JS Automation YPV-040, YPV-075, YPV-100, YPV-150, YPV-200 User Manual

Mokon Series Driver

User’s Manual

V2.1

健昇科技股份有限公司

JS AUTOMATION CORP.

新北市汐止區中興路 100 號 6 樓

6F., No.100, Zhongxing Rd.,

Xizhi Dist., New Taipei City, Taiwan

TEL：[phone]

FAX：[phone]

http://www.automation.com.tw

http://www.automation-js.com/

E-mail：[e-mail]

1

Correction record

Version

Record

1.1 Add CN1-9 TLM+ Torque limit command

1.2

1

Adjust 5. I/O Signal Definitions and CN1 Pin Assignments

2

Add 20. Wiring of MPC3024 wiring board to Mokon driver

3

Modify description of CN1 Pin16 Hold

1.3

1.

Chapter 5 I/O Signal Definitions and CN1 Pin Assignments

Pin5,6,7,13,14,15,16,30,31,34 descriptions—rewrite for more detail

Pin1,2 description—rewrite for more detail

1.4

1.

Update Chapter 10,11,12 diagram

2.

Update Chapter 20 Wiring of MPC3024 wiring board to Mokon driver

3.

Update 15.1 Communication Protocol

2.0 YPV V2.0

2.1 Add Warranty

2

Contents

1. Checking Mokon series products on delivery 4

1.1 Servomotor nameplate descriptions 5

1.2 Servomotor model 6

1.3 Servo drive nameplate descriptions 6

1.4 Servo drive model 7

1.5 Servo drive part names 8

2. Servo drive installation precautions 9

2.1 Prevent foreign object intrusion 9

3. Servo drive wiring precautions 11

3.1 Main wiring 11

3.2 Wiring for the controller and the encoder 12

4. Servomotor installation precautions 13

4.1 Installation precautions 13

4.2 Connect the servomotor with load precautions 13

4.3 Alignment 14

4.4 Handling oil and water 15

4.5 Cable stress 15

5. Encoder wiring and CN2 pin assignments of the servo drive 16

5.1 Signal waveform of feedback Encoder 16

6. Position command input circuit 17

6.1 From differential type line driver 17

6.2 From open-collector output: 17

7. Analog command input circuit 18

7.1 Analog command input circuit 18

7.2 Digital input circuit interface 18

8. Output interface circuits 19

8.1 Digital output interface 19

8.2 Encoder digital output interface circuit 20

9. Position control interface 21

10. Speed control interface 22

11. Torque control interface 23

12. Descriptions of Mokon servo drive input signals 24

12.1 Input Signal definitions and CN1 pin assignments 24

12.2 Servo ON input (CN1-6) 27

12.3 RST Servo reset input (CN1-7) 27

12.4 TLM Torque limit input (CN1-13) 27

12.5 PRIH Forward rotation inhibited and NRIH reverse rotation inhibited inputs (CN1-14~15) 28

12.6 Motor hold or PI/P control mode switch input (CN1-16) 28

12.7 MDO Operation mode 29

3

12.8 VCMD+ and TCMD+ inputs (CN1-1 and CN1-8) 29

12.9 TLCMD+ Torque limit analog command input (CN1-9) 30

12.10 +PPCMD –PPCMD, +NPCMD -NPCMD Position command inputs (CN1-26~29) 30

12.11 SPD1 SPD2 SPD3 Internal speed switching inputs (CN1-32~35) 31

13. Descriptions of Mokon servo drive Output signals 32

13.1 Output Signal definitions and CN1 pin assignments 32

13.2 ALM Servo alarm output (CN1-10) 33

13.3 Brake motor brake release output (CN1-17) 33

13.4 Zero servo speed zero output (CN1-36) 34

13.5 ITLM In torque limit output (CN1-37) 34

13.6 INS INP Speed/Position arrival output (CN1-18) 34

13.7 MON1 MON2 Analog monitor outputs (CN1-11~12) 35

13.8 Encoder output signals (CN1-19~24) 35

14. User parameter settings and functions 36

14.1 Parameter settings and functions 36

15. Driver setup via PC communication 42

15.1 Setup communication protocol 42

15.2 Communication port to link with the servo driver 43

15.3 Basic functions 43

15.4 Common parameter 44

15.5 Speed mode menu 50

15.6 Position mode menu 53

15.7 Torque mode 56

15.8 Motor Parameter Settings 58

15.9 Advanced Parameters 59

15.10 Speed Loop Gain 1 59

15.11 Speed Loop Gain 2 60

15.12 Online Monitor 62

16. Alarm display table 63

17. Connector pin assignments diagram 64

18. Servo drive dimension 64

19. Regenerate brake resistor selection guide 67

20. Wiring of MPC3024 wiring board to Mokon driver 68

21. Appendix 69

4

Warranty

The Mokon series are warranted against defects in materials and workmanship for a period of one
year from the date of shipment, as evidenced by receipts or serial no. on board. JS automation Corp. will,
at its option, repair or replace product that proves to be defective during the warranty period. This
warranty includes parts, labor and shipping costs of returning.

Except as specified herein, JS automation Corp. makes no warranties, express or implied, and

specifically disclaims any warranty of merchantability or fitness for a particular purpose. Customer’s right

to recover damages caused by fault or negligence on the part of JS automation Corp. shall be limited to the
amount theretofore paid by the customer. JS automation Corp. will not be liable for damages resulting
from loss of data, profits, use of products, or incidental or consequential damages, even if advised of the
possibility thereof. This limitation of the liability of JS automation Corp. will apply regardless of the form
of action, whether in contract or tort, including negligence. Any action against JS automation Corp. must
be brought within one year after the cause of action accrues.
JS automation Corp. shall not be liable for any delay in performance due to causes beyond its reasonable
control. The warranty provided herein does not cover damages, defects, malfunctions, or service failures

caused by owner’s failure to follow the JS automation Corp. installation, operation, or maintenance

instructions; owner’s modification of the product; owner’s abuse, misuse, or negligent acts; and power

failure or surges, fire, flood, accident, actions of third parties, or other events outside reasonable control.

If any defect occurs, you should email to us as the following form to get the fast response:

Detailed Company Information

Company/Organization:

Contact Person:

E-mail:

Address:

Country:

Tel/Fax:

Web Site:

Product information

product model:

serial no.:

Environment to Use: such as CPU board, Operating System, target application...

description of defect: (as detail as possible)

5

1. Checking Mokon series products on delivery

1. One servomotor

2. One servo drive

3. One 37PIN D type connector for CN1*

4. One 15PIN D type connector for CN2*

5. One connector for servomotor power line*

6. One encoder connector*

7. One copy of wiring description
* If cable is your option, they will be soldered ready with the cable.

Servo drive Model

Rated Output

Motor Rated Speed

Serial Number

Encoder Specification

Follow the procedure below to check Mokon Series products upon delivery
Check the following items when Mokon Series products are delivered:

1. Check the packed products for damages that may have occurred during shipping.

2. Check whether the name and number of the delivered products are the same as those on the
delivery sheet.

3. Check whether the servomotor and servo drive capacity and encoder specification are the same
as the ordered.

4. In the case of special order, please carefully check the delivered products and contact our
company immediately if any item is incorrect.
The table below shows the standard set:

