = OFF。 DOx(118) = DOx(117) reverse output。

if DIx(39) and DIx(42) set together，DIx(39) based。 FlipFlop4 DIx must be set，FlipFlop can start to work。

040，FlipFlop4(D-Type)：Data 043，FlipFlop4(D-Type)：CK 041，FlipFlop4(D-Type)：SET 042，FlipFlop4(D-Type)：CLR 039，FlipFlop4(D-Type)：CLR(Auto CLR by 32-bit counter)

117，FlipFlop4(D-type)：Q 118，FlipFlop4(D-type)：/Q

13.2.5 FlipFlop5(T-Type)

※ 13.2.5.1 FlipFlop 5：Parameter ※ 13.2.5.2 FlipFlop 5：Digital Input

 DIx _ Select  DIx _ Select  DIx _ Select

※ 13.2.5.3 FlipFlop 5：Digital Output

 DOx _ Select  DOx _ Select

【Note】 When trigger DIx(053)，status will be reverse， And send to DOx(119) 。 When trigger DIx(051)，DOx(119) = ON。 When trigger DIx(052)，DOx(119) = OFF。 DOx(120) = DOx(119) reverse output。

051，FlipFlop5 (T-Type)：SET 052，FlipFlop5 (T-Type)：CLR 053，FlipFlop5 (T-Type)：TOGGLE

119，FlipFlop5(T-type)：Q 120，FlipFlop5(T-type)：/Q

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

T1-TIMER

DOx(11) Q

Pr. SET

Pr.230

Pr.231

T1

DOx(011)

T2

T1

T2

T1 = Pr.230 ； T2 = Pr.231

T2-TIMER

DOx(12) Q

Pr. SET

Pr.232

Pr.233

T1

DOx(012)

T2

T1

T2

T1 = Pr.232 ； T2 = Pr.233

13.3 Timer Function

built in 5 groups timer function; apply timer-related parameters and functions are described below：

13.2.1 Timer1(Standard Type)

※ 13.3.1.1 Timer1：Parameter

 Pr.230  Pr.231

This parameter sets the timer ON period and OFF cycle time.

※ 13.3.1.2 Timer1：Digital Input ※ 13.2.1.3 Timer1：Digital Output  DOx _ Select

【Note】 DOx(011) follow TimerXOn/Off Time to output。 T1=TimerX ON-Time，T2= TimerX OFF-Time。

Timer1：ON-Time Timer1：OFF-Time

011，TIMER1(On/Off)：Output

13.3.2 Timer2(Standard Type)

※ 13.3.2.1 Timer2：Parameter

 Pr.232  Pr.233

This parameter sets the timer ON period and OFF cycle time.

※ 13.3.2.2 Timer2：Digital Input ※ 13.2.2.3 Timer2：Digital Output  DOx _ Select

【Note】 DOx(012) follow TimerXOn/Off Time to output。 T1=TimerX ON-Time，T2= TimerX OFF-Time。

Timer2：ON-Time Timer2：OFF-Time

012，TIMER2(On/Off)：Output

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13.3.3 Timer3(Mono Type / Delay-On Type)



T3-TIMER

DOx(108) Q

Mono SET

Pr.234

DOx(109) /Q

DOx(110) Q

DOx(111) /Q

Delay SET

Pr.234

DIx(110)

T3-Input

DIx(111)

Pr.234

DOx(111)

DOx(110)

DIx(111)

Pr.234

DOx(109)

DOx(108)

※ 13.3.3.1 Timer3：Parameter  Pr.234 This parameter can be set to a timer

Delay-On / Mono-Pulse time。

※ 13.3.3.2 Timer3：Digital Input  DIx _ Select

※ 13.3.3.3 Timer3：Digital Output

 DOx _ Select  DOx _ Select  DOx _ Select  DOx _ Select

【Note】 Timer3 include two application：

1. Mono Type Timer：

1.1 When set DIx(110)=ON，DOx(108) = ON

1.2 After Pr.234 after the set time will disable。

※ DOx(109) = DOx(108) reverse output

2. Delay-On Type Timer：

2.1 When set DIx(110)=ON，DOx(110) = OFF，

2.2 After Pr.234 after the set time will start；

2.3 When DIx(110) = OFF，DOx(110) output = OFF。

※ DOx(111) = DOx(110) reverse output

Timer3：Delay-Period-Time

110，TIMER3 "START" input

108，Timer3(Mono Type)：Q 109，Timer3(Mono Type)：/Q 110，Timer3(Delay-On Type)：Q 111，Timer3(Delay-On Type)：/ Q

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13.3.4 Timer4(Mono Type / Delay-On Type)



T4-TIMER

DOx(104

)

Q

Mono SET

Pr.235

DOx(105

)

/Q

DOx(106

)

Q

DOx(107

)

/Q

Delay SET

Pr.235

DIx(106)

T4-Input

DIx(106)

Pr.235

DOx(107)

DOx(106)

DIx(106)

Pr.235

DOx(105)

DOx(104)

※ 13.3.4.1 Timer4：Parameter  Pr.235 This parameter can be set to a timer

Delay-On / Mono-Pulse time。

※ 13.3.4.2 Timer4：Digital Input  DIx _ Select

※ 13.3.4.3 Timer4：Digital Output

 DOx _ Select  DOx _ Select  DOx _ Select  DOx _ Select

【Note】 Timer4 include two application：

1. Mono Type Timer：

1.1 When set DIx(106)=ON，DOx(104) = ON

1.2 After Pr.235 after the set time will disable。

※ DOx(105) = DOx(104) reverse output

2. Delay-On Type Timer：

2.1 When set DIx(106)=ON，DOx(106) = OFF，

2.2 After Pr.235 after the set time will start；

2.3 When DIx(106) = OFF，DOx(106) output = OFF。

※ DOx(107) = DOx(106) reverse output

Timer4：Delay-Period-Time

106，TIMER4 "START" input

104，Timer4(Mono Type)：Q 105，Timer4(Mono Type)：/Q 106，Timer4(Delay-On Type)：Q 107，Timer4(Delay-On Type)：/Q