1.1 Servomotor nameplate descriptions

6

Design Revisions:
K Shaft length 20mm
S Shaft length 15mm
B With brake
Q Special shaft
U Terminal box type
V Oblique shaft
X Cable Connector type
Y Military standard connector
Z Power cable connector
M Water-proof L model
N Water-proof V model

Servo drive Model

Serial Number

Servo drive Specification

Version

1.2 Servomotor model

Servomotor Serial Number

Servomotor Pole Number
and Encoder Resolution

YBL13S75 - L Z

C 8P1024 P/R
D 8P2048 P/R
E 4P2500 P/R
F 4P5000 P/R
H 4P2048 P/R
I 8P5000 P/R
J 4P1024 P/R
L 8P2500 P/R

1.3 Servo drive nameplate descriptions

7

1.4 Servo drive model

YPV Series Servo drive YPV - 300-V

Servodrive Capacity

040 0.4 KW 600 6 KW
055 0.55 KW 750 7.5 KW
075 0.75 KW 860 8.6 KW
100 1 KW 1100 11 KW
150 1.5 KW 1500 15 KW
200 2 KW 2200 22 KW
300 3 KW 3000 30 KW
450 4.5 KW

Type
V High resolution speed / Torque command: 12-bit resolution

8

Charge Indicator
Lights when the main circuit
power supply is ON and stays
as long as the main circuit
power supply capacitor remains
charged. Therefore, do not
touch the Servo drive even after
the power supply is turned off if
the indicator is lit.

Main Power Supply and Servomotor
Terminals
(RST) used for AC mains input(3 , 220Vac)
(E) Ground Terminal, must be connected
to prevent electrical shock
(UVW) Servomotor Cable Terminal
(B1 B2) Brake Resistance Terminal
(H1 H2) Servomotor Thermostat Terminal

CN3 Communication Connector
Used to communicate with a personal
computer (RS-232) or a control panel

CN1 I/O Signal Connector
Used to input command
or sequence I/O signals.

CN2 Encoder Connector
Connects to the encoder
in the servomotor.

1.5 Servo drive part names

The figure below shows the part names of the servo drive.

9

2. Servo drive installation precautions

The servo drive should be stored in the environment with ambient temperature range of 0-55 C (no
freezing) and relative humidity under 90% RH (no condensation).
Installation Orientation and Spacing:

1. When installing the servo drive, make the front panel containing connectors face outward and
take into consideration the easy connection/disconnection of CN1 and CN2 connectors for
measurement.

2. For multiple servo drive installation in the control cabinet, allow at least 40mm between each.
When installing servo drives side by side as shown in the figure below, allow at least 50mm
above and below each servo drive or install cooling fans to facilitate air circulation.

Servo drive Installation and Cooling Method

2.1 Prevent foreign object intrusion

1. Prevent the drilling and cutting chips from entering the servo drive during installation.

2. Avoid the odd objects like oil water and metal powder from entering the servo drive via

cooling fans.

3. If using fans for cooling, please install the filter properly at the ventilating hole, and

consider the surrounding environment to choose the best direction for ventilation.

4. Please install heat exchanger or air filtering system when installing in locations subject to

poisonous gas or excessive dust.

10

Extra Notices:

1. Do not install the servo drive in locations likely to be affected by oil and dust. If unavoidable,

please install the Servo drive in the airtight control cabinet and consider using ventilation filter.
Also use a protective cover over the Servomotor.

2. When installing multiple servo drives in one airtight control cabinet, allow at least 50mm between,

above and below each servo drive and leave 120mm for maintenance space. In addition, to ensure
the reliability and improve the product life, leave certain distance between the servo drive and the
cabinet ceiling so the temperature around the servo drive does not exceed 55 C which might lead
to poor ventilation.

3. A frequent use of the regenerative resistor may lead to a temperature higher than 100 C. Do not

put inflammables or heating deformable objects around. The wirings must also be kept away from
the resistor or severe damage will occur.

4. When installing near a source of vibration, install a vibration isolator to protect the Servo drive

from vibration.

11

3. Servo drive wiring precautions

Wiring precautions

3.1 Main wiring

1. Apply three-phase 220V AC mains through the NFB to the magnetic contactor, then connect

to the servo drive RST terminals. Consider installing a reactor and linear noise filter if the
local power supply quality is poor.

2. Connect the UVW terminals of the servo drive with the red, white and black cable lines of

the servomotor directly or via terminal board, on which the cable lines be secured with a
terminal plier and wrapped tightly to avoid incidental short-circuit, power interruption or
earth faults.

3. Make sure the cable lines are not damaged under stress. Be cautious of the cable wiring to

avoid as much as possible being subject to bending or tension.

4. If the servomotor is moving with the mechanism, arrange the bending section of the cable

line within the allowable curvature which is determined from the cable specification to assure
normal operation life.

5. Make sure the cable lines are not touched by sharp parts of the machine or pressed by any

heavy object.

6. Provide proper grounding wiring for the ground terminals of the servo drive and servomotor.

7. H1 and H2 are the thermostat terminals for the servomotor. Strictly forbid to short circuit

them with the machine bed or falsely connect with U V W E terminals.

8. After fastening the main terminal board, the ends of the wiring terminals can be bended up

to be kept away from the front nameplate as shown be

12

3.2 Wiring for the controller and the encoder

CAUTION

1. Do not bundle power and signal lines together in the same duct. Leave at least 30cm (11.81 in.)

between power and signal lines.

2. Use twisted-pair wires or multi-core shielded-pair wires for signal and encoder (PG) feedback

lines.

3. The maximum length for signal input lines is 3m (118.11 in.) and for PG feedback lines is 20m

(787.40 in.).

4. Do not touch the power terminals for 5 minutes after turning power off because high voltage may

still remain in the servo drive.

5. Make sure the Charge Indicator is out before starting an inspection.

6. Avoid frequently turning power on and off. Do not turn power on or off more than once per

minute.

7. Since the servo drive has capacitors in the power supply, a high charging current flows for 0.2

seconds when power is turned on. Frequently turning power on and off will cause main power
devices like capacitors and fuses to deteriorate, resulting in unexpected problems.

1. Each pin of CN1 and CN2 must be soldered and checked carefully for correct pin number

Check the adjacent pins after soldering to avoid being incidentally shorted circuit by the
solder or unused leads.

2. Wrap the soldered leads with shrinkable tubes to keep from being touched by each other.

3. If the leads from CN2 must be extended, care must be taken in the connection section and

proper shielding measures must be adopted to suppress EMI noise.

4. Do not stretch tight the leads of CN2 to avoid wiring faults of the encoder.

5. Power cables and signal lines should not be arranged in close parallel, and the leads for

control signals should be twisted and shielded.

Note: Be cautious of the length of the wiring and the measures for noise shielding if Mokon series is used

in position control mode. If not using the line driver type, the PULSE GND must be connected to
DGND, or the lost pulse fault may occur.

13

4. Servomotor installation precautions

4.1 Installation precautions

Try to avoid water and oil exposure since the servomotor contains no water-proof structure. Install a

water-proof cover if it is used in a location that is subject to water or oil.

1. Servomotor cable line facing downward can prevent the oil and water from entering the

servomotor via cable line.

2. If the servomotor is installed vertically or with a slope, the cable line should be bended to

U-type to avoid the oil and water from entering via the cable line.

3. Carefully avoid the exposure of cable lines to oil and water that have adverse effects on

servomotor and encoder, also may cause malfunctions of the servo drive.

4.2 Connect the servomotor with load precautions

1. To mount a belt wheel, use the set screw to secure it on the shaft end if the motor shaft has a

keyway; Use a friction coupling if the motor shaft has no key way.

2. Use a special tool to dismantle the belt wheel, avoiding impact to the shaft.

3. Strictly forbid to exert force on the back cover of the encoder by hands or ropes when

moving the servomotor.

4. Strictly forbid the use of hammer to strike the shaft (likely to damage the encoder)

14

Avoid violent collision and vibration of servomotor when mounting
a belt wheel or a clutch! The encoder connecting with the shaft is
vulnerable under intense vibration which may adversely affect the
resolution and service life of the servomotor.

Measure this distance at four different positions around.
The difference between the maximum and minimum
measurements must be below 0.03mm (0.0012 in). (Turn
together with the coupling.)

Measure this distance at four different positions around.
The difference between the maximum and minimum
measurements must be below 0.03mm (0.0012 in). (Turn
together with the coupling.)

.

.

5. Do not change the encoder wiring direction.

6. Use a flexible connector. The round-off must meet with the allowable radial load.

7. Choose a proper pulley, chain wheel or timing belt that can meet with the requirement of the

allowable radial load.

8. If the servomotor is attached with a magnetic brake, either horizontal or vertical installation

4.3 Alignment

is allowed. When the shaft is upward installed, the brake may normally make some noise.

Align the shaft of the servomotor with the shaft of the apparatus, and then couple the shafts.
Install the servomotor so that alignment accuracy falls within the following range.

15

4.4 Handling oil and water

Install a protective cover over the servomotor if it is used in
a location subject to water or oil mist.
Also use a servomotor with an oil seal to seal the through shaft
section.

4.5 Cable stress

Make sure there are no bends or tension on the power lines.
Be especially careful to signal line wiring to avoid stress because the diameter of the core wires
is only 0.2 to 0.3mm (0.0079 to 0.012 in).

16

5. Encoder wiring and CN2 pin assignments of the servo drive

Motor RSO

Connector

Motor Side

Cable Color

Name of the

Signal

Servo drive

Side Pin No.

1

Green

A 1 2

White Grey

/A 2 3

Gray

B 3 4

White Gray

/B 4 5

Yellow

C

5

6

White Yellow

/C

6

7

Brown

U 7 8

White Brown

/U 8 9

Orange

W 9 10

White Orange

/W

10

11

Blue

V

11

12

White Blue

/V

12

13

Red

+5V

13

14

White Red

GND

14 15

15

Silver braided wire

Shielding

Case

5.1 Signal waveform of feedback Encoder

The figure below shows the forward rotation (CCW) waveform of the encoder

17

6. Position command input circuit

6.1 From differential type line driver

6.2 From open-collector output:

Example 1: Using an external power supply provided by the user
Note: Mokon Servo drive can be only connected with 24V external power supply.

Example 2: Using power supply built in the servo drive

18

7. Analog command input circuit

7.1 Analog command input circuit

7.2 Digital input circuit interface

19

8. Output interface circuits

8.1 Digital output interface

Example 1: Connecting to a relay output circuit

Example 2: Connecting to a photo coupler output circuit

20

8.2 Encoder digital output interface circuit

21

9. Position control interface

22

10. Speed control interface

23

11. Torque control interface

24

Signal

Type

Pin

Name

Pin
No.

Function Descriptions

Common

+15V

3

+15V voltage
output

±15V volt with allowable 50mA output , spare for
external analog use.

-15V

4

-15V voltage
output

24G

5

Common

power ground for user control interface.

SON

6

Servo on

Digital signal for activating the servo drive when
connected with 24G.(internal 24V pull high)

RST

7

Alarm reset

Digital signal for releasing the servo drive when
connected with 24G.(internal 24V pull high)

TLM

13

Torque Limit

Digital signal for torque limit when connected
24G(internal 24V pull high)

PRIH

14

Forward Rotation
Inhibited

Digital signal for inhibiting the forward rotation when
connected with 24G.(internal 24V pull high)

NRIH

15

Reverse Rotation
Inhibited

Digital signal for inhibiting the reverse rotation when
connected with 24G.(internal 24V pull high)

HOLD

OR

PI/P

16

Motor HOLD
(forward and
reverse rotation
inhibited) Speed
Loop Control

Digital signal for inhibiting the forward and reverse
rotations when connected with 24G, in position mode,
the input pulse counter will be cleared; or switching
between PI / P control modes under the speed operation
mode . (The function of this pin is selected in the
"common Parameter" menu .)(internal 24V pull high)

+5V

30

5V voltage output

5 volt with allowable 50mA output, spare for external
use.

DGND

31

5V ground output

5V power ground, also ground for ±15V.

MDO

34

Operation Mode
switch

connected with 24G will switch the operation mode.

(defined by Common parameter->Control mode
selection)

S / P Speed mode < - > Position mode P / T Position
mode < - > Torque mode
S / T Speed mode < - > Torque mode
(internal 24V pull high)

12. Descriptions of Mokon servo drive input signals

12.1 Input Signal definitions and CN1 pin assignments

25

Signal Type

Pin Name

Pin No.

Function Descriptions

SPEED

VCMD+

1,

8

Speed command

During driver set at speed mode:

Enable the motor to run at speed
proportional to the speed command voltage .
At ±10V input , the motor runs ±3000rpm ,
or ±2000rpm . Positive voltage corresponds
to forward rotation , while negative voltage
corresponds to reverse rotation .
(pin8 can also act as low resolution speed
command input)

AGND

2

Analog ground

Analog signal ground

TORQUE

TCMD+

1

Torque command

During driver set at torque mode:

Enables the motor to output torque
proportional to the torque command voltage.
At ±10V , the motor output 300% rated
torque .

TLM+

9

Torque limit
command

Enabled while TLM (pin13) active low,
At ±10V , the motor output is limited at

300% rated torque.
The function is also available in speed
mode.

AGND

2

Analog ground

Analog signal ground

26

Signal Type

Pin Name

Pin No.

Function Descriptions

Position

Command

EPI

25

External Power
input

+24V External Power input for open collector
pulse driver.

(If TTL or line driver pulse source, the EPI
power input is no need)

Ref 7. Position Command Input Circuit

+PPCMD

26

Forward rotation
pulse Input+

Forward rotation pulse Input+
(CW+ / Pulse+ /A+)

-PPCMD

27

Forward rotation
pulse Input-

Forward rotation pulse Input­(CW- /Pulse- /A-)

+NPCMD

28

Reverse rotation
pulse Input+

Reverse rotation pulse Input+
(CCW+ / Dir+ /B+)

-NPCMD

29

Reverse rotation
pulse Input-

Reverse rotation pulse Input­(CCW- / Dir- /B-)

Common

Signal for

Position and

Speed

Command

EG1/SPD

32

Electronic gear 1
Speed selection 1

Input signal as electronic gear selection 1 in
position operation mode or as speed selection 1
in speed operation mode .