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79

13.3.5 Timer5(Mono Type)



T5-TIMER

DOx(122) Q

Mono SET

Pr.236

DOx(123

)

/Q

DIx(115)

T5-Input

DIx(115)

Pr.236

DOx(123)

DOx(122)

※ 13.3.5.1 Timer5：Parameter  Pr.236 This parameter can be set to a timer

Delay-On / Mono-Pulse time。

※ 13.3.5.2 Time5：Digital Input  DIx _ Select

※ 13.3.5.3 Timer5：Digital Output

 DOx _ Select  DOx _ Select

【Note】 Timer5 include one application：

1. Mono Type Timer：

1.1 When trigger DIx(115) rising edge，DOx(122) = ON

1.2 After Pr.236 after the set time will disable。

※ DOx(123) = DOx(122) reverse output

Timer5：Mono-Pulse-Time

115，TIMER5 (Mono Pulse type) "Trig" input

122，Timer5(Mono Type)：Q 123，Timer5(Mono Type)：/Q

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80



Degree

DOx(95)

0

270

180

90

360

270

180

90

DIx(114)=0°

Pr.318 = 360°

Pr,333

Pr,332

Pr,333

Pr,332

13.8 ECAM Function

Drive includes four electronic cam function; and contains two different types, each set of electronic cam

can be set independently of travel Starting angle and range of travel (to the motor positions are defined

in terms of rotation), and can specify a separate DO point as electronic cam

The status output. Relevant parameters and functions are described below:

13.8.1 ECAM-Type1：Start Angle-End Angle

※ 13.8.1.1 ECAM-Type1：Parameter  Pr.318 This parameter sets the electronic cam circle, contains the number of pulses。  Pr.331 This parameter shows the motor / electronic cam after Pr.318 setting, showing the actual angle。

 Pr.332  Pr.333  Pr.334  Pr.335  Pr.336  Pr.337  Pr.338  Pr.339

This parameter group is set up to 4 electronic cam output start -end angle (or action angle)。

※ 13.8.1.2 ECAM-Type1：Digital Input  DIx _ Select

※ 13.8.1.3 ECAM-Type1：Digital Output

 DOx _ Select  DOx _ Select  DOx _ Select  DOx _ Select  DOx _ Select  DOx _ Select

【Note】 ECAM(Type1)：Means to set the starting point and end point。

PPRC (Pulses Per Rotary/ECAM Cycle)

(M) ECAM/ROTARY Angle

ECAM1：Start Angle ECAM1：End Angle (or Range Angle) ECAM2：Start Angle ECAM2：End Angle (or Range Angle) ECAM3：Start Angle ECAM3：End Angle (or Range Angle) ECAM4：Start Angle ECAM4：End Angle (or Range Angle)

114，ECAM cycle Index Input

095，ECAM1(Type1)：Start-Angle & End-Angle 096，ECAM2(Type1)：Start-Angle & End-Angle 097，ECAM3(Type1)：Start-Angle & End-Angle 098，ECAM4(Type1)：Start-Angle & End-Angle 099，ECAM4(Type1)：Include Motor-Torque > Pr.016：Warning Level 193，ECAM4(Type1)：Include Position-Error > Pr.170：Warning Level

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81

13.8.2 ECAM-Type2：Start Angle-Range Angle



Degree

DOx(195)

0

270

180

90

360

270

180

90

DIx(114)=0°

Pr.318 = 360°

Pr.333 Range

Pr,333

Pr,332

※ 13.8.2.1 ECAM-Type2：Parameter ※ 13.8.2.2 ECAM-Type2：Digital Input Please Refer to 13.8.1.1 for details。

※ 13.8.2.3 ECAM-Type2：Digital Output

 DOx _ Select  DOx _ Select  DOx _ Select  DOx _ Select  DOx _ Select  DOx _ Select

【Note】ECAM-Type2：Means to set the starting angle, angle and action。

194，ECAM4(Type2)：Include Position-Error > Pr.170：Warning Level 195，ECAM1(Type2)：Start-Angle & Range-Angle 196，ECAM2(Type2)：Start-Angle & Range-Angle 197，ECAM3(Type2)：Start-Angle & Range-Angle 198，ECAM4(Type2)：Start-Angle & Range-Angle 199，ECAM4(Type2)：Include Motor-Torque > Pr.016：Warning Level

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82



DI

-x(122)

DI

-x(123)

(n=0~15)

DI-x(120)

DI

-x(121)

16 Bit Shifter Register

DATA

>CK

CLR

SET

Q

/Q

/Q0~/Q15 DO-x(166+n)

Q0~Q15  DO-x(150+n)

13.20 16BIT SHIFTER Block Function

containing 16BIT SHIFTER box functions, can specify the DO point as an independent state output.