EG2/SPD2

33

Electronic gear 2
Speed selection 2

Input signal as electronic gear selection 2 in
position operation mode or as speed selection 2
in speed operation mode .

EG3/SPD3

35

Electronic gear 3
Speed selection 3

Input signal as electronic gear selection 3 in
position operation mode or as speed selection 3
in speed operation mode .

27

12.2 Servo ON input (CN1-6) This signal is used to turn on and off the power to the servomotor.

Note:

1. Contact this input to ground will make the Mokon driver ready to receive the command pulse or

analog voltage input.

2. Open the contact will make the servo motor free run. Do not use this signal to work as motor stop

signal.

12.3 RST Servo reset input (CN1-7) This signal is used to reset the servo drive after clearing the servo alarm.

12.4 TLM Torque limit input (CN1-13)

This signal, together with the TLCMD+ analog voltage input (CN1-9) torque limit signal, is to
protect the apparatus or work piece. If the input torque limit exceeds the maximum motor rated torque,
then the maximum motor rated torque is the maximum torque limit.

A too low torque limit might cause the problem of insufficient torque during acceleration/

deceleration.

28

12.5 PRIH Forward rotation inhibited and NRIH reverse rotation inhibited inputs (CN1-14~15)

These two signals force the moving part of the apparatus to stop if they travel over the allowable
range of motion. Connect the overtravel limit-switch signals to the correct pins (PRIH for forward
overtravel, NRIH for reverse overtravel) of the servo drive CN1 connector. (as shown below)

12.6 Motor hold or PI/P control mode switch input (CN1-16) If Motor Hold function is selected, the servomotor will be stopped and held still when CN1-16 is

connected with 24G. The servomotor is decelerated according to the programmed profile.

If PI/P Control Mode Switch function is selected, the speed loop will be changed from PI mode to P
mode when CN1-16 is connected with 24G and. The mode switching function is described below:

Applications:

1. To suppress the overshoot during acceleration/deceleration under the speed operation mode.

2. To suppress the undershoot or decrease the settling time under the position operation mode.

29

12.7 MDO Operation mode

If the CNTL parameter is set in the “Common Parameter” menu as S/P (speed/Position), P/T
(Position/Torque), or S/T (Speed/Torque) mode, this input signal enables the switching between operation
modes.

For example: If CNTL is set as S/P mode, when CN-34 and 24G is not connected, the servo drive is
in Speed operation mode, when connected; the servo drive is switched to Position operation mode.

12.8 VCMD+ and TCMD+ inputs (CN1-1 and CN1-8)

VCMD+: When the servo drive is in S Mode or is switched to S mode, this signal is used as analog
speed command input. The input voltage scale can be modified at the VMDL parameter contained in the
“Speed Parameter” menu. The value of the VMDL parameter defines the input voltage which
corresponds to the rated speed, with positive voltage for forward rotation, and negative voltage for reverse
rotation.

TCMD+: When the servo drive is in T Mode or is switched to Torque operation mode, this signal is
used as analog torque command input. If the input voltage is 10V, the motor outputs 300% of the rated
torque.

Note: CN1-1 is for high-resolution analog signal input (12 BIT). Please purchase YPV-XXX-V series
servo drive if high-resolution analog input is needed. The input pin of the standard analog input
(resolution 10 BIT) is CN1-8.

30

12.9 TLCMD+ Torque limit analog command input (CN1-9)

The position command signals can be any of the following

forms (refer to 6. Position command input circuit):

1. Differential type

2. +24V open-collector type

3. +5V open-collector type

This signal is used as analog torque limit command input when CN1-13 is connected with 24G. If the
input voltage is 10V, the limit range corresponds to 300% of the rated torque of the motor.

12.10 +PPCMD –PPCMD, +NPCMD -NPCMD Position command inputs (CN1-26~29)

When the servo drive is in P Mode or switched to Position operation mode, these signals are used as
position command inputs. The type of the command can be changed within the parameter.

31

12.11 SPD1 SPD2 SPD3 Internal speed switching inputs (CN1-32~35)

ELGN1 ELGN2 ELGN3 Electronic Gear Numerator Switching Inputs (CN1-32~35)

When the servo drive is in S Mode or switched to Speed operation mode, and if the internal speed is
enabled, the internal speed command can be selected by properly connecting one among CN1-32 (SPD1),
CN1-33(SPD2) and CN1-35(SPD3) to 24G. The three pins correspond to three different internal speed
commands which are defined by the parameters Internal Speed 1, Internal Speed 2 and Internal Speed 3
(Unit: RPM) in the “Speed Parameter”menu.

When the servo drive is in P Mode or switched to Position operation mode, the numerator of the
electronic gear ratio can be selected by properly connecting one among CN1-32 (ELGN1), CN1-33
(ELGN2) and CN1-35 (ELGN3) to 24G. The three pins correspond to three different numerators that are
defined by the parameters Numerator 1, Numerator 2 and Numerator 3 in the “Position Parameter”
menu, where a common denominator of the electronic gear ratio is also programmed

.

32

13. Descriptions of Mokon servo drive Output signals

Signal Type

Pin Name

Pin No.

Function Descriptions

Common

ALM

10

Servo Alarm

Digital signal for alarm

BRAKE

17

Motor Brake
Release Signal

Digital signal for releasing the motor
brake

Speed

ZERO

36

Motor Low Speed
Output

Digital signal output indicating the
servomotor is running at speed lower
than the user setting .

In Torque
Limit

ITLM

37

Output In Torque
Limit

is saturated at the torque limit value in
torque is saturated at the torque limit
value in torque operation mode .

Speed/Position
Common
Signal

INP/INS

18

Position/Speed
Arrival

Digital signal output for indicating the
value of position error counter is smaller
than the user setting in position operation
mode , or the motor speed is smaller than
the user setting in speed operation mode .

Analog Output

MO1

11

Analog output 1

Analog output

MO2

12

Analog output 2

Analog output

Encoder Signal
Output

A

19

Encoder A phase

Differential, line driver digital output
signal A phase.

/A

20 B 21

Encoder B phase

Differential, line driver digital output
signal B phase.

/B

22

Z

23

Encoder Z phase

Differential, line driver digital output
signal Z phase.

/Z

24

13.1 Output Signal definitions and CN1 pin assignments

33

13.2 ALM Servo alarm output (CN1-10)

When the system power is turned off, the servomotor with

brake prevents the movable parts from dropping due to gravity.

This signal indicates that an abnormal state of the servo drive occurs.

13.3 Brake motor brake release output (CN1-17)

If CN-17 is programmed as the brake release signal, when the driver is enabled through the contact of
SON (CN 1-6) and 24G, the brake release signal will be issued after a delay time defined by the MBR
parameter in the “Common Parameter”menu.

If CN-17 is programmed as the servo ready signal (default), after the driver is enabled and no alarm
has been detected, the servo ready signal will be issued immediately.