Relevant parameters and functions are described below:

13.20.1 16 BIT SHIFTER Block：Parameter

 Pr.213  Pr.219  Pr.228  Pr.229

16 Bit Shifter：Content 16 Bit Shifter：SR_PPF (Past-Present-Future Bits) 16 Bit Shifter：Effective Bits Set value 16 Bit Shifter：Leading-Zeros in Effective Bits

13.20.2 16 BIT SHIFTER Block：Digital Input

 DIx _ Select  DIx _ Select  DIx _ Select  DIx _ Select

120，16 bit Shifter：CLR 121，16 bit Shifter：SET 122，16 bit Shifter：DATA 123，16 bit Shifter：CK

13.20.3 16 BIT SHIFTER Block：Digital Output

 DOx _ Select  DOx _ Select

Other related digital output, refer to the next page：

190，16 bit Shifter：PPF equal 7 191，16 bit Shifter：PPF not equal 7

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※ 16 Bit Data Store in Pr.213

When DI(120) ON , Pr.213=0000(Hex)

Q1

Q2

Q3

Q4

Q5

Q6 Q7

Q8

Q9

Q10

Q11

Q12

Q13

Q14

Q15

Q16

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

0

1 1 1 1 1 1 1 1 1 1 1 1 1 1 1

1 When DIx(121) ON , Pr.213=FFFF(Hex)

DIx(120)

DIx(121)

DOx(150+n)=16 Bit Q Output (n=0~15)

150



Q1

166

151



Q2

167

152



Q3

168

153



Q4

169

154



Q5

170

155



Q6

171

156



Q7

172

157



Q8

173

158



Q9

174

159



Q10

175

160



Q11

176

161



Q12

177

162



Q13

178

163



Q14

179

164



Q15

180

165



Q16

181

DOx(166+n)=16 Bit /Q Output (n=0~15)

DIx(122)

DIx(123)

Q

/Q

DOx Digital Output Function DOx Digital Output Function

DO(150) 16 bit Shifter：Q bit- 0 DO(166) 16 bit Shifter：/Q bit- 0 DO(151) 16 bit Shifter：Q bit- 1 DO(167) 16 bit Shifter：/Q bit- 1 DO(152) 16 bit Shifter：Q bit- 2 DO(168) 16 bit Shifter：/Q bit- 2 DO(153) 16 bit Shifter：Q bit- 3 DO(169) 16 bit Shifter：/Q bit- 3 DO(154) 16 bit Shifter：Q bit- 4 DO(170) 16 bit Shifter：/Q bit- 4 DO(155) 16 bit Shifter：Q bit- 5 DO(171) 16 bit Shifter：/Q bit- 5 DO(156) 16 bit Shifter：Q bit- 6 DO(172) 16 bit Shifter：/Q bit- 6 DO(157) 16 bit Shifter：Q bit- 7 DO(173) 16 bit Shifter：/Q bit- 7 DO(158) 16 bit Shifter：Q bit- 8 DO(174) 16 bit Shifter：/Q bit- 8 DO(159) 16 bit Shifter：Q bit- 9 DO(175) 16 bit Shifter：/Q bit- 9 DO(160) 16 bit Shifter：Q bit- 10 DO(176) 16 bit Shifter：/Q bit- 10 DO(161) 16 bit Shifter：Q bit- 11 DO(177) 16 bit Shifter：/Q bit- 11 DO(162) 16 bit Shifter：Q bit- 12 DO(178) 16 bit Shifter：/Q bit- 12 DO(163) 16 bit Shifter：Q bit- 13 DO(179) 16 bit Shifter：/Q bit- 13 DO(164) 16 bit Shifter：Q bit- 14 DO(180) 16 bit Shifter：/Q bit- 14 DO(165) 16 bit Shifter：Q bit- 15 DO(181) 16 bit Shifter：/Q bit- 15

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84

DI(123)

DI(122)

DI(120)

DO(150)=Q0

DO(151)=Q1

DO(152)=Q2

DO(153)=Q3

DO(154)=Q4

DO(155)=Q5

DO(156)=Q6

DO(157)=Q7

DO(158)=Q8

DO(159)=Q9

DO(160)=Q10

DO(161)=Q11

DO(162)=Q12

DO(163)=Q13

DO(164)=Q14

DO(165)=Q15

※ DOx(150)~DOx(165):16 Bit Shifter Q Output

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85

DI(123)

DI(122)

DI(120)

DO(166)=/Q0

DO(167)=/Q1

DO(168)=/Q2

DO(169)=/Q3

DO(170)=/Q4

DO(171)=/Q5

DO(172)=/Q6

DO(173)=/Q7

DO(174)=/Q8

DO(175)=/Q9

DO(176)=/Q1

DO(177)=/Q1

DO(178)=/Q1

DO(179)=/Q1

DO(180)=/Q1

DO(181)=/Q1

※ DOx(166)~DOx(181):16 Bit Shifter /Q Output

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

XY-COUNTER

XY-INDEX ON-PLS

OFF-PLS

ON-PLS

XY-Index1

XY-Index2

ON-PLS

Pr.459

Pr.461

OFF-PLS

Pr.460

Pr.462

XY-INDEX

DOx(38)

DOx(39)

Pr.009

DOx

AB-COUNTER

AB-INDEX ON-PLS

OFF

-PLS

ON-PLS

AB-Index1

AB-Index2

ON-PLS

Pr.463

Pr.465

OFF-PLS

Pr.464

Pr.466

AB-INDEX

DOx(68)

DOx(69)

Pr.008

DOx

13.22 XY/AB-INDEX Function

Drive containing XY / AB-INDEX signal simulation capabilities; and contains two kinds of different

sources XY & AB, ON cycle can be set independently OFF cycle pulse range, and can specify the DO

point as an independent state output. Relevant parameters and functions are described below：

13.22.1 XY-INDEX Function

※ 13.22.1.1 XY-INDEX Function：Parameter

 Pr.459  Pr.460  Pr.461  Pr.462

※ 13.22.1.2 XY-INDEX Function：Digital Input

※ 13.22.1.3 XY-INDEX Function：Digital Output

 DOx _ Select  DOx _ Select

XY_INDEX1：ON pulses(Simulation) XY_INDEX1：OFF pulses(Simulation) XY_INDEX2：ON pulses(Simulation) XY_INDEX2：OFF pulses(Simulation)

038，XY-INDEX1：Output 039，XY-INDEX2：Output

13.22.2 AB-INDEX Function

※ 13.22.2.1 AB-INDEX Function：Parameter

 Pr.463  Pr.464  Pr.465  Pr.466

※ 13.22.2.2 AB-INDEX Function：Digital Intput

※ 13.22.2.3 AB-INDEX Function：Digital Output

 DOx _ Select  DOx _ Select

AB_INDEX1：ON pulses(Simulation) AB_INDEX1：OFF pulses(Simulation) AB_INDEX2：ON pulses(Simulation) AB_INDEX2：OFF pulses(Simulation)

068，AB-INDEX1：Output 069，AB-INDEX2：Output

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14. Control Mode Description

Pr.002

Pr.255(

C

Speed Cmd

DIx(10)：Speed Command SW0

- Pr.260(Speed Set0 (RAM)

I/O first

Pr.260

Pr.

(Motor Max Speed)

Pr.249(Dec Ramp)

Pr.248(Acc Ramp)

Pr.250(S

Pr.251(S

Pr.252(S

Pr.253(S

DIx(1

1

DIx(1

2

Pr.267(

TO

14.1 Speed Mode：Standard Speed Mode

14.1.1 Speed Mode：Standard Speed Mode：Parameter

 Pr.002  Speed Source Select

Setting Description Memo

0 Speed Set from RAM_Speed_Set(Pr.260) 1 Speed Set from AI-1 (Set Speed= Pr.119 * 0.1rpm) 2 Speed Set from AI-2 (Set Speed= Pr.131 * 0.1rpm) 3 Speed Set from JOG Speed (Pr.259) 4 Speed Set from AI-1 ( 10V => Max Speed(Pr.203) ) 5 Speed Set from AI-2 ( 10V => Max Speed(Pr.203) ) 6 Speed Set from AI-x ( Control by DIx(13)：AIxSW) 7 Speed Set from AI-1 (with Pr.124 & Pr.125 as limit)

【Note】This parameter is selected, the need to reset the reset, the setting takes effect。

※ 14.1.1.1 Speed Source Select=0【Speed Set from RAM_Speed_Set(Pr.260)】

SPEED BLOCK

：Speed Source Select

203

-curveT1)

-curveT2)

-curveT3)

-curveT4)

1)：Speed Command SW

2)：Speed Command SW

Speed Set7 (EAROM)

FWD/REV

ontrol Type)

 Pr.260  Speed Set0 (RAM) This parameter is speed setting, belonging RAM type。【Note】After the reset, the set value of this parameter will be automatically cleared to 0

 Pr.261  Speed Set1 (EAROM)  Pr.262  Speed Set2 (EAROM)  Pr.263  Speed Set3 (EAROM)  Pr.264  Speed Set4 (EAROM)  Pr.265  Speed Set5 (EAROM)  Pr.266  Speed Set6 (EAROM)  Pr.267  Speed Set7 (EAROM)

This parameter group is speed setting, belonging EAROM patterns。【Note】EAROM type: reset, this parameter setting is off Defensive。 For speed setting applications, refer to the relevant digital input DIx。

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※ 14.1.1.2 Speed Source Select=1【Speed Set from AI-1 (Set Speed= Pr.119 * 0.1rpm)】

Pr.129(AI2 Drift)

Pr.130(AI2 Gain)

Pr.131(AI2 Result Value)

AI2

Pr.1

Pr.249(Dec Ramp)

Pr.248(Acc Ramp)

Pr.250(S

Pr.251(S

Pr.252(S

Pr.253(S

DIx(10)：Speed Command SW0

-

DIx(1

1

DIx(1

2

I/O first

Pr.260(Speed Set0 (RAM)

Pr.267(

TO

Pr.255(

C Pr.

(Motor Max Speed)

Pr.002

Pr.117(AI1 Drift)

Pr.118(AI1 Gain)

Pr.119(AI1 Result Value)

AI1

Pr.132(AI1/AI2 Input Type)

Pr.249(Dec Ramp)

Pr.248(Acc Ramp)

Pr.250(S

Pr.251(S

Pr.252(S

Pr.253

DI

Speed Command SW0

-

DIx(1

1

DIx(1

2

I/O first

Pr.260(Speed Set0 (RAM)

Pr.267(

TO

Pr.255(

C Pr.

(Motor Max Speed)

Pr.002

Speed Cmd

SPEED BLOCK

：Speed Source Select

203

-curveT1)

-curveT2)

-curveT3)

(S-curveT4)

x(10)：

1)：Speed Command SW

2)：Speed Command SW

Speed Set7 (EAROM)

FWD/REV

ontrol Type)

【Note】Depending on the source of the speed command to read Pr.119 (AI1 Analog A / D conversion value),

the value is multiplied by 0.1, as the speed command。

Pr.132(AI1/AI2 AI1 & AI2 Range Select) suitable：0/1/2/3 【Description】Assuming Pr.119 = 11200, then the current speed command = 1120.0 rpm

※ 14.1.1.3 Speed Source Select=2【Speed Set from AI-2 (Set Speed= Pr.131 * 0.1rpm)】

SPEED BLOCK

：Speed Source Select

32(AI1/AI2 Input Type)

203

-curveT1)

-curveT2)

-curveT3)

-curveT4)

1)：Speed Command SW

2)：Speed Command SW

Speed Set7 (EAROM)

FWD/REV

ontrol Type)

【Note】Depending on the source of the speed command to read Pr.131 (AI2 Analog A / D conversion value),

the value is multiplied by 0.1, as the speed command。

Pr.132(AI1/AI2 AI1 & AI2 Range Select) suitable：0/1/2/3 【Description】Assuming Pr.131 = 11200, then the current speed command = 1120.0 rpm

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※ 14.1.1.4 Speed Source Select=3【Speed Set from JOG Speed (Pr.259)】

Pr.117(AI1 Drift)

Pr.118(AI1 Gain)

Pr.119(AI1 Result Value)

AI1

Pr.132(AI1/AI2 Input Type)

Pr.249(Dec Ramp)

Pr.248(Acc Ramp)

Pr.250(S

Pr.251(S

Pr.252(S

Pr.253(S

DIx(10)：Speed Command SW0

-

DIx(1

1

DIx(1

2

I/O first

Pr.260(Speed Set0 (RAM)

Pr.267(

TO

Pr.255(

C Pr.