The brake built in the servomotor is of passive type and is intended only for holding the motor and
cannot be used to actually stop a rotating motor. Be sure that the holding brake is applied after the motor is
stopped. The braking torque is at least 120% of the rated motor torque.

34

13.4 Zero servo speed zero output (CN1-36) This signal is used to indicate that the speed of the servomotor is lower than or equal to the ZSPD

parameter set in the “Speed Parameter” menu and issued by connecting CN1-36 to 24G.

13.5 ITLM In torque limit output (CN1-37) When the servo drive CN1-13 (TLM) is connected with 24G or if the output torque is saturated at the

limit set by the driver, CN1-37 will be connected with 24G to issue the In Torque Limit signal.

13.6 INS INP Speed/Position arrival output (CN1-18) If the servo drive is set as S Mode, when the motor speed is equal to or higher than the INS parameter

set in the “Speed Parameter” menu, CN1-18 will be connected with 24G to issue the Speed Arrival
signal.

If the Servo drive is set as P Mode, when the value of the position error counter is equal to or lower

than the INP parameter set in the “Position Parameter”menu, CN1-18 will be connected with 24G to
issue the Position Arrival signal.

35

13.7 MON1 MON2 Analog monitor outputs (CN1-11~12) These output signals are for monitoring the dynamic states of the servo drive and can be selected in

the “Common Parameter” menu, in which the scale, offset and resolution of the output signals are also
defined

MON1: as Monitor Channel A defined the “Common Parameter” menu;

MON2: as Monitor Channel B defined the “Common Parameter” menu

13.8 Encoder output signals (CN1-19~24) Encoder output signals, derived from the servo drive, can output to an external Host Controller. The

Host Controller then uses these signals in its control circuit.

36

14. User parameter settings and functions

YPV driver parameter definitions

parameter

no.

register

function/data

mode

initial

unit

range

remark 0

EEPW

0:write parameters into
EEPROM

0 0

1

CNTL

Servo control mode
0 = Torque mode
1 = Speed mode
2 = Position mode
3 = Speed/Position mode
4 = Position/Torque mode
5 = Speed/ Torque mode

S、P、T

3 0 ~ 5

2

PMOD

PULSE CMD TYPE
0=PULSE/DIR
1=A/B
2=CW/CCW

Note: no valid for YPV ver 2

P 0

0 ~ 2

3

Ta

acceleration time for speed
mode linear acceleration
profile.
Note: internal generated
profile, if use external profile
generator set this parameter to
0

S 0 ms

0 ~

10000 4

Td

deceleration time for speed
mode linear acceleration
profile.
Note: internal generated
profile, if use external profile
generator set this parameter to
0

S 0 ms

0 ~

10000

5

Tsa

acceleration time for speed
mode S acceleration profile.
Note: internal generated

S 0 ms

0 ~

10000

14.1 Parameter settings and functions

37

profile, if use external profile
generator set this parameter to
0

6

Tds

deceleration time for speed
mode S acceleration profile.
Note: internal generated
profile, if use external profile
generator set this parameter to
0

S 0 ms

0 ~

10000

7

PACC

Pulse mode control
acceleration time.
Note: internal generated
profile, if use external profile
generator set this parameter to
0

P 0 ms

0 ~

10000

8

SP0

0: internal speed generator
disable
1: internal speed generator
enable

S 0

0 ~ 1

9

SPD1

speed1 of internal speed
generator
Note: selected by SPD1 digital
input, while SP0=1

S

500

RPM

- rated
RPM

~ +

rated

RPM

10

SPD2

speed2 of internal speed
generator
Note: selected by SPD2 digital
input, while SP0=1

S

1000

RPM

- rated
RPM

~ +

rated

RPM

11

SPD3

speed3 of internal speed
generator
Note: selected by SPD3 digital
input, while SP0=1

S

2000

RPM

- rated
RPM

~ +

rated

RPM

12

VMDL

speed command voltage to
motor rated speed
Note: 10 means 10V for 2000
RPM rated speed motor.

S

10 V 0~10

13

SPDO

Voltage input offset for

S、T

0 ± 1024

38

speed/torque mode

14

ZSPD

zero speed range
Note: when motor speed
equivalent voltage less than
the setting voltage the CN1-37
(ZERO) will make.

S

50

RPM

0 ~

rated

RPM

15

INS

speed agreed range.
Note: when motor speed
equivalent voltage less than
the setting voltage the CN1-18
(INS) will make.

S

2000

RPM

0 ~

rated

RPM

16

TQL

torque limit in speed /position
mode
Note: function only valid
while CN1-13(TLM) short to
24G

S、P

300

%

0 ~300

17

TLCS

torque limit source
0: internal
1: external analog command
voltage (from CN1-9)

S、P

1

0 ~ 1

R/W

18

TQCA

filter time constant for torque
command input
Note: Larger time constant
will decrease the band width
of response

T

15

us

15 ~

10000

19

DOLO

output polarity
0: normal open
1: normal close

S、P、T

0 0 ~ 1

R/W

20

TSL

speed limit for torque mode

T

2000

0～

rated

RPM

R/W

21

KVP1

proportional gain1 for speed
loop

S

3000 0 ~

30000

22

KVP2

proportional gain2 for speed
loop

S

3000 0 ~

30000

23

KVI1

integral gain1 for speed loop

S

130 0 ~

30000

24

KVI2

integral gain2 for speed loop

130 0 ~

30000 25

SPDB

dead band of speed command

0

0 ~

39

rated

RPM

26

KPP1

proportional gain for position
loop

S

300 0 ~

30000 27

Not available

28

SSPD

speed loop gain switch level
(speed lower than SSPD,
switch from gain1 to gain2)

300 % 0 ~

300

29

CNTR

Refer appendix 1

30

DO17

function configuration of
CN1-17 0: active while servo
ready
1: brake release while P037
(MBR) time out

S、P、T

0～1

R/W

31

INP

In-position range
Note: position error falls into

this range the CN1-18 (INP)
will be active

P

100

Pulse

32

ELGN

numerator of gear ratio

P

10 1 ~

30000

33

ELGN1

numerator 1of gear ratio
(selected by EG1 digital input)

P

10 1 ~

30000

34

ELGN2

numerator 2 of gear ratio
(selected by EG2 digital input)

P

100 1 ~

30000

35

ELGN3

numerator 3 of gear ratio
(selected by EG3 digital input)

P

1000 1 ~

30000

36

ELGD

denominator of gear ratio

P

10 1 ~

30000

37

MBR

brake release delay timer, after
power on the CN1-17 BRAKE
will active during MBR time
out

S、T、P

500

ms

0~2000

38

MONO1

offset of monitor output1

0 mv

-127~1
27

39

MONO2

offset of monitor output2

0 mv

-127~1
27

40

MONT1

source of monitor output1
0：servo motor current
1：speed
2：position error counter

1

0~2

40

41

MONT2

source of monitor output2
0：servo motor current
1：speed
2：position error counter

1

0 ~ 2

42

MONL

speed monitor output voltage
of rated speed
±10V =±2000 OR ±3000
RPM
±8V = ±2000 OR ±3000 RPM