(Motor Max Speed)

Pr.002

Match Pr.203(Max Speed)

Pr.002

Pr.255(

C

Speed Cmd

DIx(10)：Speed Command SW0

- Pr.260(Speed Set0 (RAM)

I/O first

Pr.259

Pr.

(Motor Max Speed)

Pr.249(Dec Ramp)

Pr.248(Acc Ramp)

Pr.250(S

Pr.2

Pr.252(S

Pr.253(S

DIx(1

1

DIx(1

2

Pr.267(

TO

SPEED BLOCK

：Speed Source Select

-curveT1)

203

1)：Speed Command SW

2)：Speed Command SW

Speed Set7 (EAROM)

 Pr.259  JOG Speed Set This parameter is JOG speed setting。

※ 14.1.1.5 Speed Source Select =4【Speed Set from AI-1 ( 10V => Max Speed(Pr.203))】

SPEED BLOCK

：Speed Source Select

203

51(S-curveT2)

-curveT3)

-curveT4)

FWD/REV

ontrol Type)

-curveT1)

-curveT2)

-curveT3)

-curveT4)

1)：Speed Command SW

2)：Speed Command SW

Speed Set7 (EAROM)

FWD/REV

ontrol Type)

【Note】This speed is based on the read command source to Pr.119 (AI1 analog A / D conversion value),

which corresponds to Pr.203 (maximum motor speed), As is the speed command。

Pr.132(AI1/AI2 AI1 & AI2 Range Select) suitable：0/1/2/3 【Description】Assuming that the input voltage = 5V, and full scale = 10V,

Pr.203 (maximum motor speed) = 1000.0rpm

Then the current speed command = 500.0 rpm

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※ 14.1.1.6 Speed Source Select=5【Speed Set from AI-2 ( 10V => Max Speed(Pr.203) )】

Pr.132(AI1/AI2 Input Type))

Pr.002：Speed Source Select

SPEED BLOCK

I/O first

AI1 Pr.203

(Motor Max Speed) Pr.129(AI2 Drift)

Pr.130(AI2 Gain)

Pr.131(AI2 Result Value) DIx(013)(AI1/AI2 Switch)

Pr.249(Dec Ramp)

Pr.248(Acc Ramp)

Pr.250(S-curveT1)

Pr.251(S-curveT2)

Pr.252(S-curveT3)

Pr.253(S-curveT4) Pr.117(AI1 Drift)

Pr.118(AI1 Gain)

Pr.119(AI1 Result Value)

Pr.255(

FWD/REV

Control Type)

Speed Cmd

Pr.260(Speed Set0 (RAM)

Pr.267(

Speed Set7 (EAROM)

TO

DIx(10)：Speed Command SW0

DIx(11)：Speed Command SW1

DIx(12)：Speed Command SW2

Pr.129(AI2 Drift)

Pr.130(AI2 Gain)

Pr.131(AI2 Result Value)

AI2

Pr.132(AI1/AI2 Input Type)

Pr.249(Dec Ramp)

Pr.248(Acc Ramp)

Pr.250(S

Pr.251(S

Pr.252(S

Pr.253(S

DIx(10

-

DIx(1

DI

I/O first

Pr.260(Speed Set0 (RAM)

Pr.267(

TO

Pr.255(

C Pr.

(Motor Max Speed)

Pr.002

Match Pr.203(Max Speed)

SPEED BLOCK

：Speed Source Select

)：Speed Command SW0

1)：Speed Command SW1

x(12)：Speed Command SW2

【Note】This speed is based on the read command source to Pr.131 (AI2 analog A / D conversion value),

which corresponds to Pr.203 (maximum motor speed), As is the speed command。

Pr.132(AI1/AI2 AI1 & AI2 Range Select) suitable：0/1/2/3 【Description】Assuming that the input voltage = 5V, and full scale = 10V,

Pr.203 (maximum motor speed) = 1000.0rpm

Then the time of the speed command = 500.0rpm

※ 14.1.1.7 Speed Source Select=6【Speed Set from AI-x ( Control by DIx(13)：AIxSW)】

Speed Set7 (EAROM)

203

ontrol Type)

-curveT1)

-curveT2)

-curveT3)

-curveT4)

FWD/REV

【Note】Depending on the source of the speed command to read Pr.119 (AI1 Analog A / D conversion value),

the value is multiplied by 0.1, as the speed command.If DIx(013)set, the default control source = AI1。

Pr.132(AI1/AI2 AI1 & AI2 Range Select) suitable：0/1/2/3 【Description】Assuming Pr.119 = 11200, then the current speed command = 1120.0 rpm

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※ 14.1.1.8 Speed Source Select=7【Speed Set from AI-1 (with Pr.124 & Pr.125 as limit)】

AI1

SPEED BLOCK

Pr.117(AI1 Drift)

Pr.118(AI1 Gain) Pr.119(AI1 Result Value)

I/O first Pr.124(AI1 upper limit)

Pr.125(AI1 lower limit)

Match Pr.203(Max Speed)

=3(AI1 Postive/AI2 Postive)

Pr.132(AI1/AI2 Input Type)

Pr.249(Dec Ramp)

Pr.248(Acc Ramp)

Pr.250(S

Pr.251(S

Pr.252(S

Pr.2

Pr.

(Motor Max Speed)

Pr.255(

C DIx(10)：Speed Command SW0

-

DIx(1

1

DIx(1

2

Pr.260(Speed Set0 (RAM)

Pr.267(

TO

Speed Cmd

-curveT1)

-curveT2)

1)：Speed Command SW

2)：Speed Command SW

Speed Set7 (EAROM)

203

FWD/REV

ontrol Type)

-curveT3)

53(S-curveT4)

【Note】Depending on the source of the speed command to read Pr.119 (AI1 Analog A / D conversion value),

after Pr.124 (AI1 upper limit setting) and Pr.125 (AI1 lower limit setting), the range is 0 to 32767,

which corresponds to Pr.203 (maximum motor speed), as is the speed command。

Pr.132(AI1/AI2 AI1 & AI2 Range Select) suitable：3 Pr.124 (AI1 upper limit) and Pr.125 (AI1 lower limit) can be used as an analog input range limit。【Description】Assuming that the input voltage = 5V, and full scale = 10V,

Pr.203 (maximum motor speed) = 1000.0rpm, Pr.124 (AI1 upper limit setting) = 32767, Pr.125 (AI1 lower limit setting) = 0 Then the time of the speed command = 500.0rpm

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Pr.248

Acc. Time

1000rpm

1500rpm

4 ms.

5 ms

rpm

time

500rpm

Pr.249

Dec. Time

∆ = 1000rpm

Speed

ACC

T1

T2

T3

T4

Ta

Speed

T

1000RPM

Pr.248(Acc. Time) =100 (ms/Krpm) Pr.250 (Scurve T1 time) =100 (ms) Pr.251

(Scurve T2 Time) =100(ms)

Ta (totally acc. time) =

(0.5 x Scurve T1 Time) + (Acc. Time) + (0.5 x ScurveT2 Time) = 200ms

Example: Explain how the S-curve affects the Acc. and Dec. timing.

 Pr.248  ACC Time The set speed up to 1000rpm 0rpm time needed; unit: 0.001 seconds.  Pr.249  DEC Time 1000rpm speed setting down the time needed to 0rpm; Unit: 0.001 seconds。

Based on the figure below:

Acceleration ramp setting = 8 ms / Krpm, deceleration setting = 10 ms / Krpm. Figure acceleration ramp is 1000rpm / 8 ms, deceleration slope is 1000rpm/10ms.

Therefore, from 0rpm 1500rpm requires a total of 8 +4 = 12 ms

from 1500rpm 0rpm need a total of 10 +5 = 15 ms.

 Pr.250  Scurve T1 time (ACC Start)  Pr.251  Scurve T2 time (ACC End)  Pr.252  Scurve T3 time (DEC Start)  Pr.253  Scurve T4 time (DEC End)

S-curve characteristic can be reduced when the machine starts and stops the vibration generated;

setting the longer, the more obvious the effect of delaying,Because of the speed change caused

by the vibration is smaller, but the relative acceleration or deceleration also increases the overall time。

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 Pr.255  RUN/STOP/FOR/REV Command Type



Setting Description Memo

1 FWD / DIR

2 FWD / REV

DIx(73)=FWD；DIx(74)=DIR DIx(73) Forward must be maintained, then DIx (74) direction only role. DIx(73)=FWD；DIx(74)= REV DIx(73) Forward and DIx (74) must be independent of the direction of

launch, if the two simultaneously activated to forward based.

14.1.2 Speed Mode：Standard Speed Mode：Digital Input

 DIx _ Select When this function is selected, the command execution speed to zero speed。

 DIx _ Select  DIx _ Select  DIx _ Select

These groups of functions are used as paragraph 8 preset speed selector switch

Speed selection bit 0 ~ bit 2 speed control mode selection table below：

Pr.

260 Speed Set0 (RAM) 0 0 0 261 Speed Set1 (EAROM) 0 0 1 262 Speed Set2 (EAROM) 0 1 0 263 Speed Set3 (EAROM) 0 1 1 264 Speed Set4 (EAROM) 1 0 0 265 Speed Set5 (EAROM) 1 0 1 266 Speed Set6 (EAROM) 1 1 0 267 Speed Set7 (EAROM) 1 1 1

 DIx _ Select When disabled, the running speed will perform AI1 = Pr.119 X 0.1 (rpm)。 When enabled, the running speed will perform AI2 = Pr.131 X 0.1 (rpm)。【Note】The function suitable Pr.002=6(from AI-x ( Control by DIx(13)：AIxSW))

 DIx _ Select  DIx _ Select

When select DIx(048)，the running speed will be JOG Forward。 When select DIx(049)，the running speed will be JOG Reverse。【Note】JOG Speed Parameter = Pr.259。 When forward and reverse command is repeated, forward command priority

008，Zero Speed Holding

010，Speed Command SW0 011，Speed Command SW1 012，Speed Command SW2

In the speed setting 0 ~ 7 Preset speed, switch to the digital input。

Speed

Setting

013，Cmd-OFF=AI1 ; ON=AI2(Use Pr.002=6)

048，JOG Forward 049，JOG Reverse

Speed SW2

DIx(12)

Speed SW1

DIx(11)

Speed SW0

Memo

DIx(10)

0：DI inactive 1：DI active

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

 DIx _ Select  DIx _ Select

When select DIx(073) the running speed will be Speed RUN。 When select DIx(074) the running speed will be Speed REV。【Note】Speed command set parameters, according to different sources Pr.002。

 DIx _ Select  DIx _ Select

When select DIx(060) and enabled+Speed=FWD，speed command down to 0。 When select DIx(062) and enabled+Speed=REV，speed command down to 0。【Note】N.O：Normal Open，(means Q output / NPN type / A contact signal)。 When the function is activated, the internal fault message is not generated。

 DIx _ Select  DIx _ Select

When select DIx(065) and disabled+Speed=FWD，speed command down to 0。 When select DIx(067) and disabled+Speed=REV，speed command down to 0。【Note】N.C：Normal Close，(means /Q output / PNP type / B contact signal )。 When the function is activated, the internal fault message is not generated。