10

V

0 ~ 10

43

MTYP

Motor pole number

8 pole

2 ~ 48

44

RPM

Motor rated RPM

2000

RPM

0 ~

10000

45

ENCO

Encoder pulses per motor
revolution

2500

Pulse

1 ~

10000 46

IPEK

Driver peak current

ma

47

DCDY

Regenerate discharge duty
cycle

50 % 0 ~

100

48

POEN

Numerator of encoder output
ratio

1 ~

32767

49

POED

Denominator of encoder
output ratio

1 ~

32767 50

IMON

Real time current value for
monitoring

ma RO

51

SMON

Real time speed value for
monitoring

RPM RO

52

OSLV

over-speed limit

S

3000

RPM

0 ~

10000

53

PERZ

over error counter limit
Note: 0: disable PERZ
function

P

3000

0

pulse

1 ~

32766

54

not available

55

not available

56

ADO

voltage command source
1 = high resolution (always
choose)
Note: YPV ver2 is 14 bit
resolution

S 1

0~1

57

not available

58

not available

59

MRO

motor rotation direction

T、S、P

1 0 ~ 1

41

0: positive command voltage
in CCW direction
1: positive command voltage
in CW direction

60

DI-16

CN1-16 DI function selection
0 = CN1-16 works as HOLD
function
1 = CN1-16 works as PI and P
compensation switch

S、P

0 0 ~ 1

61

not available

62

TSLO

speed limit source of torque
mode
0: internal
1: external(analog voltage in)

T 0

0～1

R/W

63

not available

64

DILS

polarity of over-travel limit
input CN1-14 and CN1-15

0: normal, ground input to

PRIH , NRIH input will

activate the function.
1: invert, open input to PRIH ,
NRIH input will activate the
function.

S、P、T

0

0～1

R/W

65

SVER

Software version

RO

42

15. Driver setup via PC communication

1. Right click the mouse on my computer icon,
Choose the ―Properties‖ item

2. Select ―Hardware‖ -> ―Device manager‖

3. Select ―Ports (COM & LPT) and choose the com
port you are connecting to.

4. Select ―Port Settings‖ to change parameters
Bits per second = 9600

Data bits = 8

Parity = None

Stop bits = 1

Flow control = none

15.1 Setup communication protocol

43

15.2 Communication port to link with the servo driver

Start -> Program Files-> JS Automation->YPV

The figure left shows the display of ComPort Setting,
please choose the Communication Port used by your
computer first.

15.3 Basic functions

Mokon Servo drive has the following five menus for parameter setting:

1. Common Parameter

2. Speed Mode Parameter

3. Position Mode Parameter
4 Torque Mode Parameter

5. Motor Parameter

44

15.4 Common parameter

Mokon servo drive has six operation modes for selection

Select control mode

T Mode:
Torque mode, which is a single mode and cannot be switched through CN1-34 (MDO)
S Mode:
Speed mode, which is a single mode and cannot be switched through CN1-34 (MDO)
P Mode:
Position mode, which is a single mode and cannot be switched through CN1-34 (MDO)
S/P Mode:
Speed <-> Position mode, which can be switched through CN1-34 (MDO)
P/T Mode:
Position <-> Torque mode, which can be switched through CN1-34 (MDO)
S/T Mode:
Speed <-> Torque mode, which can be switched through CN1-34 (MDO)

45

Electromagnetic brake release time (MBR)

MBR is effective only when CN1-17 is programmed as the Motor Brake Release function.
Available range: 0~ 1000 ms

Monitor voltage (MOVL)

46

This field is used to set the maximum output voltage of the monitoring signals for both channel A

and channel B, default value is 10V.

If S Monitoring is selected, the maximum output voltage corresponds to the motor rated speed.
If I Monitoring is selected, the maximum output voltage corresponds to the motor 300% rated

current.

If P Monitoring is selected, the maximum output voltage corresponds to the tracking error setting

set in the “Motor Parameter” menu.

Motor definition rotation

You can choose positive command voltage to CW rotation or CCW rotation.

Select CN1-16 function

47

You can choose CN1-16 as

1. Hold function input, when the input active will hold the servo immediately and clear the error

counter in position mode.

2. PI/P Speed Loop Control Mode Switch input, when the input active, the driver will enter a P speed

control mode.

Select CN1-17 function

You can choose CN1-17 as

Servo Ready output: CN1-17 will be closed immediately when the servo drive is turned on and turn

off when an alarm has been detected to signal the controller.

Electromagnetic brake control output: When SON (CN1-6) is engaged, CN1-17 will not be closed
until after a delay time set by the Electromagnetic brake release time parameter; when SON (CN1-6) is
disengaged, CN1-17 will not be open until after a delay time set by the Electromagnetic brake release time
parameter.

48

Output logic selection

Define the logic of CN1-10, CN1-17, CN1-18, CN1-36, CN1-37 output signals

1. Positive logic 0, the secondary side of the photocoupler is closed when the output signal is

issued.

2. Negative logic 1, the secondary side of the photocoupler is open when the output signal is issued.

Logic for positive and negative limit

Logic for positive and negative limit:

Define the input logic of CN1-14 (Forward/Positive Rotation Inhibited PRIH) and CN1-15
(Reverse/Negative Rotation Inhibited NRIH).

1. Positive logic, motor forward and reverse rotations are inhibited when CN1-14, CN1-15 are connected

with 24G (CN1-5) respectively.

2. Negative logic, motor forward and reverse rotations are inhibited when CN1-14, CN1-15 are not

connected with 24G (CN1-5) respectively.

49

Upload

The input parameters will be transmitted and stored in the registers of the servo drive. (The input
parameters will not be maintained in the servo drive after the power is turned off.)

Upload and Program

After entering the parameters, it is necessary to press this button to write these parameters stored in
the registers onto the FLASH ROM in the servo drive. These parameters will thus be maintained in the
servo drive and not disappear after the power is turned off.

50

15.5 Speed mode menu

Voltage Command

Input voltage (VMDL)

Allowable range: ±2V ~ ±10V

Used to scale the input voltage command (CN1-1 or CN1-8). Set the maximum input voltage of the
speed command, and this maximum voltage corresponds to the rated speed of the servomotor.

Offset voltage(SPDO)
Allowable range: -1024 ~ +1024 mV

Used to compensate for the offset of the voltage command. Set the offset voltage according to the
actual condition, and the desired speed command is obtained internally by subtracting this setting from the
input voltage (CN1-1 or CN1-8).

Speed Command Channel (ADO)

Select the speed analog command channel

AD, analog command input from CN1-8, resolution 10 Bit

VCO, analog command input from CN1-1, resolution 12 Bit (Mokon driver is suggest to use VCO)

51

Lowest speed (SPDB)

Minimum speed command can be set under the following
situations:
* The servomotor cannot be stopped at zero analog

command.

* The analog speed command is jammed by large noise

and thus the servomotor cannot be stopped.

The servo drive will work only when the speed command is higher than the minimum motor speed
setting. If controlled by the numerical controller, set this value to 0.

Internal Speed Settings

Internal Speed (SP0)

Enable or disable the function of CN1-32 (the first internal speed), CN1-33 (the second
internal speed) and CN1-35 (the third internal speed) in the speed operation mode.
1st Internal Speed Settings

2nd Internal Speed Settings
3rd Internal Speed Settings

To set the pre-defined internal speed command.