 DIx _ Select  DIx _ Select

If DIx(105)=OFF；DIx(104)=ON，current speed command - AI2 compensation。 If DIx(105)=ON ；DIx(104)=ON，current speed command+AI2 compensation。【Note】If the individual starts DIx (105), the non-action。

073，Speed RUN or (FWDRUN) 074，Speed REV or (REVRUN)

JOG Command > Speed RUN Command。 When forward and reverse command is repeated, forward command priority (Pr.255 RUN/STOP/FOR/REV Command Type =2：FWD / REV) suitable。

060，Speed mode, FLSW (Forward Limit Switch, N.O.contact) 062，Speed mode, RLSW (Reverse Limit Switch, N.O.contact)

065，Speed mode,/FLSW (Forward Limit Switch, N.C.contact) 067，Speed mode,/RLSW (Reverse Limit Switch, N.C.contact)

104，SPEED+AI2 Compensation ENABLE ( Speed +/- AI2*Pr.203/30000) 105，SPEED+AI2 Compensation POLARITY

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14.1.3 Speed Mode：Standard Speed Mode：Digital Output



DOx(009)

Speed

Pr.184

DOx(010)



DOx(015)

Speed

Pr.010

DOx(014)

 DOx _ Select When the ABS (output speed)> Pr.184 and forward, the resulting digital output。

 DOx _ Select When the ABS (output speed)> Pr.184 and reversed, resulting in a digital output。

 DOx _ Select  DOx _ Select

When the ABS(output speed)> Pr.184, the resulting digital output。

 DOx _ Select  DOx _ Select

When the actual speed> Pr.010, the resulting digital output。

006，Forward Running ( ABS(Rpm) > Pr.184(SPZrpm) )

007，Reverse Running ( ABS(Rpm) > Pr.184(SPZrpm) )

009，SPZ:ABS(Rpm) <= Pr.184 010，NSPZ:ABS(Rpm) > Pr.184

014，Actual-Speed > Pr.010: Speed-Reference 015，Actual-Speed <= Pr.010:Speed-Reference

【Note】Actual speed is defined: take the absolute value of the actual speed of the

source as compared。

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14.1.7 Speed Mode：Standard Speed Mode：PID Gain

Motor rpm

PID (2)- Gain

PID (1)- Gain

Pr.184

Gain changing

Versus Rpm

2*Pr.184

Speed / Torque Mode PID

Motor RPM

PID (2)- Gain

PID (1)-

Gain

Pr.184 Threshold Rpm for SPZ

Set=100 RPM

200 RPM

100 RPM

0 RPM

Gain Changing Versus Rpm

※ 14.1.7.1 Speed Mode：Standard Speed Mode：PID Gain

Pr. Description Unit 181 ACC Torque compensation 184 Threshold Rpm for SPZ Rpm 237 Speed Loop Base Pgain (Pbase) ％ 238 Speed Loop Base Igain (Pbase) ％ 174 1'st Position loop P gain Rpm/Pulse 242 1'st Speed Loop Pgain ％ 243 1'st Speed Loop Igain ％ 177 2'st Position loop P gain Rpm/Pulse 246 2'st Speed Loop Pgain ％ 247 2'st Speed Loop Igain ％

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14.2 Torque Mode：Standard Torque Mode

14.2.1 Torque Mode：Standard Torque Mode：Parameter

 Pr.003  Torque Limit Source

Setting Description Memo

0 Torque Limit =Torque Limit-0

1 Torque Limit =AI-1*Torque Limit-0

2 Torque Limit =AI-2*Torque Limit-0

※ 14.2.1.1 Torque Limit Source =0【Torque Limit =Torque Limit-0】

When this option is selected, the source of torque limit = Pr.004：Torque Limit-0。

※ 14.2.1.2 Torque Limit Source =1【Torque Limit =AI-1*Torque Limit-0】

When this option is selected, the source of torque limit = AI-1*Torque Limit-0。

※ 14.2.1.3 Torque Limit Source =2【Torque Limit =AI-2*Torque Limit-0】

When this option is selected, the source of torque limit = AI-2*Torque Limit-0。

 Pr.004  Torque Limit-0 (EAROM)  Pr.005  Torque Limit-1 (EAROM)  Pr.006  Torque Limit-2 (EAROM)  Pr.007  Torque Limit-3 (EAROM)

This parameter group is torque limit，set for purpose of limiting torque current drive output。【Note】Torque limit is set on the application, you can refer to the relevant digital input DIx。

 Pr.024  Torque DROOP Range This parameter is a pure torque limiting velocity increment mode。【Note】This parameter only applies DIx (026) or DIx (027) Function。 Torque limit is set on the application, you can refer to the relevant digital input DIx。

DIx(28) / DIx(29)，switch Torque-limit number DIx=00  Pr.004：Torque Limit-0 DIx=01  Pr.005：Torque Limit-1 DIx=10  Pr.006：Torque Limit-2 DIx=11  Pr.007：Torque Limit-3

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14.2.2 Torque Mode：Standard Torque Mode：Digital Input



 DIx _ Select

This parameter functions for the pure torsion mode reverse speed command。【Note】This function is available only with DIx (026) or DIx (027) using。

 DIx _ Select  DIx _ Select

This two parameter determines the speed mode or pure torque mode。 When DIx= Speed Mode，drive is running by【Speed Command】； When DIx=Torque Mode，drive is running by【Speed Command + Pr.024】。【Note】Both settings can not be established at the same time。 When DIx= Torque Mode： A. The parameters affecting Pr.004 / Pr.088。 B. when DIx(024) enabled，Reverse speed command。

 DIx _ Select  DIx _ Select

These two set of functions is used as a four segment preset torque selector switch.

In the torque setting 0 ~ 3 preset torque torque setting to the digital input switch.

Torque up select bit 0 ~ bit a torque control mode selection table below：

Pr.

004 Torque Limit-0 0 0 005 Torque Limit-1 0 1 006 Torque Limit-2 1 0 007 Torque Limit-3 1 1

【Note】Torque limit the set percentage, will be the last by Pr.088: the ratio of the maximum percentage

For example：

When Pr.088=300；Torque-limit=10 %，finally Torque-limit value of Pr.017 = 30 %

024，Torque Command Reverse

026，ON：TORQUE mode, OFF：SPEED Mode 027，ON：SPEED mode, OFF：TORQUE Mode

028，Torque Command SW0 029，Torque Command SW1

Torque

Limit

of the motor, determine the final value

When Pr.088=200；Torque-limit=10 %，finally Torque-limit value of Pr.017 = 20 %

Torque Cmd-SW1

DIx(29)

Torque Cmd-SW0

Memo

DIx(28)

0：DI inactive 1：DI active

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

14.2.3 Torque Mode：Standard Torque Mode：Digital Output

 DOx _ Select  DOx _ Select

When this mode is selected, the drive current is converted to a percentage of the

Example：Pr.016=10%，Drive current=6A；Motor current=3A，therefore G=2 When the actual current drive> (2 x10%)，Generate a digital output。【Note】DOx(019)=DOx(018) reverse output。 Pr.016：Torque Compare Level，is percentage of the motor rated current

setting value comparison。

 DOx _ Select  DOx _ Select

Active when the motor current to compare the percentage of Pr.016：Warning Level

If the motor current percentage> Pr.016, generate a digital output。【Note】DOx(084)=DOx(083) reverse output。 Pr.016：Torque Compare Level，is percentage of the motor rated current

setting value comparison。

Pr.017：I_RMS( % Motor)。

018，Driver Torque-Current(%) > Pr.016：Warning Level 019，Driver Torque-Current(%) <= Pr.016：Warning Level

motor current G，Multiplied by Pr.016, as is Comparison value, if the drive is the actual current> (G x compare value), generate a digital output.

083，Motor-Torque(%) > Pr.016：Warning Level 084，Motor-Torque(%) <= Pr.016：Warning Level

14.2.7 Torque Mode：Standard Torque Mode：PID Gain

※ 14.2.7.1 Torque Mode：Standard Torque Mode：PID Gain

【Note】Please refer to the relevant sections 14.1.7

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JPS JUPITER-STD, JMD-STD-90A, JMD-STD-90A-H User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1. Product Introduction

1.1 Check Items

1.2 Description of Nameplate Content

1.2.1 The Label on the Packing Case

1.2.2 The Driver Rating Label

1.3 The Specification of JUPITER Series

1.3.1 The Rating

1.3.2 The Specification of Hardware

2. Condition of Storage Environment

3. Attention of Installation

4. Outline Dimension

5. Description of Wiring

5.1 Power Terminal

5.1.1 The Power Input Terminals (R， S， T)

5.1.2 The Output Terminals (U， V， W to Motor)

5.2 The Control Signal Terminals

5.3 Brake Resistor Terminals

5.4 The Input Reactor

5.5 The Proper Screw Drive for Power Terminals

6. Basic Wiring Diagram for IRIS Series Drive

6.1 Internal Block

6.4 XYSigal Input Description：

8. Basic Start Method(Quick Start)

8.1 JOINT-PROGRAMMER Execute Motor AutoTuning

8.2 JOINT-PROGRAMMER Software To Execute Speed Mode

8.3 JOINT-PROGRAMMER Software exchange direction

9. Parameter Description

9.1 STD Mode：Standard Mode Parameter List

9.2 EGEAR Mode：Standard Pulse Command Parameter List

9.3 BP2P Mode：Basic Point To Point Parameter List

9.4 Parameter Type

10. JMD Group Description

10.1 AMP Status Group

10.2 COMM PORT Group

10.3 Operation Mode Group

10.4 Motor / Encoder Group

10.5 PID Gain Group

10.6 Analog Input Group

10.7 Analog Output Group

10.8 Digital Input Group

10.9 Digital Output Group

10.10 Miscellaneous Group

11.1 STD Mode - DIx (Digital Input Function)

11.2 EGEAR Mode - DIx(Digital Input Function)

11.3 BP2P Mode - DIx(Digital Input Function)

12. Digital Output Function

12.1 STD Mode - DOx(Digital Output Function)

12.2 EGEAR Mode - DOx(Digital Output Function)

12.3 BP2P Mode - DOx(Digital Output Function)

13. Built-In Multi-Function

13.1 32 BIT COUNTER Function

13.1.2 32 BIT COUNTER：Digital Input

13.1.3 32 BIT COUNTER：Digital Output

13.2 FlipFlop Function

13.2.1 FlipFlop1

13.2.2 FlipFlop2

13.2.3 FlipFlop3

13.2.4 FlipFlop4(D-Type)

13.2.5 FlipFlop5(T-Type)

13.3 Timer Function

13.2.1 Timer1(Standard Type)

13.3.2 Timer2(Standard Type)

13.3.3 Timer3(Mono Type / Delay-On Type)

13.3.4 Timer4(Mono Type / Delay-On Type)

13.3.5 Timer5(Mono Type)

13.8 ECAM Function

13.8.1 ECAM-Type1：Start Angle-End Angle

13.8.2 ECAM-Type2：Start Angle-Range Angle

13.20 16BIT SHIFTER Block Function

13.20.1 16 BIT SHIFTER Block：Parameter

13.20.2 16 BIT SHIFTER Block：Digital Input

13.20.3 16 BIT SHIFTER Block：Digital Output

13.22 XY/AB-INDEX Function

13.22.1 XY-INDEX Function

13.22.2 AB-INDEX Function

14. Control Mode Description