If the Internal Speed Enable Setting (SP0) is set as “Enable”, the 1st internal speed (SPD1) will be
executed if CN1-32 is connected with 24G.

If the Internal Speed Enable Setting (SPO) is set as “Enable”, the 2st internal speed (SPD2) will
be executed if CN1-33 is connected with 24G.

If the Internal Speed Enable Setting (SPO) is set as “Enable”, the 3st internal speed (SPD3) will
be executed if CN1-35 is connected with 24G.

Acceleration/Deceleration Time

52

Linear acceleration time(Ta)

Linear deceleration time(Td)

Setting the linear deceleration/ deceleration time constant

S curve acceleration time(Tsa)

S curve deceleration time(Tsd)

Setting the S curve deceleration/ deceleration time constant

If controlled by a host numerical controller, set all the acceleration/deceleration time to 0.
Before setting S-type acceleration/deceleration time, linear acceleration/deceleration time must be set;
otherwise the characteristics of S-type acceleration/deceleration cannot be performed.

Output Settings

Zero Speed

Under speed operation mode, when the motor speed is lower than or equal to the set value of ZSPD,
CN1-36 will be conducted.

In Speed

Under speed operation mode, when the motor speed is higher than or equal to the set value of INS,
CN1-18 will be conducted.

53

15.6 Position mode menu

Position Command

Command Type

Mokon servo drive can accept the following three types of command

Filter frequency

Filter frequency is only valid if the ―Command type‖ is selected as ―A+B WITH FILTER‖

Pulse command trigger type
To select the polarity of the command pulse, Hi to Low trigger or Low to Hi trigger.

54

In position range

Command pulses to
run one revolution

=

2500 (Encoder pulse per
revolution) X 4

/
10000 (Numerator)

5000 (Denominator)

To set the range when the error count pulse is less than the value driver will take it as complete of
positioning the CN1-18 will be engaged.

Electronic Gear
Denominator
The common denominator of the 4 numerator.

Numerator
Available range: 0 ~ 32767

If the servo motor feedback encoder is 2500ppr (2500 x 4 pulse per revolution) and the Denominator
is set to 5000, the Numerator set to 10000. The controller command pulse will be 5000 pulses to run the
motor one revolution.

Numerator1

Under the position operation Mode, Numerator 1 will be selected as the numerator of the electronic
gear ratio when CN1-32 is connected with 24G.

Numerator2

Under the position operation Mode, Numerator 2 will be selected as the numerator of the electronic
gear ratio when CN1-33 is connected with 24G.

Numerator3

Under the position operation Mode, Numerator 3 will be selected as the numerator of the electronic
gear ratio when CN1-35 is connected with 24G.

Note:

1. When A+B pulse mode is selected as pulse command input, the pulse count of electronic gear

must multiply by 4.

2. When electronic gear ratio is set too large, the servo motor may caused jiggles, the adequate

acceleration and deceleration is required.

55

Encoder Output Divider Ratio

Under position operation mode this function can
provide acceleration/deceleration function for the
following situations:

1. The host controller cannot perform the
acceleration/deceleration function;

2. The electronic ratio is too high (＞10 times) This
function does not affect the positioning
precision.

Numerator of divider

Denominator of divider
The encoder output is divided from the original encoder signal and the output pulse rate will be

Output pulse = Original pulse * (Numerator / Denominator)
Say your servo system encoder is quadrature pulse 2500ppr, the equivalent pulse is 10,000 pulses per
revolution, if you want to get the out put at 2000 ppr (equivalent pulse), you must set the Denominator to
10,000 and Numerator to 2000.

Divider output phase

The output qdudratue pulse can be the same phase with the incoming encoder signal or inverse with

the incoming. Choose‖ Standard‖ means the same phase, inverse means inverse phase.

Encoder input filter frequency

The digital filter of the input encoder signal, there are 4 choices
10MHz,5MHz,2.5MHz and 1.25MHz

Acceleration/deceleration time

The position mode internal acceleration/deceleration time.
If a controller with adequate acc/dec profile control function, the time constant must set to 0.

56

15.7 Torque mode

Torque mode Settings
Torque command input filter time

Range available: 0~100us
Torque command is filtered, if the time constant is small, response will be fast but noise may come

into system, large filter time constant will filter out high speed command or noise.

Percent of torque limitation

Range available: 0~ 300 %
Internal torque limit.

Torque speed limitation

Speed limit of torque mode when internal torque limit is selected.

57

Torque speed limit option

There are 2 type of torque speed limit

1. Internal torque speed limit, choose this option, the Torque speed limitation will be effective.

2. External analog torque speed limit, choose this option, the CN1-8 speed input will be the speed

limit of torque command (CN1-1)

Torque limit command option

There are 2 type of torque limit

3. Internal torque limit, choose this option, the Torque speed limitation will be effective.

4. External analog torque limit, choose this option, the CN1-9 torque limit input will be the limit of

torque command (CN1-1)

58

15.8 Motor Parameter Settings

Motor Parameter Settings
Pole : the servo motor poles according to the motor specifications
Rated speed: the servo motor rated speed according to the motor specifications
Encoder type: the feedback encoder pulse per revolution according to the motor specifications
Max current: the 3 * rated current of servo motor, less is possible but will limit the motor

instantaneous torque.

Driver Protection Setting
Discharge Duty Cycle: use 50% as regular condition.

Over Speed protection: To set the effective operation speed range of the servo motor.

Position error range: To setup the accumulative inaccuracy of the driver, if the value is excessive,

error code 9 will occur.

Note: For high friction system, the error code 9 may occur owing to KPP value is too small.

59

15.9 Advanced Parameters

There are 4 sub functions of Advanced Parameters

1. Speed Loop Gain 1

2. Speed Loop Gain 2

3. Monitor

4. Unit Conversion

15.10 Speed Loop Gain 1

The KVI,KVP of speed loop gain1 is used as the speed is higher than SSPD setting value.

KVI : Speed loop integral constant
KVP : Speed loop proportional gain
KPP : Position loop proportional gain

60

15.11 Speed Loop Gain 2

The KVI,KVP of speed loop gain2 is used as the speed is lower than SSPD setting value.

KVI : Speed loop integral constant
KVP : Speed loop proportional gain
SSPD : speed loop gain1 and speed loop gain2 switching level at speed of % rated speed

Note:

KVI: corresponds to the static stiffness of the speed loop, and is the inverse of the integral time

constant of the speed compensator. A higher set value means a shorter integral time, and consequently a
shorter response time is expected. This parameter is interrelated with KPP and should be tuned to induce
no mechanical vibration.
Default value (130) Maximum value (32767)

KVP: corresponds to the dynamic response of the speed loop, and is the proportional gain of the speed

compensator. This parameter should be tuned properly according to the load inertia, and the larger the
KVI parameter is tuned, the shorter the rise time of speed response will be.
Default value (3000) Maximum value (32767)

KPP: corresponds to the dynamic response of the position loop, and is the proportional gain of the

position compensator under the position operation mode. This parameter should be tuned properly
dependent on the bandwidth of the internal speed loop, and the larger the KPP parameter is tuned, the
shorter the rise time of position response will be.
Default value (300) Maximum value (32767)

The normal sequence for tuning servo gains is: KVP KVI KPP
The following figures show the measured waveform of Monitor voltage signal for different tuning results
in the oscilloscope.

61

Tuning procedure for the speed loop.

The overshoot is large due to high KPP or KVP. Try to reduce
KVP
or KPP.

The system is oscillatory due to high KVI. Try to reduce KVI.

The system is tuned properly.

1. Set all the Acceleration/Deceleration Time settings (Ta, Td, Tsa, Tsd) to zeros in the “Speed
Parameter” menu.

2. Set the Torque Filter Time Constant (TQCA) to zero in the “Torque Parameter” menu.

3. Set the initial value of KVI as zero and use the default value (3000) for KVP in the “Speed
Parameter” menu.

4. Measure the I Monitor (torque monitoring signal, which can be selected in the “Common
Parameter” menu) with CH1 in the oscilloscope and adjust the magnitude of the speed command. The
speed command for the tuning procedure is of a step waveform and can be effectively generated by use of
the Motor Hold function (CN1-16).
During the whole tuning procedure, keep watching the I Monitor signal and adjust the magnitude of the
speed command accordingly so that the waveform of the I-Monitor signal is not saturated.

5. Measure the S Monitor (speed monitoring signal, which can be selected in the “Common Parameter”
menu) with CH2 in the oscilloscope and the speed command (CN 1-1 or CN1-8) with CH3 in the

oscilloscope. Slowly adjust the KVP parameter in the “Speed Parameter” menu. The adjustment
should not stop until the rising slope of the S Monitor signal is close enough to the speed command and no
oscillation appears along the S Monitor trace.
The steady state error normally appears because the KVI parameter is zero during this step.

6. Slowly adjust the KVI parameter in the “Speed Parameter” menu with the default value (130) as a
first trial guess. The adjustment should not stop until the settling time of the S Monitor signal is as short as
possible while the overshoot of the S Monitor signal is less than 5 % (or 10%) and appears only once. No
sustained oscillation is allowed after this adjustment.
Note1. If the servomotor is installed in a ball screw driven machine bed, take caution of the travel limits
so that no collision may occur.

2. A well-tuned speed loop can guarantee the precision of machining and cut the job time as well. Make
sure not to operate a servo drive that causes the machine bed oscillatory due to de-tuned gains.

62

15.12 Online Monitor

Use Read button to read the under monitoring data and stop to exit.

63

16. Alarm display table

Status Display

Description

Solution

0

READY

Servo system is ready. The main power
cable and the encoder cable from the
servomotor are connected correctly.

The servomotor can start a normal
operation

1

OC

An abnormally big instantaneous current
triggers the OC alarm. The Machine will
stop.

Check whether the load exceeds the
rated value, any main circuit
component is damaged, or output is
short-circuited.

2

OV

An abnormally high DC Bus voltage due
to too heavy load inertia or frequent
dynamic braking triggers the OV alarm.
The machine will stop.

Check whether the load inertia is over
the specification and take into
consideration an extra regenerative
braking resistor.

3

OL

An over 150% rated load lasting for one
minute triggers the OL alarm. The
machine will stop.

Check the reason of overload.

4

OH

The temperature over 135°in the
servomotor winding or over 85°in the
heat sink of the servo drive triggers the
OH alarm. The machine will stop.

Check the ambient temperature and
the ventilation condition.

5

OS

An over 120% of the rated servomotor
speed triggers the OS alarm The Machine
will stop.

Check whether the speed command
exceeds the allowable value or the
load is over the specification.

6

EE

A broken encoder wiring or an incorrect
wiring of the UVW feedback signals
triggers the EE alarm. The machine will
stop.

Refer to the wiring diagram and
check the wiring again.

7

LPF

Internal power supply of logic block
failure.

Send back to repair.

8

RESET

The servo drive control system is reset.

The system will start again after the
alarm is cleared.

9

OVF

An overflow of the position tracking error
triggers the OVF alarm. . The machine
will stop.

Check whether the load is over the
specification or the frequency of
position pulse command is too high.

64

17. Connector pin assignments diagram

RS1 1 2 3 4 5 6 U V W E

H1

H2

MS3102A24-11P

A B C D E F G H I - +

H1 U V W E E H2

Rs0 and D-15P Pin Table

Rs0 1 2 3 4 5 6 7 8 9 10

11

12

13

14

15

16

signal

green

White

green

grey

White

grey

yellow

White

yellow

red

black

brown

White

brown

orange

White

orange

blue

White

blue

shielding

NC

A

/A B /B C /C

+5V

0V U /U W /W V /V

D-15P 1 2 3 4 5 6

13

14

15

7 8 9

10

11

12

case

2E20-29P and D-15P Pin Table

2E20-29P

A B C D E F G H J K L M N P R S T

signal

green

White

green

grey

White

grey

yellow

White

yellow

red

black

brown

White

brown

orange

White

orange

blue

White

blue

shielding

NC

NC

A

/A B /B C /C

+5V

0V U /U W /W V /V

D-15P

1 2 3 4 5 6 13

14

15

7 8 9

10

11

12

case

65

18. Servo drive dimension

Dimension (mm)

Weight

(kg)

Model

A B D E W

H

YPV-040
YPV-055
YPV-075
YPV-100

30

23

212

195

90

168

1.9

YPV-150

30

23

212

195

106

168

2.5

YPV-200
YPV-300
YPV-450

30

23

256

239

106

168

3.4

YPV-600

30

38

256

238

139

173

3.9

66

Dimension (mm)

Weight

(kg)

Model

W

W1

W3

H

H1

H2

h1

h2

D0

D1

D2 d d1

YPV-750

YPV-860
YPV-1100
YPV-1500

270

253

235

460

445

429

7.5

2.5

300

100

185

10

2.3

18.6

19.5

YPV-2200
YPV-3000

440

419

275

685

660

629.5

15

30

360

170

205

12

2

67

19. Regenerate brake resistor selection guide

Model (Motor Wattage)

Resistance (Ohm)

Power Rating

400W

100

80

550W-1KW

100

80

1.5KW-2KW

60

150

3KW

60

150

4.5KW

30

300

6KW

30

300

8.6KW

15

600

11KW

10

800

15KW

5

1500

22KW

5

1500

30KW

2.5

3000

The resistance can be parallel or series to get a closed value.

68

20. Wiring of MPC3024 wiring board to Mokon driver

69

21. Appendix

USB Connector

D-TYPE 9PIN

Name

Pin No.

Wire Color

Pin No.

VCC

1

TX

2

White 2

RX

3

Green

3

GND

4

Black

4,5,6,7,8

A

LV

A lower than 240V DC Bus triggers the
PF alarm. The machine will stop.

Check whether the AC Mains voltage
is too low or the filtering capacitor in
the main circuit is damaged.
Use 3ψAC power for the servo drive
over 550W.

b

FO

Fuse open

Fuse burnt, maybe some component
short or failure. Send back to repair.

c

PME

Internal power supply to power module
drive circuit failure.

Send back to repair.

d

AVE

Internal power supply to analog block
failure.

Send back to repair.

YPV RS232-USB Connector

Supplemental to new error codes: