User Manual
Lite-On Technology Corp.
Industrial Automation
ISA-7 Servo Drive series
Standard General Purpose Servo Drive Technical Manual
1
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Industrial Automation
Revision History
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Industrial Automation
Contents
CHAPTER 1 PANEL AND OPERATION ................................................................... 11
1.1. Product check .................................................................................................................................................. 11
1.2. Comparison of the product numbers .............................................................................................................. 12
1.2.1. Description for the name plate ............................................................................................................................. 12
1.2.2. Description for the model number ....................................................................................................................... 13
1.3. Name of each part in the servo drive ............................................................................................................... 14
1.4. Operating mode ............................................................................................................................................... 15
CHAPTER 2 STEPS FOR COMMISSIONING AND TUNING ............................. 16
2.1. Notes ................................................................................................................................................................ 16
2.2. Condition of the storage environment ............................................................................................................. 16
2.3. Condition of installation environment ............................................................................................................ 16
2.4. Direction of and space for installation ............................................................................................................ 17
2.5. Recommended specifications for the circuit breaker and fuse ....................................................................... 20
2.6. EMI filter selection .......................................................................................................................................... 20
2.7. Selection for the regenerative resistor ............................................................................................................. 23
CHAPTER 3 WIRING ...................................................................................................... 24
3.1. Connection for the peripheral device and main power circuit ....................................................................... 24
3.1.1. Wiring diagram of the peripheral device ............................................................................................................. 24
3.1.2. Connector and terminal of the drive .................................................................................................................... 26
3.1.3. Power wiring ....................................................................................................................................................... 27
3.1.4. Specifications for the U, V, W connectors of the motor ...................................................................................... 28
3.1.5. Specifications regarding the connector for the leadwire of the encoder .............................................................. 29
3.1.6. Filament selection ................................................................................................................................................ 31
3.2. Basic block diagram of the server system ....................................................................................................... 32
3.2.1. Models with the power equal to or below 200W (no built-in regenerative resistor or fan) ................................. 32
3.2.2. 400W / 750W model (with regeneration resistor but no fan) .............................................................................. 33
3.2.3. 1kW ~ 2kW model (with regeneration resistor and fan) ..................................................................................... 34
3.3. CN1 I/O Signal wiring ..................................................................................................................................... 35
3.3.1. CN1 I/O layout of the connector terminal ........................................................................................................... 35
3.3.2. CN1 I/O Connector signal ................................................................................................................................... 37
3.3.3. Interface wiring diagram (CN1) .......................................................................................................................... 42
3.3.4. User-specified DI and DO signals ....................................................................................................................... 51
3.4. CN2 Wiring of the the encoder signal ............................................................................................................. 52
3.5. CN3 Wiring for the signal of the communication connector .......................................................................... 54
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3.6. CN5 Analog voltage output terminal .............................................................................................................. 55
3.7. Standard wiring ............................................................................................................................................... 57
3.7.1. Standard wiring for the position mode ................................................................................................................ 57
3.7.2. Standard wiring for the speed mode .................................................................................................................... 58
3.7.3. Standard wiring for the torque mode ................................................................................................................... 59
CHAPTER 4 PANEL AND OPERATION ................................................................... 60
4.1. Panel display and key description ................................................................................................................... 60
4.2. Panel operating process ................................................................................................................................... 61
4.3. Status display ................................................................................................................................................... 63
4.3.1. Description for the display of status value ........................................................................................................... 63
4.3.2. Display of storage setting .................................................................................................................................... 63
4.3.3. Display of decimal point ...................................................................................................................................... 64
4.3.4. Display of the warning message .......................................................................................................................... 64
4.3.5. Monitoring display .............................................................................................................................................. 64
4.4. Operation of the general function ................................................................................................................... 65
4.4.1. Operation for displaying the record of the abnormal status ................................................................................. 65
4.4.2. Operation for the jog mode .................................................................................................................................. 65
4.4.3. Enforced operation of the digital output .............................................................................................................. 67
4.4.4. Operation for the diagnosis of digital input ......................................................................................................... 67
4.4.5. Operation for the diagnosis of digital output ....................................................................................................... 69
CHAPTER 5 STEPS FOR COMMISSIONING AND TUNING ............................. 70
5.1. No-load detection ............................................................................................................................................. 70
5.2. Power transmission for the drive .................................................................................................................... 71
5.3. No-load jog test ................................................................................................................................................ 74
5.4. No-load speed test ............................................................................................................................................ 75
5.5. Tuning steps ..................................................................................................................................................... 76
5.5.1. Process of the tuning steps ................................................................................................................................... 76
5.5.2. Flowchart of the tuning steps in the semi-auto gain mode .................................................................................. 76
5.5.3. Flowchart of the tuning steps in the automatic gain mode .................................................................................. 78
5.5.4. Manual adjustment of gain parameters ................................................................................................................ 80
5.5.5. Relationship of the gain adjustment mode with the parameters .......................................................................... 81
5.5.6. Solutions for mechanical resonance .................................................................................................................... 82
CHAPTER 6 PARAMETERS AND FUNCTIONS .................................................... 83
6.1. Definitions of parameters ................................................................................................................................ 83
6.2. Parameters overview ....................................................................................................................................... 84
6.2.1. Parameter list ....................................................................................................................................................... 84
6.2.2. Classification of the parameter function .............................................................................................................. 90
Parameters for the monitoring and the general output setting .................................................................................... 90
Parameters related to the filter smoothness and resonance suppression ..................................................................... 91
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Parameters related to gain and switch .......................................................................................................................... 92
Parameters related to the position control .................................................................................................................... 93
Parameters related to the speed control ....................................................................................................................... 94
Parameters related to the torque control ...................................................................................................................... 95
Parameters for the planning of the digital I/O pin and for the setting related to the output ....................................... 96
Communication parameters ......................................................................................................................................... 98
Diagnostic parameters .................................................................................................................................................. 99
6.3. Parameter description ................................................................................................................................... 100
CHAPTER 7 CONTROL FUNCTION ...................................................................... 156
7.1. Selection of operating mode .......................................................................................................................... 156
7.2. Position mode................................................................................................................................................. 157
7.2.1. Command of position mode .............................................................................................................................. 157
7.2.2. Control structure of the position mode .............................................................................................................. 158
7.2.3. Electronic gear ratio........................................................................................................................................... 159
7.2.4. Adjustment for the gain of position circuit ........................................................................................................ 160
7.3. Speed mode .................................................................................................................................................... 162
7.3.1. Selection of speed command ............................................................................................................................. 162
7.3.2. Control structure of the speed mode .................................................................................................................. 163
7.3.3. Smoothing of speed command........................................................................................................................... 164
7.3.4. Proportioner at the analog command end .......................................................................................................... 166
7.3.5. Timing diagram of speed mode ......................................................................................................................... 168
7.3.6. Adjustment for the gain of speed circuit ............................................................................................................ 169
7.3.7. Resonance suppression unit ............................................................................................................................... 175
7.4. Torque mode .................................................................................................................................................. 182
7.4.1. Selection of torque command ............................................................................................................................ 182
7.4.2. Control structure of the torque mode ................................................................................................................. 183
7.4.3. Smoothing of torque command ......................................................................................................................... 184
7.4.4. Proportioner at the analog command end .......................................................................................................... 184
7.4.5. Timing diagram of torque mode ........................................................................................................................ 185
7.4.6. Mixed mode ....................................................................................................................................................... 186
7.4.7. Position/speed mixed mode ............................................................................................................................... 186
7.4.8. Position/torque mixed mode .............................................................................................................................. 186
7.4.9. Speed/torque mixed mode ................................................................................................................................. 186
7.5. Others ............................................................................................................................................................ 187
7.5.1. Use of the speed limit ........................................................................................................................................ 187
7.5.2. Use of the torque limit ....................................................................................................................................... 187
7.5.3. Analog monitoring ............................................................................................................................................. 188
7.5.4. Use of the electromagnetic brake ...................................................................................................................... 189
7.5.5. Use of the electromagnetic brake ...................................................................................................................... 190
CHAPTER 8 COMMUNICATION MECHANISM ................................................ 192
8.1. RS-485/RS-232 Communication hardware interface .................................................................................... 192
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8.2. RS-485/RS-232 Communication parameter setting ...................................................................................... 193
8.3. MODBUS protocol ........................................................................................................................................ 195
CHAPTER 9 WARNING TROUBLESHOOTING ................................................. 200
9.1. Drive Alarm List ............................................................................................................................................ 200
9.2. Reason for and handling of the alarm ........................................................................................................... 202
9.3. Alarm troubleshooting .................................................................................................................................. 206
CHAPTER 10 SPECIFICATIONS ............................................................................. 208
10.1. Standard specification for the servo drive .................................................................................................... 208
10.1.1. Outline dimension drawing (drive) .................................................................................................................... 209
10.2. Standard specification for the servo motor ................................................................................................... 210
10.2.1. Size of the motor fixed screw ............................................................................................................................ 215
10.2.2. Outline dimension drawing (motor) .................................................................................................................. 216
10.2.3. NT characteristic diagram ................................................................................................................................. 222
CHAPTER 11 ABSOLUTE SERVO SYSTEM ............................................................... 225
11.1. Battery and cable for absolute servo ..................................................................................................... 225
11.1.1. Battery specification ..................................................................................................................................... 225
11.1.2. Battery case specification ............................................................................................................................ 225
11.1.3. Absolute encoder cable ............................................................................................................................... 225
11.1.4. Battery case cable ......................................................................................................................................... 225
11.2. Installing ...................................................................................................................................................... 225
11.2.1. Battery case installing .................................................................................................................................. 225
11.2.2. Battery installing ............................................................................................................................................ 225
11.2.3. Battery replacing ........................................................................................................................................... 225
11.3. Initialization and operation ...................................................................................................................... 225
11.3.1. System and Initialization .............................................................................................................................. 225
11.3.2. Absolute pulse value .................................................................................................................................... 227
11.3.3. PUU value ........................................................................................................................................................ 228
11.3.4. Coordinate initialization by DI/DO ............................................................................................................ 229
11.3.5. Initialization by parameter .......................................................................................................................... 230
11.3.6. Read absolute position by DI/DO .............................................................................................................. 230
11.3.7. Read absolute position by communication ............................................................................................ 231
11.4. Absolute encoder parameter setting ..................................................................................................... 232
11.5. Digital input definition(absolute encoder function) ........................................................................... 234
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11.6. Digital output definition(absolute encoder function) ........................................................................ 234
11.7. Absolute System Alarm List ...................................................................................................................... 234
11.7.1. Reason for and handling of the alarm ...................................................................................................... 235
11.8. Display of status value ............................................................................................................................... 237
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Industrial Automation
PREFACE
Thank you for using our product. The manual provides the information for the use of the ISA-7 servo
drive and motor.
The manual is provided as a reference for the following users:
Designer of the system integration for the machine
Personnel for installation or wiring
Personnel for commissioning and tuning
Personnel for maintenance or inspection
The content includes:
The steps for installation and inspection of the drive and motor
Description for the formation of wiring for the drive
Steps for commissioning
Introduction for the control function and the tuning method of the servo drive
Description for the parameter function
Description for the protocol
Method for inspection and maintenance
Troubleshooting
Explanation for the application example
Contact the dealer or our customer service center for any problem with our product.
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Safety precautions
The ISA-7 series is an open type servo drive that must be installed in a shielded control box for
operation. The drive uses precise feedback control and combines a digital signal processor (DSP) with
high-performance computing. It controls the IGBT to generate current output to drive the three-phase
permanent-magnet synchronous motor (PMSM) to achieve precise positioning.
The ISA-7 series can be used for industrial application. It is recommended to install it in the
distribution box specified in the manual. (The drive, filament and motor must be installed in an
environment that meets the minimum specifications for UL50 Type 1 or NEMA 250 Type 1.)
Acceptance inspection
The servo motor and drive must be used according to specified methods to avoid fire or
equipment breakdown.
Installation notes
It is prohibited to use the product in the place exposed to the steam, corrosive or flammable
gases, otherwise it may result in electric shock or fire.
Wiring notes
The earth terminal must be connected to Class 3 earthing (below 100Ω). Poor earthing may
cause electric shock or fire.
Do not connect the three-phase power supply to U, V and W motor output terminal;
otherwise it may result in personal injury or fire.
Secure the set screw of the power supply and motor output terminal, otherwise it may cause
fire.
Operation notes
Before the operation of the machinery equipment, the setting value must be adjusted
according to the user parameter of the machinery equipment. The machinery equipment
might lose control or breaks down if the setting value is not adjusted to the adequate setting
value.
Before the operation of the machine, check if the emergency button can be activated anytime
for shutdown.
It is prohibited to touch any motor part that is in rotation during motor operation, otherwise it
may result in personal injury.
To avoid accidents, separate the coupling from the belt of the machinery equipment and keep
them separate before the first commissioning.
When the servo motor and machinery equipment are connected and in operation, operating
error may result in the damage of the machinery equipment and occasional personal injury.
Strongly recommended: Test the operation of the servo motor under the unloaded condition
and connect the motor to the load afterwards to avoid danger.
Do not touch the radiator of the servo drive in operation, otherwise it may result in burn
injuries due to heat.
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Maintenance and inspection
Do not touch the interior of the servo drive and motor, otherwise it may cause electric shock.
Do not remove the drive panel when the power is on, otherwise it may result in electric
shock.
Do not touch the wiring terminal within 10 minutes after the power is off. The residual may
cause electric shock.
Do not remove the servo motor, otherwise it may cause electric shock or personal injury.
Do not change the wiring while the power is on, otherwise it may result in electric shock or
personal injury.
The installation, wiring, repair and maintenance of the servo drive and motor are only
allowed for qualified personnel specialized in electrical engineering.
Wiring of the main circuit
Do not thread the power and signal cable into the same channel or bind them. For wiring, the
distance between the power and signal cables must be above 30 cm (11.8 in.).
As for the signal cable and the encoder signal cable, use the multi-stranded twisted-pair
wires and multi-core shielded-pair wires. The length of the signal input cable is up to 3 m
(9.84 ft.); the length of the encoder signal cable is up to 20 m (65.62 ft.).
High power might remain in the interior of the servo drive after the power is off. Do not
touch the power supply terminal for 10 minutes. Check that the "CHARGE" indicator is off
before the inspection.
Wiring for the terminal block of the main circuit
Only insert one piece of wire into a wire socket of the terminal block.
As for wire insertion, do not short the core wire to the wire nearby.
Use the Y terminal to secure the thread of the core wire.
Check the wiring for accuracy before power on.
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Inspection item
Contents
Accuracy of the product
number
Check if the model number of the motor and drive is the same as the one
on the order. Refer to the subsequent chapters for the description of the
model number.
Smooth rotation of the
motor shaft
Turn the motor by hand. The motor operates normally if it can be rotated
smoothly.
Damage of the
appearance
Visually check the appearance of the product for damage.
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Chapter 1 Panel and Operation
1.1. Product check
Damages may be caused by negligence and during delivery when the product is purchased. Check the
following items.
Contact the factory or agent for the following.
The complete parts and components of the server should include:
A servo drive and motor
A power cable of the motor should be available. Connect the cable to the drive in the order of red (U),
white (V) and black (W). The green earth line is connected to the earth of the drive.
A signal cable for the motor encoder should be available. One end of the cable is connected to the
motor encoder and another end to the CN2 drive.
The 44PIN connector is used for CN1.
The 9PIN connector is used for CN2.
The 8PIN connector is used for CN3.
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Product number
Power specifications
Input power specifications
Output power
specifications
The firmware version
Serial number for production control
1.2. Comparison of the product numbers
1.2.1. Description for the name plate
ISA-7 series servo drive
Description for the name plate
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Input power
Version
S: Standard version
Rated power
Series
7:7 series
Product type
Model of the electric machinery:
Output/rotor inertia
LMM101:100W / Medium inertia
LMA201:200W / Low inertia
LMH201:200W / High inertia
LMA401:400W / Low inertia
LMH401:400W / High inertia
LMA751:750W / Low inertia
LMH7S1:750W / High inertia
LMM102: 1kW / Medium inertia
LMH102:1kW / High inertia
LMM152:1.5kW / Medium inertia
LMH152:1.5kW / High inertia
LMM202:2kW / Medium inertia
Retention actuator
N: No actuator
A: DC24V actuator
Voltage specifications
Axle end specifications/oil seal
S: Straight shaft/without oil seal
K: key shaft/without oil seal
T: Straight shaft/oil seal
L: Key shaft/oil seal
Encoder
N: Incremental/17bit
A: Absolute/17bit
Management number
1.2.2. Description for the model number
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Seven-segment display: It
drive status or alarm.
Operating button: It can be used to switch the
DOWN: It is used to add or minus one.
SHIFT: It is used to move the digit to the left.
CN3: It is used to connect to
the PC software.
CN1: It is used to connect to the
CN2: It is used to connect to the
motor encoder.
Earth terminal
Motor power output: It is used to
Regenerative resistor:
be short-circuit.
P + : DCV
BUS+
Power supply of the control circuit:
power supply
N - : DCV
BUS－
Power supply of the main circuit: R,
200~230 V 50/60 Hz).
Power indicator: There is
1.3. Name of each part in the servo drive
voltage remained in the main
circuit when the light is on.
S and T are connect to the
commercial power supply (AC
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has five digits and shows the
parameter/function and execute the
monitoring setting.
MODE: It is used to return to the previous
level or switch the status.
UP／
SET: It is used to confirm the setting.
The L1 and L2 supply for the singlephase 100~230Vac and 50/60 Hz
1) When the external regenerative
resistor is used, the P and C ends
connect to the resistor and the P and D
ends are open-circuit.
2) When the internal regenerative
resistor is used, the P and C ends are
open-circuit and the P and D ends must
connect to the motor UVW cable.
Do not connect to the power supply of
the main circuit. Wrong connections
may result in drive damage!
upper controller, such as the PLC
or industrial computer.
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Mode name
Mode code
Description
Position mode
P
The drive receives the position command and controls
the motor to move to the target position.
(Terminal input)
The position command is input from the terminal block.
The signal type is pulse.
The drive receives the speed command and controls the
motor to reach the target rotational speed.
Speed mode
S
The internal register provides the speed command
(three registers available) or the external terminal block
inputs the analog voltage (-10V ~ +10V).
The command selection is based on the DI signal.
The drive receives the speed command and controls the
motor to reach the target rotational speed.
Single
mode
Speed mode
(no analog input)
Sn
The speed command can only be provided by the
internal register (three registers available). It can't be
provided by the external terminal block. The command
selection is based on the DI signal. The DI status of the
external input in the original S mode is the speed
command zero.
The drive receives the torque command and controls the
motor to reach the target torque.
Torque mode
T
The torque command can be provided by the internal
register (three registers available).
It is also possible to input the analog voltage from the
external terminal block (-10V ~ +10V).
The command selection is based on the DI signal.
The drive receives the torque command and controls the
motor to reach the target torque.
Torque mode
(no analog input)
Tn
The torque command can only be provided by the
internal register (three registers available). It can't be
provided by the external terminal block. The command
selection is based on the DI signal. The DI status of the
external input in the original T mode is the torque
command zero.
Mixed mode
S-P
S and P can be switched via the DI signal.
T-P
T and P can be switched via the DI signal.
S-T
S and T can be switched via the DI signal.
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1.4. Operating mode
This drive provides numerous operating modes for the user. These modes are shown as follow:
The mode can be selected via the PA-01 parameter. After the new mode is set, the power is transmitted
to the drive. The new mode then becomes effective!
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Chapter 2 Steps for Commissioning and Tuning
2.1. Notes
The user must pay attention to the following:
Do not pull the connecting line between the servo drive and motor tight.
The servo drive must be fastened at every securing spot.
The axle center of the servo motor must be centered to the axle rod adequately.
If the connecting line between the servo drive and motor exceeds 20 m (65.62 ft.), the UVW line
must be thickened. The connecting line of the encoder shall also be thickened.
The four set screws of the servo motor must be fastened.
2.2. Condition of the storage environment
The product must be placed in the packing box before installation. Pay attention to the following for
storage to make sure that the product condition is applicable to our warranty and future maintenance if
the drive wouldn't be used for the moment:
The product must be placed in a dustless and dry place.
The ambient temperature of the storage location must be kept within -20°C ~ +65°C (-4°F ~
149°F).
The relative humidity of the storage location must be kept within 0% and 90%without
condensation.
Do not store the product in the environment with corrosive gas or liquid.
The product should be packed properly and stored on the shelf or platform.
2.3. Condition of installation environment
Operating temperature:
ISA-7 series servo drive: 0°C ~ 55°C (32°F ~ 131°F)
ISA-7 series servo motor: 0°C ~ 40°C (32°F ~ 104°F)
The product must be placed in a well ventilated area if the ambient temperature exceeds 45°C. If the
product is placed in the distribution box, the size and ventilation of the distribution box must be able to
prevent the electronic device in the distribution box from overheating. Pay attention to see if the
machine vibration affects the electronic device of the distribution box.
Besides, the following must be observed for the selection of the installation location. If not, our server
product might not be applicable to our warranty and future maintenance:
Our server product can be installed in places without heat emitting device, water drop, steam,
dust, oil dust, corrosive or flammable gas or liquid, floating dust or metal particle. It can also be
installed in stable places without vibration or interference of electromagnetic noise.
Keep the temperature and humidity of the place where the servo drive and motor are installed
within the specified range.
Do not store the servo drive or motor in the place with the vibration exceeding the specified
degree.
Make sure that the servo drive and motor are stored in locations that conform to the
environmental specifications stated in our manual.
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Correct
Wrong
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2.4. Direction of and space for installation
Notes:
The direction for installation must conform to the specifications to prevent malfunction.
To ensure the cooling circulation remains effective, it is required to keep a sufficient space
between the upper, lower, left and right sides of the servo drive and the object and guard plate
(wall) nearby for the installation of the AC servo drive. If not, it may cause breakdown.
Do not seal the air inlet and outlet of the servo drive during installation or tilt the servo drive,
otherwise it may result in malfunction.
Drive installation:
The ISA-7 series server drive must be installed vertically on a dry and stable platform complying
to the NEMA standard. To ensure the circulation of ventilation air and heat radiation remain
effective, it is required to keep a sufficient space between the upper, lower, left and right sides of
the servo drive and the object and guard plate (wall) nearby for the installation of the AC servo
drive. (It is recommended to leave a free space of 50 mm, which is about 2 in.) Leave the space
required for wiring, if necessary. Besides, the bracket or platform for drive installation must be
made of materials with great thermal conductivity to prevent the platform and drive from
overheating.
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Motor installation:
The ECMA series servo motor must be installed properly on a dry and stable platform. Ensure the
circulation of the ventilation air and heat radiation remain effective for installation and keep the
earth adequate.
Installation diagram
The windage of the radiator fan must be reduced for effective heat emission. The suggested distance
for one-to-many AC servo drives must be observed. (Refer to the figure below.)
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19
Drive model
Circuit breaker
Fuse
Operating Mode
Normal
Normal
ISA-7-020-S1
5A
6A
ISA-7-040-S1
10A
10A
ISA-7-075-S1
10A
20A
ISA-7-100-S1
15A
25A
ISA-7-150-S2
20A
40A
ISA-7-200-S2
30A
50A
R
S
T
Surge Protector
EMC filter Servo
R
S
T
1
2
3
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2.5. Recommended specifications for the circuit breaker and fuse
Strongly recommended: CSA / UL certified fuse and circuit breaker
2.6. EMI filter selection
Notes for the installation of the EMI filter
All electronic equipment (including the servo drive) generates certain high or low frequency noises
during normal operation. Such noises interfere with the peripheral equipment via transmission or
radiation. The interference can be minimized with correct installation of an appropriate EMI filter.
Suppose that the servo drive and EMI filter are installed and wired according to the manual, we can be
sure that they comply with the following standards:
1. EN61000-6-4（2001）
2. EN61800-3 （2004） PDS of category C2
3. EN55011+A2（2007） Class A Group 1
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Model
Rated Voltage
DC Breakdown
Current Life
8/20μs-1,000A
Marker
RSPD-250-U4
250Vac
700+-25%
Approx.
300times
OKAYA
Item
Power
Servo Drive
EMI Filter model number
Marker
1PH
3PH
1
200W
ISA-7-020-S1
B84113C0000x110
B84143A0008R105
EPCOS
3
400W
ISA-7-040-S1
B84113C0000x110
B84143A0008R105
EPCOS
4
750W
ISA-7-075-S1
B84113C0000x110
B84143A0008R105
EPCOS
5
1000W
ISA-7-100-S1
B84113C0000x110
B84143A0016R105
EPCOS
6
1500W
ISA-7-150-S2
-
B84143A0016R105
EPCOS
7
2000W
ISA-7-200-S2
-
B84143A0025R105
EPCOS
Item
Power
Servo Drive
EMI Filter model number
Marker
1PH
3PH
1
200W
ISA-7-020-S1
TBD
FN 351 H-8-29
Schaffner
3
400W
ISA-7-040-S1
TBD
FN 351 H-8-29
Schaffner
4
750W
ISA-7-075-S1
TBD
FN 351 H-8-29
Schaffner
Surge Protector
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EMC Filter
21
5
1000W
ISA-7-100-S1
TBD
FN 351 H-16-29
Schaffner
6
1500W
ISA-7-150-S2
-
FN 351 H-16-29
Schaffner
7
2000W
ISA-7-200-S2
-
FN 351 H-36-33
Schaffner
Manufacture’s Part No.
Manufacturer
A B C
D
ZCAT3035-1330
TDK
39 +- 1
34 +- 1
13 +- 1
30 +- 1
Clamp filter
<24V Power cable, Motor cable, Encoder cable, Interface cable>
Lite-On Technology Corp.
Industrial Automation
Installation notes
We hope that the EMI filter elaborates the maximum suppression against the interference from the
servo drive. Therefore the servo drive must be installed and wired according to the manual.
Furthermore, the following must be noted:
1. The servo drive and EMI filter must be installed on the same metal surface.
2. For the installation of the servo drive and EMI filter, the servo drive should be installed above the
EMI filter, if possible.
3. The wiring must be as short as possible.
4. Adequate earthing is required for the metal surface.
5. The metal case or earth of the servo drive and EMI filter must be fixed firmly to the metal surface.
The contact surface between the metal case or earth and the metal area must be as large as
possible.
Selection of and installation notes for the motor wire
The selection and installation of the motor wire are associated with whether the EMI filter can
elaborate the maximum suppression against the interference from the servo drive. Note the following:
1. The cable with copper mesh for separation must be used (double separation preferred).
2. The copper mesh for separation on both ends of the motor wire must be grounded with shortest
distance and largest contact area.
22
Drive
(kW)
Specifications of the built-in
regenerative resistor
The regenerative
capacity processed by
the built-in
regenerative resistor
Minimum resistance
tolerable
Resistance (PD-45)
Capacity (PD-46)
0.2
--
--
--
40
0.4
40
40
20
40
0.75
40
40
20
40
1.0
40
40
20
40
1.5
20
100
50
20
2.0
20
100
50
20
The protective paint on the area where the bracket is fixed to the metal
surface needs to be removed to ensure that the contact is effective.
U-shaped bracket
for the metal pipe
The metal surface with
adequate earthing
Lite-On Technology Corp.
Industrial Automation
The protective paint on the area where the U-shaped bracket for the metal pipe is fixed to the metal
surface needs to be removed to ensure that the contact is effective. Refer to the figure as follows.
3. The copper mesh for separation of the motor wire must be connected adequately to the metal
surface. The U-shaped bracket for the metal pipe should be used to fix the copper mesh for
separation at both ends of the motor wire to the metal surface. See the figure below for the correct
connection.
2.7. Selection for the regenerative resistor
If the output torque and rotating speed are in opposite directions, the energy is transmitted from the
loading end into the drive. The energy entered the capacitor of the DC bus so that the voltage of the
capacitor increases. The energy recharged can only be consumed by the regenerative resistor when the
voltage rises to a certain value. The regenerative resistor is included in the drive and available for
external connection.
The table below lists the specifications of the regenerative resistor offered by the ISA-7 series.
23
Filter
Magnetic contactor
No-fuse breaker
Upper controller
PLC
PC-Based Control
HMI
Servo motor
100W~1kW Single-phase/three-phase 200V~230V
1.5kW~2kW Three-phase 200V~230V
Power supply
It is set for prevention of the drive
damage due to excessive amount of
instantaneous current caused by switch
turning or short circuit.
When an alarm occurs, the magnetic contactor can
be used with the servo drive to output the alarm
(ALRM) signal to control the magnetic contactor
(MC) to disconnect the power supplied to the servo
drive.
Use a proper EMI filter
and a correct installation
method to diminish the
interference.
Regenerative resistor:
To prevent the
abnormality caused by
the braking of the servo
motor, use the external
regenerative resistor to
connect to the P+ and D
ends of the servo drive to
open the circuit. If using
the internal regenerative
resistor, short the circuit
for the P+ and D ends
and open the circuit for
the P+ and C ends.
R S T
Terminal block
The terminal block
transfers the signal
of CN1 50PIN to the
controller.
Upper controller
It can be connected to
the PLC controller and
HMI or other NC
controllers.
CN3 communication connector
1. The connector is
controlled via Modbus
and supports RS232/485.
2.
tuning, parameter setting
and control.
CN2 encoder connector
Connect the encoder signal
of the servo motor to the
servo drive.
CN1 I/O signal connector
It is connected to the
upper controller via I/O
connection.
Lite-On Technology Corp.
Industrial Automation
Chapter 3 Wiring
The chapter explains the connecting method of the servo drive and the meaning of all signals. It also
lists the illustration of the standard wiring in various modes.
3.1. Connection for the peripheral device and main power circuit
3.1.1. Wiring diagram of the peripheral device
ISA-Pro is used for
24
Lite-On Technology Corp.
Industrial Automation
Installation notes:
1. Make sure that the power supply and wiring for the R S T and L1 and L2 must be accurate.
2. Make sure that the phase sequence regarding the wiring for the servo motor output U V W is
correct. The motor will not work if the connection is wrong and an alarm will occur.
3. When using the external regenerative resistor, open the circuit for the P and D ends and connect
the external regenerative resistor to the P and C ends. When using the internal external
regenerative resistor, short the circuit for the P and D ends and open the circuit for the P and C
ends.
If using the external braking unit, connect P+ and P- of the braking unit to the P and N ends of the
servo motor. Open the circuit for the P and D ends, as well as the P and C ends.
4. For the alarm or emergency stop, use ALM or WARN output to disconnect the magnetic
contactor (MC) to cut off the power supply of the servo drive.
25
Indication
Name
Description
R, S, T
Three-phase main
circuit for RST power
input
Connect the three-phase AC power supply. (Select adequate input voltage
based on the product number.)
L1, L2
Control power input end
Connect the single-phase AC power supply. (Select adequate input voltage
based on the product number.)
U, V, W
FG
Motor power cable
Connect the cable to the motor. U (red) V (white) W (black) and FG (green)
connect to the grounding area of the drive.
P, D,
C,
Regenerative resistor
(braking resistor)
contact
Use the internal resistor.
Make sure that it is short circuited between P and
D and it is open circuited between P and C.
Use the external resistor.
Connect the regenerative resistor to P and C. Make
sure that it is open circuited between P and D.
Use the external braking
unit.
Connect P+ and P- of the braking unit to the P and
N ends of the servo motor. Open the circuit for the
P and D ends, as well as the P and C ends.
Electrical connection
terminal
The contact for the earth wire of the power supply and motor
CN1
I/O connector cable
It connects to the upper controller.
CN2
Encoder connector
It connects to the motor encoder.
CN3
Communication
connector
It connects to the computer.
CN5
*Analog voltage output
terminal*
The monitoring (output) of the analog data, including MON1, MON2, GND
3.1.2. Connector and terminal of the drive
Lite-On Technology Corp.
Industrial Automation
The following must be noted for wire connecting:
1. When the power is cut off, do not touch the six major power lines R, S, T and U, V, W. It is allowed
to touch the lines after the charging light goes off.
2. Keep the six major power linesR, S, T and U, V, W away from other signal cables. Try to keep the
distance above 30 cm.
3. For extending the connecting line for encoder CN2, use the twisted-pair signal cable with isolated
grounding. Keep the cable within 20 m. If its length exceeds 20 m, use the one with the wire diameter
twice larger than the current one to keep the signal level from excessive attenuation.
26
N
R
S
T
L1
L2
Noise Filter
Servo Driver
Lite-On Technology Corp.
Industrial Automation
3.1.3. Power wiring
The servo drive and power wiring can be divided into the single- and three-phase. The single-phase can
only be used for models with the power equal to 1kW or below. In the diagram, Power On is for Point
a. Power Off and ALRM_RY are for Point b. MC indicates the coil of the magnetic contactor and selfholding power. It connects to the power supply of the main circuit.
27
Motor number
U, V, W electromagnetic braking connector
LMA201, LMH201 Series
LMA401, LMH401 Series
LMA751, LMH751 Series
LMM102, LMH102 Series
LMM152, LMH152 Series
LMM202, LMH202 Series
Front view
3.1.4. Specifications for the U, V, W connectors of the motor
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Industrial Automation
28
Motor number
Encoder connector
LMA201, LMH201 Series
LMA401, LMH401 Series
LMA751, LMH751 Series
CN2 connector
Connector for the
leadwire of the
Servo drive
Front view
04 Red
05 Red and
black
06 Grounding
Front view
White
White
and
black
White
White
and
black
04 Red
05 Red and
black
06 Grounding
Lite-On Technology Corp.
Industrial Automation
3.1.5. Specifications regarding the connector for the leadwire of the encoder
29
Motor number
Encoder connector
LMM102, LMH102 Series
LMM152, LMH152 Series
LMM202, LMH202 Series
CN2 connector
Connector for the leadwire of
the encoder
Servo drive
Diagram II for encoder connection:
Refer to Sec. 3.4 "CN2 Wiring for the encoder signal".
Lite-On Technology Corp.
Industrial Automation
30
Drive and corresponding motor
number
Power wiring- wire diameter (mm2) (AWG)
L1, L2
R, S, T
U, V, W
P, C
ISA-7-020-
S1
MA201,
MH201
1.3(AWG16)
2.1(AWG14)
0.82(AWG18)
UL2517
2.1(AWG14)
ISA-7-040-
S1
MA401,
MH401
1.3(AWG16)
2.1(AWG14)
0.82(AWG18)
UL2517
2.1(AWG14)
ISA-7-075-
S1
MA751,
MH751
1.3(AWG16)
2.1(AWG14)
0.82(AWG18)
UL2517
2.1(AWG14)
ISA-7-100-
S1
MM102,
MH102
1.3(AWG16)
2.1(AWG14)
2.1(AWG14)
UL2733
2.1(AWG14)
ISA-7-150-
S2
MM152,
MH152
1.3(AWG16)
2.1(AWG14)
2.1(AWG14)
UL2733
2.1(AWG14)
ISA-7-200-
S2
MM202,
MH202
1.3(AWG16)
2.1(AWG14)
2.1(AWG14)
UL2733
2.1(AWG14)
Drive model
Encoder wiring - wire diameter (mm2) (AWG)
Size of core wire
Number of core
wires
Standards for wire
type
Standard wire
length
ISA-7-020-
S1
0.21（AWG24）
5 (2 pairs)
UL2464
3M
ISA-7-040-
S1
0.21（AWG24）
5 (2 pairs)
UL2464
3M
ISA-7-075-
S1
0.21（AWG24）
5 (2 pairs)
UL2464
3M
ISA-7-100-
S1
0.21（AWG24）
5 (2 pairs)
UL2464
3M
ISA-7-150-
S2
0.21（AWG24）
5 (2 pairs)
UL2464
3M
ISA-7-200-
S2
0.21（AWG24）
5 (2 pairs)
UL2464
3M
Lite-On Technology Corp.
Industrial Automation
Select the multi-core wire with the knitted wire mesh for the filament. The knitted wire mesh must be
connected to the SHIELD end.
3.1.6. Filament selection
The following table shows the filament recommended for each terminal and signal wiring of the
LITEON ISA-7 drive:
1. Use the shielded twisted-pair cable for the wiring of the encoder to mitigate the interference of the
noise.
2. The wire mesh must be connected to the SHIELD end.
3. The wiring depends on the filament selected to avoid accidents.
31
AC
DC
M
Control
panel
P C
D
AC
DC
AC
DC
5V
15V
-15V
Current
feedback
U
V
W
Voltage
detection
24V
PWM drive
15V
Alarm
Regeneration
detection
ENC
L1
L2
R
S
T
CN2
CN3
CN5
CN1
DA
Analog output
monitoring
RS232/RS485
External speed
External torque
Position pulse
Digital I/O
Lite-On Technology Corp.
Industrial Automation
3.2. Basic block diagram of the server system
3.2.1. Models with the power equal to or below 200W (no built-in regenerative
resistor or fan)
Note: When power input in single phase, connect power cable to whichever 2 of RST.
32
AC
DC
M
Control
panel
P C
D
AC
DC
AC
DC
5V
15V
-15V
Current
feedback
U
V
W
Voltage
detection
24V
PWM drive
15V
Regeneration
detection
ENC
L1
L2
R
S
T
CN2
CN3
CN5
CN1
DA
Analog output
monitoring
RS232/RS485
External speed
External torque
Position pulse
Digital I/O
Alarm
Lite-On Technology Corp.
Industrial Automation
3.2.2. 400W / 750W model (with regeneration resistor but no fan)
Note: When power input in single phase, connect power cable to whichever 2 of RST.
33
AC
DC
M
Control
panel
P C
D
AC
DC
AC
DC
5V
15V
-15V
Current
feedback
U
V
W
Voltage
detection
24V
PWM drive
15V
12V
Regeneration
detection
ENC
L1
L2
R
S
T
CN2
CN3
CN5
CN1
DA
Analog output
monitoring
RS232/RS485
External speed
External torque
Position pulse
Digital I/O
Alarm
3.2.3. 1kW ~ 2kW model (with regeneration resistor and fan)
Lite-On Technology Corp.
Industrial Automation
34
1
DO4+
Digital output
23
EB-
Encoder B pulse output
2
DO3-
Digital output
24
EZ-
Encoder Z pulse output
3
DO3+
Digital output
25
EB+
Encoder B pulse output
4
DO2-
Digital output
26
DO4-
Digital output
5
DO2+
Digital output
27
DO5-
Digital output
6
DO1-
Digital output
28
DO5+
Digital output
7
DO1+
Digital output
29
S GND
Grounding of the analog input signal
V_REF
T_REF
HOUT-
OPC
15
30
44
1
16
31
HOUT+
1
16
31
15
30
44
Side view
Rear view
Front view
Lite-On Technology Corp.
Industrial Automation
3.3. CN1 I/O Signal wiring
3.3.1. CN1 I/O layout of the connector terminal
ISA-7 provides 6 sets of outputs and 9 sets of inputs that can be planned as wish. ISA-7 also offers the
signals of the differential output encoder, which are A+, A-, B+, B-, Z+ and Z-. In addition, it providesthe
analog torque command input, analog speed/position command input and pulse position command input.
Its pin-out diagram is as follows:
35
8
DI4-
Digital Input
30
DI8-
Digital Input
9
DI1-
Digital Input
31
DI7-
Digital Input
10
DI2-
Digital Input
32
DI6-
Digital Input
11
COM+
Power input end
(12~24V)
33
DI5-
Digital Input
12
DI9-
Digital Input
34
DI3-
Digital Input
13
EZ+
Encoder Z pulse
Differential output
35
OPC
External power supply of the command
pulse
14
COM-
VDD (24V)
Grounding of the power supply
36
HOUT-
High speed position
Command pulse (-)
15
DO6-
Digital output
37
DIR-
Position command symbol (-)
16
DO6+
Digital output
38
HOUT+
High speed position
Command pulse (+)
17
24V
+24V power output
(for external I/O)
39
DIR+
Position command symbol (+)
18
T Ref
Analog command input torque
40
HDIR-
High speed position
Command symbol (-)
19
S GND
Grounding of the analog input signal
41
OUT-
Position command pulse (-)
20
V Ref
Analog command input speed (+)
42
HDIR+
High speed position
Command symbol (+)
21
EA+
Encoder A pulse output
43
OUT+
Position command pulse (+)
22
EA-
Encoder/A pulse output
44
OZC
Encoder Z pulse
Open collector
Lite-On Technology Corp.
Industrial Automation
36
Name
Pin No
Function
Remark
Analog
command
(input)
V Ref
20
(1) The speed command of the motor -10V ~ +10V
indicates the rotation speed -3000~ +3000 r/min
(default). The corresponding range can be changed
via the parameter.
T Ref
18
The torque command of the motor -10V ~ +10V
indicates the rated torque command -100% ~+100%.
Position
pulse
command
(input)
OUT+
OUTDIR+
DIROPC(PULL HI)
43
41
39
37
35
The position pulse can be input via the line driver
(maximum single-phase pulse frequency 500KHz) or
open collector (maximum single-phase pulse
frequency 200KHz). Three command forms are
available (forward reverse pulse, pulse and direction,
as well as AB phase pulse) and can be selected via the
parameter.
When the position pulse is input via the open
collector, the terminal must be connected to an
external power supply for level increasing.
High speed
position
pulse
command
(input)
HOUT+
HOUTHDIR+
HDIR-
38
36
42
40
The high speed position pulse only allows the input
via the line driver (+5V). The maximum single-phase
pulse frequency is 4 MHz. For the command forms,
three pulse types are available, which are AB phase,
CW+CCW, as well as plus and direction.
Position
pulse
command
(output)
EA+
EA-
21
22
The A, B and Z signals of the encoder are output via
the line driver.
EB+
EB-
25
23
EZ+
EZ-
13
24
OZC
44
The encoder Z-phase with the open collector
Power
supply
24V
17
The VDD is the +24V power supply provided by the
drive. It can be used for the DI and DO signals and it
has a resistor of 500mA.
COM+
COM-
11
14
The COM+ is the command end for DI voltage input.
When the VDD is used for the voltage, the VDD must
be connected to COM+. If the VDD is not used, the
user must provide the external power supply (+12V ~
+24V). The positive pole of the external power
supply must connect to COM+ and the negative pole
to COM-.
S GND
19
Grounding of the analog input signal
3.3.2. CN1 I/O Connector signal
General signal
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Industrial Automation
37
DO Name
Operating Mode
Pin No
Function
Remark
+
-
SRDY
ALL 7 6
After the drive is electrified, this input is ON
if there is no alarm (ALRM) for the control
circuit and motor power circuit.
SVON
If the input SVON is ON, this input is ON
after it is confirmed that the motor servo
circuit operates smoothly.
ZSPD
ALL 5 4
If the rotation speed of the motor is less than
the setting value of the parameter (PC-20),
this input is ON.
RSPD
ALL (P
excluded)
If the actual rotation speed (r/min) of the
motor exceeds the setting value of the
parameter (PD-43), this input is ON.
INP
P, P-S, P-T
16
15
If the error (PULSE) between the motor
command and the actual position is less than
the setting value of the parameter (PA-20),
this input is ON.
ALM
ALL
28
27
An alarm occurs for the servo drive. (The
WARN is input when the positive and
negative limits, emergency stop,
communication abnormality and low voltage
occur.)
BREAK
ALL
The control contact of the electromagnetic
brake
OLW
ALL
When the overload level setting is reached,
the input is ON.
WARN
ALL
Warning output of the servo drive
The warning output is generated when the
positive and negative limits, emergency stop,
communication abnormality and low voltage
occur.
S_CMP
S, Sn
If the error value between the speed
command and motor feedback speed is
below the setting value of the parameter
(PC-23), this input is ON.
Lite-On Technology Corp.
Industrial Automation
The user selects the operating mode based on his or her own need and refers to the DI/DO table to find
out the default DI/DO signal in the selected mode and the Pin No of the signal for wiring. The
following table lists the default DI/DO signal function and pin number:
Description for the default DO signal
38
DI Name
Operating Mode
Pin No
Function
Remark
SVON
ALL
9
If the mode is ON, the servo circuit is activated and
the motor coil is excited.
ARST
ALL
33
After the alarm (ALRM) occurs, this signal is used to
reset the drive to output the Ready (SRDY) signal
again.
GAINUP
ALL
It is used to switch the controller gain.
CCLR
P It is used to clear the error counter.
ZCLMP
ALL
If this signal is ON and the motor speed is below the
setting value of the parameter PC-20, the position of
the motor is locked to the one that the signal is
generated instantly.
CMDV
T, S If this signal is ON, the direction that the motor
moves to is reversed.
TRQL
S, Sn
10
ON indicates that the torque limiting command is
effective.
SPDL
T, Tn
10
ON indicates that the speed limiting command is
effective.
SPD0
S, Sn,
PT-S,
S-T
34
The source of the speed command is selected:
SPD1
SPD0
Command Source
0
0
The S mode is the
analog input;
0
1
Parameter setting
1
0
Parameter setting
1
1
Parameter setting
SPD1
8
TCM0
PT,T, Tn,
PT-T
34
The source of the torque command is selected:
TCM1
TCM0
Command Source
0
0
The T mode is the
analog input;
0
1
Parameter setting
1
0
Parameter setting
1
1
Parameter setting
TCM1
S-T
8
S-P
P-S
31
It is used for switching of the mixed mode. OFF:
Speed; ON: Position
S-T
S-T
31
It is used for switching of the mixed mode. OFF:
Speed; ON: Torque
T-P
P-T
31
It is used for switching of the mixed mode. OFF:
Torque; ON: Position
EMG
ALL
30
B contact is used. This mode must be conducted
(ON) often, otherwise the drive shows an alarm
(ALRM).
NL
P, S, T
Sn, Tn
32
This mode indicates the CCW-limit. B contact is
used. This mode must be conducted (ON) often,
otherwise the drive shows an alarm (ALRM).
PL
PT, S, T
Sn, Tn
31
This mode indicates the CW-limit. B contact is used.
This mode must be conducted (ON) often, otherwise
the drive shows an alarm (ALRM).
TLLM
It indicates the reverse torque limit.
TRLM
It indicates the forward torque limit.
JOGEN
ALL
It allows the selection of the jog function for external
terminals.
This signal must be connected to use the jog function
for external terminals.
JOGU
ALL
When the signal is connected, the motor moving
forward changes to inching rotation.
JOGD
ALL
When the signal is connected, the motor moving in
The following describes the default DI signal.
Lite-On Technology Corp.
Industrial Automation
39
reverse changes to inching rotation.
GNUM0
P, P-S
Select 0 for the electronic gear ratio. (The numerator
of the gear ratio available (PA-11 ~ PA-13))
GNUM1
P, P-S
Select 1 for the electronic gear ratio. (The numerator
of the gear ratio available (PA-11 ~ PA-13))
INHP
P, P-S
The pulse input is prohibited. In the position mode,
the external pulse input command is ineffective when
this signal is connected.
Lite-On Technology Corp.
Industrial Automation
40
Name
DI
Code
Input function
P S T
Sn
Tn
PS
PT
ST
DISABLE
0x00
No function
DI9
DI9
DI9
DI9
DI9 SVON
0x01
Servo on
DI1
DI1
DI1
DI1
DI1
DI1
DI1
DI1
ARST
0x02
Error reset
DI5
DI5
DI5
DI5
DI5
DI5
DI5
DI5
GAINUP
0x03
Gain switching
CCLR
0x04
Pulse cleaning
DI2
DI2
DI2
ZCLMP
0x05
Zero speed clamping
CMDV
0x06
Command input reverse
control
TRQL
0x07
Torque limit
DI2 DI2 DI2
SPDL
0x08
Speed limit
DI2 DI2
SPD0
0x09
Selection of Speed
Command 0
DI3 DI3 DI3 DI3
SPD1
0x0A
Selection of Speed
Command 1
DI4 DI4 DI4 DI4
TCM0
0x0B
Selection of Torque
Command 0
DI3 DI3 DI3 DI3
DI6
TCM1
0x0C
Selection of Torque
Command 1
DI4 DI4 DI4 DI4
DI7
S-P
0x0D
Switching of the
speed/position mixed mode
DI9
S-T
0x0E
Switching of the speed/torque
mixed mode
DI9
T-P
0x0F
Switching of the
torque/position mixed mode
DI9
EMG
0x15
Emergency stop
DI8
DI8
DI8
DI8
DI8
DI8
DI8
DI8
NL
0x16
Limit of reverse inhibition
DI6
DI6
DI6
DI6
DI6
DI6
DI6 PL
0x17
Limit of forward inhibition
DI7
DI7
DI7
DI7
DI7
DI7
DI7
JOGEN
0x19
Selection of the jog control
for the terminal
JOGU
0x1A
Forward jog input
JOGD
0x1B
Reverse jog input
GNUM0
0x21
Selection of the Numerator
of the Electronic Gear
Ratio 0
GNUM1
0x22
Selection of the Numerator
of the Electronic Gear
Ratio 1
TLLM
0x23
Reverse torque limit
TRLM
0x24
Forward torque limit
INHP
0x25
Pulse input inhibited
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
The default DIs and DOs under each operating mode are arranged as follows:
Table for definitions of the default DI input
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41
Name
DO
code
Output Function
P S T
Sn
Tn
PS
PT
ST
SRDY
0x01
Servo ready
DO1
DO1
DO1
DO1
DO1
DO1
DO1
DO1
SVON
0x02
Servo on
DO4
DO4
DO4
DO4
DO4
DO4
DO4
DO4
ZSPD
0x03
Zero speed detection
DO2
DO2
DO2
DO2
DO2
DO2
DO2
DO2
RSPD
0x04
Target speed reached
DO3
DO3
DO3
DO3
DO3
DO3
DO3
DO3
INP
0x05
Target position reached
DO6
DO6
DO6 ALM
0x06
Servo alarm
DO5
DO5
DO5
DO5
DO5
DO5
DO5
DO5
BREAK
0x07
Electromagnetic brake
OLW
0x08
Overload alert
WARN
0x0A
Servo warning
SNL
0x0B
Software limit (reverse
direction)
SPL
0x0C
Software limit (forward
direction)
SP_IN
0x0F
Speed reaching output
Servo Driver
10KΩ
20 V_Ref
(18 T_Ref)
19 GND
SG
Servo Driver
SG
V
GND 2
MON1 1
MON2 3
8KΩ
8V
Table for definitions of the default DO output
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3.3.3. Interface wiring diagram (CN1)
The analog monitoring output relates to MON1 and MON2. The effective voltage range for the speed
and torque analog command input is -10V ~ +10V. The command value corresponding to the voltage
range may be set via the relevant parameter. The input impedance is 10K.
Analog command input for the speed and torque
Analog monitoring output MON1, MON2
42
Within 2 m
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The pulse command can be input via the open collector or line driver. The maximum input pulse for the
input via the line driver is 500 Kpps. The maximum input pulse for the open collector is 200 Kpps. The
wire length is within 2m.
The pulse input source is the NPN type open collector. The power supply in the drive is used.
The pulse input source is the PNP type open collector. The power supply in the drive is used.
43
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The pulse input source is the NPN type open collector. The external power supply is used.
The pulse input source is the PNP type open collector. The external power supply is used.
Note: The double power input is not allowed, otherwise the burning may occur.
44
41
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Note: The double power input is not allowed, otherwise the burning may occur.
This is the pulse command input (differential input). This is a 5V system. The 24V power supply is not
allowed for input.
This is the pulse command input with high speed (differential input). This is a 5V system. The 24V
power supply is not allowed for input.
45
VDD 17
DOX+
DOX-
COM-
DC 24V
DOX : X=1,2,3,4,5,6
VDD 17
DOX+
DOX-
COM-
DC 24V
DOX : X=1,2,3,4,5,6
二極體極性不可放錯
DOX+
DOX-
DOX : X=1,2,3,4,5,6
24V
VDD 不可接至 DOX
The diode must be put in the
right direction.
The VDD must not be
connected to the DOX.
DO wiring, internal power supply, normal load
DO wiring, internal power supply, inductive load
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DO wiring, external power supply, normal load
46
DOX+
DOX-
DOX : X=1,2,3,4,5,6
二極體極性不可放錯
24V
VDD 不可接至 DOX
4.7KΩ
Servo Driver
DC 24V
COM-
17
COM+
SON
The VDD must not be
connected to the DOX.
The diode must be put in
the right direction.
DO wiring, external power supply, inductive load
DI wiring, internal power supply, SINK mode
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47
4.7KΩ
Servo Driver
DC 24V
COM-
17
COM+
SON
DC
24V
4.7KΩ
Servo Driver
DC 24V
COM-
17
COM+
SON
DI wiring, external power supply, SINK mode
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DI wiring, internal power supply, SOURCE mode
48
4.7KΩ
Servo Driver
DC 24V
COM-
17
COM+
SON
DC
24V
SG
AC26C31
OA 21
/OA 22
OB 25
/OB 23
OZ 13
OZ 24
DI wiring, external power supply, SOURCE mode
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Encoder position output (line driver)
49
SG
AC26C31
OA 21
/OA 22
OB 25
/OB 23
OZ 13
OZ 24
High speed Photo
VDD 17
OCZ 44
GND 29
DC 24V
30V,100mA
Encoder position output (photo coupler)
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Encoder OCZ output (Z pulseoutput for the open collector)
50
Signal Name
Pin No
Corresponding
parameter
Signal Name
Pin No
Corresponding
parameter
Standard
DI
DI1-
CN1-9
PC-01
Standard
DO
DO1+
CN1-7
PC-10
DI2-
CN1-10
PC-02
DO1-
CN1-6
DI3-
CN1-34
PC-03
DO2+
CN1-5
PC-11
DI4-
CN1-8
PC-04
DO2-
CN1-4
DI5-
CN1-33
PC-05
DO3+
CN1-3
PC-12
DI6-
CN1-32
PC-06
DO3-
CN1-2
DI7-
CN1-31
PC-07
DO4+
CN1-1
PC-13
DI8-
CN1-30
PC-08
DO4-
CN1-26
DI9
CN1-12
PC-09
DO5+
CN1-28
PC-14
DO5-
CN1-27
DO6+
CN1-16
PC-15
DO6-
CN1-15
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3.3.4. User-specified DI and DO signals
If the desired DI/DO signal can't be found among the default ones, the user may set new DI/DO. The
function of the DI1~9 and DO1~6 signals depend on the parameters PC-01~PC-09 and PC-10~PC-15.
Refer to the following table. Input the DI or DO code in the corresponding parameter to set the
function of this DI/DO.
51
Connector for the leadwire of the encoder
Joint motor
CN2 connector
Connection drive
Drive end
CN2
5
4
3
2
9
8
7
6
Fast joint
Front view
04 Red
05 Red and
black
06
Grounding
White
White
and
black
Front view
White
White
and
black
04 Red
05 Red and
black
06
Grounding
3.4. CN2 Wiring of the the encoder signal
The following shows the signal cable of the CN2 encoder:
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Definition of the connectors on both sides:
(1). CN2 connector
(2). Connector for the leadwire of the encoder
52
Connector end of the drive
Connector for the leadwire of the
encoder
Pin No
Terminal
signal
Function and description
Military
connector
Fast joint
Color
4
Ｄ-
Serial communication signal
input/output(-)
6
3
White and
black
5
Ｄ+
Serial communication signal
input/output(+)
5
2
White
7
+5V
+5V power supply
1 4 Red
8
GND
Earth wire of the power supply
2
5
Red and
white
Shell
Shielding
Shielded
10 6 -
The description for the definition of each signal is as follows:
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Refer to the following for the way to make the
the shield for the connector of the CN2
encoder:
(1) Weld the core wire of the metal mesh to the metal
part of the connector so that the connector is metal
shielded.
(2) Fit the connector into its case as illustrated.
(3) Fasten the case to complete the shielding.
53
8
7
6
5
4
3
2
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3.5. CN3 Wiring for the signal of the communication connector
CN3 Layout for the terminal of the communication connector
The drive is connected to the computer via the communication connector. The user uses the MODBUS
communication and combines with the assembly language to operate the drive. The user may also use
PLC and HMI to operate the drive. We offer two communication interfaces that are commonly used:
(1) RS-232 and (2) RS-485. The RS-232 is used more often. The communication distance is about 15
m. If using the RS-485, the transmission distance would be longer. The RS-485 can support
simultaneous connections for multiple drives.
CN3 connector (female)
54
Pin No
Signal Name
Terminal signal
Function and description
1
RS-232 data
transmission
RS-232_TX
Data transfer at the drive end
Connected to the receiving end RS-232 of the PC
2
RS-232 data receiving
RS-232_RX
Data receipt at the drive end
Connected to the sending end RS-232 of the PC
3
Signal grounding
GND
+5V ground to the signal end
4
RS-485 data
transmission
RS-485(-)
Differential data transfer at the drive end -
5
RS-485 data
transmission
RS-485(+)
Differential data transfer at the drive end +
6
Signal grounding
GND
+5V ground to the signal end
7 - -
8 - -
Pin 3
Pin 2
Pin 1
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3.6. CN5 Analog voltage output terminal
The CN5 output terminal provides the monitoring analog data. For example, the analog voltage can be used
to indicate the rotation speed and current of the motor. ISA-7 provides two channel outputs. The user uses
Parameter PD-22 to select the data to be monitored. The signal is based on the grounding (GND) of the
power supply.
CN5 output terminal of the drive:
CN5 analog voltage output signal cable:
55
Pin No
Signal Name
Function and description
Color
Remark
1
MON1
Monitoring analog data 1
Red
2
GND
Earth wire of the power
supply
Red
3
MON2
Monitoring analog data 2
Red
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56
Three phase
Pulse command input
(Line Driver)
High speed pulse
command input
(Line Receiver)
Encoder
pulse
output
A-phase
differential signal
B-phase
differential signal
Z-phase
differential signal
Z-phase open
collector signal
Regenerative resistor
Red
White
Black
Green
Power
supply part
Brake
Encoder
Calibration shielded
wire
Reserved
Reserved
Calibration shielded
wire
3.7. Standard wiring
3.7.1. Standard wiring for the position mode
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57
Three phase
A-phase
differential signal
B-phase
differential signal
Z-phase
differential signal
Z-phase open
collector signal
Regenerative resistor
Red
White
Black
Green
Power
supply part
Brake
Encoder
Calibration shielded
wire
Reserved
Reserved
Calibration shielded
wire
3.7.2. Standard wiring for the speed mode
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58
Three phase
A-phase
differential signal
B-phase
differential signal
Z-phase
differential signal
Z-phase open
collector signal
Regenerative resistor
Red
White
Black
Green
Power
supply part
Brake
Encoder
Calibration shielded
wire
Reserved
Reserved
Calibration shielded
wire
3.7.3. Standard wiring for the torque mode
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59
Name
Function
Display
Five seven-segment displays are used to show the monitoring, parameter and setting
values.
MODE key
It is used to switch between the monitoring mode, parameter mode and alarm display.
When editing the mode, press the MODE key to exit to the parameter mode.
SHIFT key
The group code can be changed in the parameter mode. In the editing mode, shift the
blinking character to the left would be able to modify the higher character value that is set.
In the monitoring mode, the display of the high/low order digit can be switched.
UP key
It is used to change the monitoring code, parameter code or setting value.
DOWN key
It is used to change the monitoring code, parameter code or setting value.
SET key
It is used to display and store the setting value. In the monitoring mode, it is possible to
switch to the decimal/hexadecimal number system. In the parameter mode, press the SET
key to enter the editing mode.
Power indicator
UP key
Display
SHIFT key
SET key
MODE key
DOWN key
Chapter 4 Panel and Operation
4.1. Panel display and key description
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60
Error display
Monitoring
display
Basic
parameter
I/O
configuration
parameters
Extended
parameter
Gain/filtering
parameter
AL.00
CD-P
FB-P
IGBT
PA-00
PA-01
PB-00
PB-01
PC-00
PC-01
PD-00
PD-01
00000
00007
Mode
Shift
Shift
Shift
Up or down
Up or down
Up or down
SET for displaying
the parameter
Storage parameter
setting
Shift for switching the
high and low order
digits
SET
Switching between the
decimal/hexadecimal
number system
Shift
4.2. Panel operating process
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1. When the power supply of the drive is input, the display continues to display the monitoring mode (the
monitoring parameter set by the PD-21) first. The alarm code shows up first if there is any alarm.
2. Press the MODE key to switch the parameter display → monitoring display → error display. The alarm
mode is omitted if there is no alarm.
3. For any new alarm, it is possible to switch the current mode to the alarm mode instantly. Press the
MODE key to switch to other modes.
4. In the monitoring display, switch the monitoring variable to press the UP or DOWN key. After selecting
the monitoring variable, press the SET key to confirm to enter the display.
5. In the parameter display, press the SHIFT key to switch the group code. Press the UP/DOWN key to
change the last two character parameter codes.
6. In the parameter display, press the SET key to enter the editing setting mode. The display shows the
setting value of the current parameter. Use the UP/DOWN key to modify the parameter value or press
the MODE key to exit the editing setting mode and return to the parameter mode.
61
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Display text
LED display
Display text
LED display
Display text
LED display
Display text
LED display
0 9 i r
1
A J S
2 b K t
3 c
L U
4 d M
N/A
v 5 E n W
N/A
6 F o X
N/A
7 G P y 8 H q Z
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7. In the editing setting mode, press the SHIFT key to shift the blinking character to the left and use the
UP/DOWN key to amend the high byte quickly.
8. After revising the setting value, press the SET key to save the parameter or execute the command.
9. After the parameter setting is finished, the display shows the exit code "SAVED" and returns to the
parameter code automatically.
Table4.2.1 Display code
62
Example for the numerical
display
Description for the display of status value
Hexadecimal
data
If the numerical value is 1234, it displays as 01234 (decimal
numerical system).
If the numerical value is 0x1234, it displays as 1234.
(For the hexadecimal numerical system, the first digit does
not show.)
(Dec high)
(Dec low)
32-bit data
If the numerical value is 1234567890, the high byte displays
as 1234.5 and the low byte as 67890 (decimal numerical
system).
(Hex high)
(Hex low)
If the numerical value is 0x12345678, the high byte displays
as h1234 and the low byte as L5678 (hexadecimal
numerical system).
This is the way to display negative values. If the numerical value is -12345,
it displays as 1.2.345.
(Only the decimal numerical system is available. No positive or negative sign
shows for the hexadecimal numerical system.)
LED display
Content description
Saved
The setting value is stored adequately (Saved).
R-Only
It is a read-only parameter (Read-Only).
Lock
The entered password is wrong or no password is entered (Locked).
Err
The setting value is wrong or the reserved setting value is entered (Write NG).
S-off
The servo is activated and no input is allowed (Please Servo off).
Re-On
The parameter is effective only after restart (Power On).
4.3. Status display
4.3.1. Description for the display of status value
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1) Dec indicates the decimal numerical system and Hex the hexadecimal numerical system.
2) The above ways of displaying numerical values are applicable to the monitoring and editing setting
modes.
3) The Data format of all monitoring variables is 32-bit. For data display, it is possible to switch between the
high/low byte and Dec/Hex. Each parameter only supports one display type and no switchover is allowed.
4.3.2. Display of storage setting
After finishing the parameter editing and pressing the SET storage setting key, the panel display continues to
show the symbol of setting status for 1 second based on the setting status.
63
Display symbol
Content description
High/low byte indication: If the data type is 32-bit and the data is in the decimal
format, the function indicates whether the numerical value displayed is in the high
or low byte format.
Negative sign: If the data is in the decimal format, the two decimal points on the
left indicate the negative sign, regardless the 16- or 32-bit. The value displayed in
the hexadecimal format is always positive. No negative sign is displayed.
Display symbol
Content description
When the drive generates an error, the warning sign 'AL' and code 'nnn' appear.
Refer to the description for the PD-20 parameter in Chapter 7 or Chapter 9
Warning Troubleshooting for the meaning of the sign and code.
PD-21
LED display
Content description
Unit
0
Cd-P
The number of pulses entered for the pulse command (the
number of pulses for the command entered to the upper
controller)
[user unit]
1
Fb-P
The number of pulses for the motor feedback (the number of
pulses fed to the upper controller from the drive)
[user unit]
2
Err-P
The number of differential pulses for the Cd-P and Fb-P
[user unit]
3
Efb-P
The number of pulses for the motor feedback (the number of
pulses for the encoder feedback) (131072 pulse/rev)
[pulse]
4
SPEED
Motor rotation speed
[r/min]
5
ECd.P
The number of pulses for the pulse command input
(The number of pulses for the command entered to the upper
controller * electronic gear ratio)
[pulse]
6
Eer-P
The number of differential pulses for the ECd-P and EFb-P
[pulse]
7
CP-Fr
The pulse command input frequency
[Kpps]
8
C-SP1
The speed input command
[Volt]
9
C-SP2
The speed input command
[r/min]
10
C-tq1
The torque input command
[Volt]
11
C-tq2
The torque input command
[%]
12
PK-L
The peak torque
[%]
13
AvG-L
The average torque
[%]
14
U-buS
The voltage of the main circuit
[Volt]
Low byte indication High byte indication No function Negative sign
4.3.3. Display of decimal point
4.3.4. Display of the warning message
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4.3.5. Monitoring display
In the monitoring mode, press the UP or DOWN key to select the variable to be monitored and press the
SET key for confirmation. Parameter PD-21 can also be modified to designate the monitoring code. For
example, "PD-21=4" indicates the motor rotation speed.
64
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15
J-L
The load/motor inertia ratio
[double]
16
rSn.fr
The resonance frequency (The low byte is the first resonance
point and the high byte is the second resonance point.)
[Hz]
17
diFF.2
This indicates the number of absolute pulses with respect to
the encoder Z-phase. Which means, the numerical value at
the origin of the Z-phase is 0. The encoder rotates clockwise
or counterclockwise for positive/negative 5000 pulses.
[pulse]
18
Drv-t
Drive temperature
[°C]
......
or
......
......
The first recent error
The second recent error
The third recent error
The fourth recent error
The fifth recent error
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4.4. Operation of the general function
4.4.1. Operation for displaying the record of the abnormal status
After entering the parameter modes PD-33 ~ PD-37, press the SET key to display the corresponding code of
the error history.
4.4.2. Operation for the jog mode
After entering the parameter mode PD-30, execute the jog operating mode according to the following setting
methods.
(1) Press the SET key to display the jog speed. The initial value is 20 r/min.
(2) Press the UP or DOWN key to modify the jog speed to the desired value. For the example, the speed is
adjusted to 100r/min.
(3)Press the SET key to display JOG and enter the jog mode.
(4) After entering the jog mode, press the UP or DOWN key to make the servo motor to rotate clockwise or
counterclockwise. Release the button and the servo motor stops immediately. The jog operation is only
effective in the Servo On mode.
65
Press : The servo motor rotates
counterclockwise.
Press : The servo motor rotates
clockwise.
Press to return.
Release the key and the motor stops instantly.
If there is no reaction, check the wiring for the
motor UVW and encoder.
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or
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DO1 turned on
forcefully
DO2 turned on
forcefully
DO3 turned on
forcefully
DO4 turned on
forcefully
DO5 turned on
forcefully
DO6 turned on
forcefully
DO1, DO2 and
DO3 turned on
forcefully
The PD-31 is in the hexadecimal format. The numerical value 0 at the fifth digit
does not appear.
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4.4.3. Enforced operation of the digital output
Enter the output diagnosis mode according to the setting method below.
Set "PD-44=006" first and turn on the enforced DO mode. Use the PD-31 to set the enforced DO output via
the binary system.
E.g.: DO2 is turned on forcefully when the value is set to 2.
DO1 and DO3 are turned on forcefully when the value is set to 5.
No memory is saved for this mode after power off. The regular DO mode can be resumed after power on or
setting "PD-44=106".
4.4.4. Operation for the diagnosis of digital input
Enter the input diagnosis mode according to the setting method below.
When the triggering is executed via the external input signals DI1 ~ DI9 , the panel display shows the
corresponding signal. The signal is displayed in the hexadecimal character format.
bit0 corresponds to DI1; bit1 to DI2...etc. The value 1 indicates triggering.
E.g.: If "1A1" shows on the display, the binary value is 110100001b, indicating the triggering for DI1, DI6,
DI8 and DI9.
67
1
1 0 1 0
0 0 0 1
DIDIDIDIDIDIDI
DI
DI
Binary code
Corresponding
DI state
(Hexadecimal display)
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0 0 1 1
1 1 0 0
DIDIDIDIDI
DIDIDI
Binary code
Corresponding
DI state
(Hexadecimal display)
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4.4.5. Operation for the diagnosis of digital output
Enter the output diagnosis mode according to the setting method below.
As for the electrical conductivity of the output signals DO1 ~ DO6, the signal corresponding to these output
signals shows on the panel display. The signal is displayed in the hexadecimal format. bit0 corresponds to
DO1; bit1 to DO2...etc. The value 1 indicates triggering.
E.g.: If "3C" shows on the display, the binary value is 00111100b, indicating the triggering for DO3, DO4,
DO5 and DO6.
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Detection before
operation
(no control power
supply provided)
Check the servo drive for evident damage.
Insulate the connecting part of the distribution terminal.
Check the wiring for completion and accuracy to prevent damage
or abnormality.
Check if there is any conductive object such as the screw or a sheet
metal or any flammable object in the servo drive.
Check if the control switch is OFF.
The regenerative resistor of the servo drive or the external
regenerative resistor must not be placed on any flammable object.
To prevent the electromagnetic actuator from becoming
ineffective, check if the circuit causing the immediate termination
of operation and cutting the power off operates normally.
If the electronic instrument near the servo drive suffers from the
electromagnetic interference, use an instrument for mitigation.
Check if the applied voltage level of the drive is accurate.
Industrial Automation
Chapter 5 Steps for Commissioning and Tuning
The chapter is divided into two parts for explaining the commissioning operation. The first part is the noload detection and the second one is the detection for installation in the machine. For safety reasons, the user
must conduct the testing for the first part.
5.1. No-load detection
To avoid the damage to the servo drive or mechanism, remove the load connected to the servo motor first.
(The coupling and relevant accessories on the axle of the servo motor must also be removed. The reason is
to avoid the situation that the accessory not removed from the axle of the servo motor flies off, indirectly
causing the personal injury or equipment damage.) If the servo motor operates normally according to the
normal operating procedure after the removal of the load connected to the servo motor, connect the load
back to the servo motor afterwards.
Strongly recommended: Make the servo motor to go into the normal operation under the unloaded condition
and connect the motor to the load afterwards to avoid danger.
Check the items listed below one by one to find out problems and solve them before the motor operation to
prevent the damage afterwards:
70
Detection before
operation
(control power supply
provided)
Excessive stress should be avoided for the cable of the encoder.
During motor operation, notice whether the connecting cable
contacts the machine part, causing wear or dragging.
For the servo motor, contact the supplier for any vibration or loud
noise during operation.
Check the setting of each parameter for accuracy. Unexpected
movements might occur due to mechanical characteristics. Do not
make excessive adjustments to the parameter.
When resetting the parameter, check if the drive operates while the
servo is turned off (Servo Off), otherwise the drive would cause
malfunction.
When the relay operates, contact the supplier if no contact sound is
heard or there is any abnormal sound is generated.
Check if any abnormality occurs to the power indicator and LED
display.
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5.2. Power transmission for the drive
The user must follow the steps below.
I. Check the relevant wiring between the motor and drive:
U, V, W and FG must be connected to red, white, black and green wires, respectively. If the
wiring is wrong, the motor operates abnormally. The earth wire FG of the motor must be
connected to the grounding protection terminal of the drive.
The encoder of the motor is connected to the CN2 correctly.
Warning: Do not connect the power supply end (R, S, T) to the output of the servo drive (U, V, W),
otherwise it may result in the damage of the servo drive.
II. Connection for the power line of the drive: Connect the power supply to the drive. Refer to 3.1.3 for the
wiring of the power supply.
III. Power on: For the power supply of the control circuit (L1, L2) and main circuit (R, S,T), the drive
shows the following when the power is turned on:
The digital inputs (DI6~DI8) of the factory setting are the CCW-limit (NL), CW-limit (PL) and emergency
stop (EMGS) signals. If the digital inputs (DI6~DI8) of the factory setting are not used, the setting of the
parameters PC-06~PC-08 of the digital inputs (DI) must be adjusted. Set the parameter to 0 (the function of
this DI disabled) or change it to other functional definitions.
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Industrial Automation
If the parameter (PD-21) showed for the status of the drive is set to the motor speed (04) when the last
operation ends, the normal screen should look like:
If no text shows on the screen, check if the voltage is too low for L1 and L2.
1) When the screen shows:
Overvoltage warning:
The input voltage of the main circuit exceeds the allowable voltage or the input power supply is
inaccurate.
Solution:
Use the electricity meter to check the input voltage and adjust it to the allowable range.
2) When the screen shows:
Abnormality of the encoder:
The drive does not receive any encoder data or a data error occurs.
Solution:
Check if the wire distribution for the encoder conforms to the description.
Check if the connector or line of the encoder is loose.
Check if the encoder is damaged.
3) When the screen shows:
Emergency stop:
The contact of the digital input is set to emergency stop and it is not conducted.
Solution:
Make sure that the emergency stop (EMGS) signal is conducted. The default setting is DI8.
If not using the emergency stop function, set the input to Contact b and the default PC-08 to 115.
Another way is to set DI8 (which is PC-08) to other functions.
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Industrial Automation
4) When the screen shows:
Abnormality of the CCW-limit:
The contact of the digital input is set to CCW-limit and it is not conducted.
Solution:
Make sure that the CCW-limit (NL) signal is conducted. The default setting is DI6.
If not using the emergency stop function, set the input to Contact b and the default PC-06 to 116.
Another way is to set DI6 (which is PC-06) to other functions.
5) When the screen shows:
Abnormality of the CW-limit:
The contact of the digital input is set to CW-limit and it is not conducted.
Solution:
Make sure that the CW-limit (PL) signal is conducted. The default setting is DI7.
If not using the emergency stop function, set the input to Contact b and the default PC-07 to 117.
Another way is to set DI7 (which is PC-07) to other functions.
6) When the screen shows:
Overcurrent warning:
The output current of the drive is too high.
Solution:
Check the connection of the motor.
Check if the lead wire or motor is shorted.
7) When the screen shows:
Low voltage warning:
The input voltage of the main circuit is too low.
The input voltage of the main circuit exceeds the allowable voltage or the input power supply is
inaccurate.
Solution:
Use the electricity meter to check the input voltage and adjust it to the allowable range.
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Press : The servo motor rotates
counterclockwise.
Press : The servo motor rotates
clockwise.
Press to return:
Release the key and the motor stops instantly.
If there is no reaction, check the wiring for the
motor UVW and encoder.
Industrial Automation
5.3. No-load jog test
We propose the jog method to trial the motor and drive. The user does not need any extra distribution line,
which is really convenient. For safety reasons, it is suggested to jog the motor at low rotation speed. As for
the jog mode, the motor is set to move in constant velocity based on the set jog speed. The following is the
description we provided.
STEP 1: Set Parameter PD-30. Enter the jog speed (unit: r/min) and press the SET key so that the drive
enters JOG mode.
STEP 2: Press the Up key so that the motor turns clockwise. Press the "Down" key so that the motor turns
counterclockwise.
STEP 3: Press the MODE key to exit JOG mode.
The following figure demonstrates the operation of the jog mode. Adjust the default initial value 20 rpm to
100rpm.
or
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Lite-On Technology Corp.
Digital Input
Parameter Setting
Value
Description for the
Functional Definition
CN1 Pin No
DI1
PC-01 = 101
Servo on
Pin9
DI2
PC-02 = 107
Torque limit
Pin10
DI3
PC-03 = 109
Selection of the speed
command
Pin34
DI4
PC-04 = 10A
Selection of the speed
command
Pin8
DI5
PC-05 = 102
Error reset
Pin33
DI6
PC-06 = 0
No function
Pin32
DI7
PC-07 = 0
No function
Pin31
DI8
PC-08 = 0
No function
Pin30
DI9
PC-09 = 0
No function
Pin12
Industrial Automation
5.4. No-load speed test
Before the no-load speed test, secure the motor base as tight as possible to prevent the danger caused by the
counter force generated due to the variation in motor rotation speed.
STEP 1： Set the control mode of the drive to the speed mode (PA-00 set to 1). Restart the machine after
alteration to update the operating mode.
STEP 2： After restart, modify the setting of the digital input DI as follows:
In the table above, the functions of the factory setting values CCW-limit (DI6), CW-limit (DI7) and
emergency stop (DI8) are canceled. The parameters PC-06~PC-09 are set to 0 (Disabled).
After the setting is complete, the motor must be restarted or the abnormality must be reset if any irregular
signal appears for the drive. If the abnormality is reset, the DI5 pin must be conducted to eliminate the
abnormality. The restart or reset is required because the factory setting value includes the CCW-limit, CWlimit and emergency stop functions.
STEP 3：
1) The user makes the digital input DI1 conducted and the servo activated (Servo On).
2) Open the circuit for the digital inputs DI3 (SPD0) and DI4 (SPD1). The motor operates based on the
analog voltage command.
3) Only the digital input DI3 (SPD0) is conducted. The command of the motor rotation speed is the setting
value of PA-14.
4) Only the digital input DI4 (SPD1) is conducted. The command of the motor rotation speed is the setting
value of PA-15.
5) The digital input DI3 (SPD0) and DI4 (SPD1) are conducted simultaneously. The command of the
motor rotation speed is the setting value of PA-16.
6) Steps (3), (4) and (5) may be repeated as wish. The user may also alter the setting values of PA-14~PA-
16 to change the rotation speed.
7) To stop the drive, open the circuit for the digital input DI1 (Servo Off).
75
Check if the line distribution
and idling are normal.
Use the upper command or jog
adjustment modes.
Semi-auto mode
Auto mode
Use the upper command or jog
adjustment modes.
5.5. Tuning steps
5.5.1. Process of the tuning steps
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Industrial Automation
function for tuning with the
adaptation to different
Manual mode
function for tuning with the
adaptation to different
5.5.2. Flowchart of the tuning steps in the semi-auto gain mode
Set PB-32 (response bandwidth of the speed loop in the auto and semi-audit gain adjustment mode). The
bandwidth value is 80 (by default).
Set PB-33 to 2 (semi-auto mode, non-persistent adjustment). The adjustment starts after the the revolution
speed command is entered manually.(The Jogmode or the upper controller can be used to enter the rotation
speed command). LEDwill display the calculated inertia value during the process. After the adjustment is
performed for a while, stop the calculation when the the inertia of the system becomes stable and save the
calculated load inertia ratio toPB-35. The rigidity and bandwidth settings in PB-32 are referred to during the
process of the calculation.
PB-32 is the setting of the response bandwidth for the speed loop in the auto and semi-auto gain adjustment
mode:
1~50Hz: Low rigidity, low response.
51~250Hz: Intermediate rigidity, intermediate response.
251~550Hz: High rigidity, high response.
Higher value for faster response
76
Set jog target speed in
PD-30
Operation speed up
or down
˙ Reduce PB-32 setting
˙
7.3.7.
Continuous vibration
Panel displays stable
Satisfactory
Done
Increase PB-32 setting
and rigidity
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Industrial Automation
Servo off, set PB-33 = 1
Operate with Jog or not
Or modify PB-10 to
reduce mechanical
resonance. Refer to
or noise from the
mechanism
load inertia
for higher response
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Industrial Automation
Use the Jog mode to enter the speed command
PB-32 sets the target respond bandwidth for the speed loop.
PB-33 is set to 2.
PD-30 sets the jogspeed to enter semi-auto adjustment gain mode.
Press the "Up/ Down" key repeatedly (at least held for 2 seconds) to speed up/down the motor operation.
LED displays the present calculation of the inertia value during the process. Keep pressing until the value
becomes stable.
Press MODEto exit from the semi-auto gain adjustment mode.
5.5.3. Flowchart of the tuning steps in the automatic gain mode
Set PB-32 (response bandwidth of the speed loop in the auto and semi-audit gain adjustment mode). The
bandwidth value is 80 (by default).
Set PB-33 to 1 (semi-auto mode, non-persistent adjustment).
The server system will calculate the load inertia every half an hour and set gain parameters automatically
according to the bandwidth settings.
PB-32 is the setting of the response bandwidth for the speed loop in the auto and semi-auto gain adjustment
mode:
1~50Hz: Low rigidity, low response.
51~250Hz: Intermediate rigidity, intermediate response.
251~550Hz: High rigidity, high response.
Higher value for faster response
78
Servo off, set PB-33 = 2
Operate with Jog or not
Set jog target speed in
PD-30
Operation speed up
or down
Automatic inertia calculation
unit
(Calculation every 30 minutes)
˙ Reduce PB-32 setting
˙ Or modify PB-10 to
reduce mechanical
resonance. Refer to
7.3.7.
Continuous vibration
or noise from the
mechanism
Satisfactory
Done
Increase PB-32 setting
for higher response and
rigidity
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Industrial Automation
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Industrial Automation
5.5.4. Manual adjustment of gain parameters
In addition to the automatic/semi-auto adjustment mode, the user can enter the control gains for the position
and speed loops manually.
Generally, precise machining needs higher rigidity and response frequency, but higher response frequency
may cause mechanical resonance easily.
Therefore, the gain must be increased gradually during the tuning process and trial run must be conducted.
Reduce the gain value when resonance is generated.
The tuning principles in terms of the gain are described below:
The proportion gain for position control (KPP,PB-20)
The KPP parameter determines the characteristic of the position loop response. The higher the
numerical value, the faster the position loop response, the lower the command following and tuning
errors, and the shorter the tuning duration. However, when the value is set to high, the machine may
jitter or overshoot may occur.
The calculation method of the position loop response frequency is described below:
Position loop response frequency (Hz)＝
Position feed-forward gain(PFG, PB-22)
Position feed-forward gain can increase the response when the command changes and reduce the
command following error and the tuning duration.
However, overshoot or vibration may occur if the setting value is too high.
The proportion gain for speed control (KVP, PB-24)
The KVP parameter determines the feature of the speed loop response. The higher the value, the faster
the response and the lower the command following error. However, mechanical resonance if the value
is set too high. The speed loop response frequency must be 4~6times the position loop response
frequency. The machine may jitter or overshoot may occur if both frequencies are too close.
The calculation method of the position loop response frequency is described below:
Position loop response frequency (Hz)＝
The proportion gain for speed control (KVI, PB-26)
Higher KVI is better at removing the speed steady-state error, but the machine may jigger if the value is
set to high.
The suggested setting is:
KVI 15 speed loop response frequency
80
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Gain adjustment mode
PB-33
Automatic
parameter
setting
User-adjusted parameter
Gain state
Manual gain adjustment
0
(Default
value)
None
PB-35 (Motor load inertia ratio)
PB-20 (Position control
proportion gain)
PB-24 (Speed control proportion
gain)
PB-26 (Speed control integration
compensation)
PB-17 (Resonance suppression
low-pass filter)
PB-28 (External interference
resistance gain)
Fixed
Automatic gain
adjustment
(Persistent calculation
of the inertia ratio)
1
PB-35
PB-20
PB-22
PB-24
PB-26
PB-17
PB-28
PB-19
PB-32 Automatic adjustment
mode and responsive setting
(Response level)
Persistent
adjustment
(Adjusted
automatically
every30
minutes)
Semi-auto gain
adjustment
(Non-persistent inertia
calculation)
2
PB-35
PB-20
PB-22
PB-24
PB-26
PB-17
PB-28
PB-19
PB-32 Automatic adjustment
mode and responsive setting
(Response level)
Non-persistent
adjustment
(The user adjusts
after entering the
operation
command.)
5.5.5. Relationship of the gain adjustment mode with the parameters
Industrial Automation
When the semi-auto mode ( PB-33=2) is changed to the manual mode (PB-33= 0), PB-20, PB-22, PB-24, PB-26, PB17, PB-28 and PB-19 will be automatically updated to the parameters adjusted in the semi-auto mode.
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Use computer software to
analyze resonance frequency
Set the resonance
frequency
Give command to
operate repeatedly
Set the filter
depth
HF resonance
Done
Industrial Automation
5.5.6. Solutions for mechanical resonance
ISA-7 provides three sets of Notch filters for users to suppress the mechanical HF resonance.
Analyze the resonance frequency using the computer software and enter the frequency value in PB-10, PB12 or PB-14. Try to keep the machine running repeatedly to test the effect on the resonance suppression. If
the resonance remains, use PB-11, PB-13 and PB-15 to increase the filter depth.
Please note that the system will be unstable if the filter depth is excessive and the resonance won't be
suppressed efficiently. In this case, it is suggested to reduce the speed bandwidth.
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(R-only)
This is a read-only register for the state value, e.g. PD-15, PD-16 etc.
(S-off)
Setting is possible only when Servo Off is set to Off, e.g. PA-01, PA-02 etc.
(Re-on)
The parameter is valid only after reboot, e.g. PA-00 and PD-00 etc.
(N-keep)
This parameter does not memorize the property value of the setting when power is turned
off, e.g. PD-06 and PD-20 etc.
Industrial Automation
Chapter 6 Parameters and Functions
6.1. Definitions of parameters
Definitions of parameters are grouped into four. The first letter behind the initial code of the parameter P is
the group character and the two letters after the group character are parameter characters. The
communication address is a 16-bit value comprised of the group character and two parameter characters.
Definitions of the parameters are described below:
GroupA: Basic parameters (e.g. PA-xx)
GroupB: Gain/filter parameters (e.g. PB-xx)
GroupC: I/O configuration parameters (e.g. PC-xx)
GroupD: Expansion parameters (e.g. PD-xx)
Control mode description:
P is the position control mode. (The position command is entered via the CN1 Port.)
S is the speed control mode
T is the torque control mode
Description of the special symbols behind the parameter code:
83
Parameter
Abbr.
Function
Initial
value
Unit
Control mode
Remark
P S T
PA-00
CTLM
Setting for the input source of the control
mode and command
0
O O O (Re-on)
PA-01
CMPT
Setting for the input format of the external
pulse train
2
O O (S-off)
PA-02
STL
The setting for the speed and torque limit
0
O O O (S-off)
PA-03
ITQ1
Internal Torque Limit 1/Internal Torque
Command 1
100
%
O O O
PA-04
ITQ2
Internal Torque Limit 2/Internal Torque
Command 2
100
%
O O O
PA-05
ITQ3
Internal Torque Limit 3/Internal Torque
Command 3
100
%
O O O
PA-06
EOUT
The setting for the detector output of the
pulse value
2048
pulse
O O O
(S-off)
PA-07
MSPL
Maximum speed limit
Rated
r/min
O O O PA-08
PCLR
Pulse cleaning mode
0
O
PA-09
GRM1
Numerator of the Electronic Gear Ratio
(N1)
1
pulse
O
(S-off)
PA-10
GRD
Denominator of the Electronic Gear Ratio
(M)
1
pulse
O
(S-off)
PA-11
GRM2
Numerator of the Electronic Gear Ratio
(N2)
1
pulse
O
(S-off)
PA-12
GRM3
Numerator of the Electronic Gear Ratio
(N3)
1
pulse
O
(S-off)
PA-13
GRM4
Numerator of the Electronic Gear Ratio
(N4)
1
pulse
O
(S-off)
PA-14
ISP1
Internal Speed Command 1/Internal Speed
Limit 1
10000
0.1 r/min
O O
PA-15
ISP2
Internal Speed Command 2/Internal Speed
Limit 2
20000
0.1 r/min
O O
PA-16
ISP3
Internal Speed Command 3/Internal Speed
Limit 3
30000
0.1 r/min
O O
PA-17
CVM
The maximum rotation speed of the
analog speed command
Rated
r/min
O O
(S-off)
PA-18
CTM
The limited maximum output of the
analog torque
100
%
O O O
(S-off)
PA-20
INP
Confirmation of the range when the
position is reached
1000
pulse
O
PA-21
ATL
Response level for automatic negotiation
20
O O (S-off)
PB-00
SFIL
The acceleration-deceleration smoothing
constant of the analog speed command
0
ms
O
PB-01
TFIL
Smoothing constant of the analog torque
command
0
ms O
6.2. Parameters overview
6.2.1. Parameter list
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Industrial Automation
84
Parameter
Abbr.
Function
Initial
value
Unit
Control mode
Remark
P S T
PB-02
PFIL
Constant of the low-pass filtering for the
position command
0
10ms
O
PB-03
STAC
Acceleration constant of the smooth Scurve
200
ms
O
PB-04
STDC
Deceleration constant of the smooth Scurve
200
ms
O
PB-05
STL
Smooth constant of the smooth S-curve
0
ms
O
PB-06
MFIL
The constant of the linear filtering for the
analog speed command
0
0.1ms
O
PB-07
FRCL
Ratio of friction compensation
0
%
O O
PB-08
FRCT
Smooth constant of friction compensation
0
ms
O O
PB-09
PFLT2
The constant of the linear filtering for the
position command
0
ms O
PB-10
NCF1
Notch filter for resonance suppression (1)
1000
Hz
O O O
PB-11
NCD1
Notch filter for the attenuation rate of the
resonance suppression (1)
0
dB
O O O
PB-12
NCF2
Notch filter for resonance suppression (2)
1000
HZ
O O O
PB-13
NCD2
Notch filter for the attenuation rate of the
resonance suppression (2)
0
dB
O O O
PB-14
NCF3
Notch filter for resonance suppression (3)
1000
Hz
O O O
PB-15
NCD3
Notch filter for the attenuation rate of the
resonance suppression (3)
0
dB
O O O
PB-16
NCFA
Setting for the suppression mode of autoresonance
1
N/A
O O O
PB-17
NCLA
The setting for the sensitivity suppression
of auto-resonance
100
N/A
O O O
PB-18
NLP
The low-pass filtering for resonance
suppression
9
0.1ms
O O O
PB-19
SCJT
The filter bandwidth for the speed
detection
2500
Hz
O O O
PB-20
KPP
The gain of the position control
125
rad/s
O
PB-21
PGR
Ratio for the gain variation of the position
control
100
% O
PB-22
PFG
The feed forward gain for the position
control
50
% O
PB-23
PFC
The smooth constant of the feed forward
gain for the position control
5
ms O
PB-24
KVP
The proportional gain for speed control
502
rad/s
O O O
PB-25
SPR
The ratio for the gain variation of the
speed control
100
%
O O O
PB-26
KVI
The integral compensation for the speed
control
50
rad/s
O O O PB-27
KVF
The feed forward gain for the speed
control
0
%
O O O
PB-28
DSG
The resistance gain for the external
interference
50
0.001
O O O
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85
Parameter
Abbr.
Function
Initial
value
Unit
Control mode
Remark
P S T
PB-29
GCM
Condition of the gain switch and the
selection for the switch method
10
O O O
PB-30
GCT
The time constant for the gain switch
1
10ms
O O O
PB-31
GCC
The condition of the gain switch
0
Pulse,
Kpps,
rmin
O O O
PB-32
AUTB
The setting for the response bandwidth of
the speed loop in the automatic and semiautomatic modes
80
Hz
O O O
PB-33
AUTM
The method for gain adjustment
0
O O O N-keep
PB-35
GSI
The ratio of load inertia to servo motor
inertia
0
0.1
times
O O O
PB-36
VSF1
Frequency for the vibration suppression of
low frequency (1)
1000
0.1Hz
O PB-37
VSG1
Gain for the vibration suppression of low
frequency (1)
0
dB O
PB-38
VSF2
Frequency for the vibration suppression of
low frequency (2)
1000
0.1Hz
O
PB-39
VSG2
Gain for the vibration suppression of low
frequency (2)
0
dB O
PB-40
KPI
The integral compensation of the position
0
Hz
O O O
PB-41
JSL
The level for the stability determination of
inertia estimation
15
1 times
O O O
PB-42
AVSM PB-43
VCL PB-44
NCBW1 PB-45
NCBW2 PB-46
NCBW3
PC-00
DIRT
The time for response filtering of the
digital input
2
2ms
O O O
PC-01
DI1
The function planning for Pin DI1 of the
digital input
Based on the
control mode
O O O
PC-02
DI2
Function planning for Pin DI2 of the
digital input
Based on the
control mode
O O O
PC-03
DI3
Function planning for Pin DI3 of the
digital input
Based on the
control mode
O O O
PC-04
DI4
Function planning for Pin DI4 of the
digital input
Based on the
control mode
O O O
PC-05
DI5
The function planning for Pin DI5 of the
digital input
Based on the
control mode
O O O
PC-06
DI6
The function planning for Pin DI6 of the
digital input
Based on the
control mode
O O O
PC-07
DI7
The function planning for Pin DI7 of the
digital input
Based on the
control mode
O O O
PC-08
DI8
The function planning for Pin DI8 of the
digital input
Based on the
control mode
O O O
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Industrial Automation
86
Parameter
Abbr.
Function
Initial
value
Unit
Control mode
Remark
P S T
PC-09
DI9
The function planning for Pin DI9 of the
digital input
Based on the
control mode
O O O
PC-10
DO1
Function planning for Pin DO1 of the
digital output
Based on the
control mode
O O O
PC-11
DO2
Function planning for Pin DO2 of the
digital output
Based on the
control mode
O O O
PC-12
DO3
Function planning for Pin DO3 of the
digital output
Based on the
control mode
O O O
PC-13
DO4
Function planning for Pin DO4 of the
digital output
Based on the
control mode
O O O
PC-14
DO5
Function planning for Pin DO5 of the
digital output
Based on the
control mode
O O O
PC-15
DO6
Function planning for Pin DO6 of the
digital output
Based on the
control mode
O O O
PC-16
PC-17
PC-18
PC-19
PC-20
ZSPD
The level for zero speed detection
100
0.1 r/min
O O O
PC-21
BTOD
The turn-on delay time for the
electromagnetic brake
0
ms
O O O
PC-22
BTCD
The turn-off delay time for the
electromagnetic brake
0
ms
O O O
PC-23
SPOK
The level for detection of the speed
comparison
10
r/min
O
PC-24
PC-25
POL
The output level for the expected overload
0
%
O O O PD-00
ADR
The setting of the branch number
7F
O O O (Re-on)
PD-01
BRT
The communication transmission rate
33
O O O
PD-02
PTL
The protocol
6
O O O
PD-03
CFP
The handling of the communication error
0
O O O
PD-04
COT
The setting for the communication
timeout
0
sec
O O O
PD-05
PD-06
SWDI
Control switch for the source of the input
contact (DI)
0
O O O
PD-07
CDT
The time for the delay of the
communication response
0
1ms
O O O
PD-08
PD-09
PD-10
PD-11
VER
The firmware version
The factory
setting
O O O (R-only)
PD-12
PD-13
PD-14
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Industrial Automation
87
Parameter
Abbr.
Function
Initial
value
Unit
Control mode
Remark
P S T
PD-15
MON1
Display for Status Monitoring Register 1
O O O (R-only)
PD-16
MON2
Display for Status Monitoring Register 2
O O O (R-only)
PD-17
MON3
Display for Status Monitoring Register 3
O O O (R-only)
PD-18
MON4
Display for Status Monitoring Register 4
O O O (R-only)
PD-19
MON5
Display for Status Monitoring Register 5
O O O (R-only)
PD-20
ALD
The display for the error status of the
drive
O O O (N-keep)
PD-21
SSD
Display for the status of the drive
0
O O O
PD-22
VMON
The analog output monitoring
01
O O O
PD-23
CM1
The selection for the content of the
display for Status Monitoring Register 1
0
O O O
PD-24
CM2
The selection for the content of the
display for Status Monitoring Register 2
0
O O O
PD-25
CM3
The selection for the content of the
display for Status Monitoring Register 3
0
O O O
PD-26
CM4
The selection for the content of the
display for Status Monitoring Register 4
0
O O O
PD-27
CM5
The selection for the content of the
display for Status Monitoring Register 5
0
O O O
PD-28
VMR1
The ratio for MON1 analog monitoring
output
100
%
O O O
PD-29
VMR2
The ratio for MON2 analog monitoring
output
100
%
O O O
PD-30
JOG
The jog control of the servo motor
20
r/min
O O O
PD-31
FDO
The status and setting of the digital output
0
O O
O
(S-off)
(N-keep)
PD-32
DISF
The status and setting of the digital input
0
O O O (N-keep)
PD-33
ALH1
Record of the Abnormal Status (N)
0
O O O (R-only)
PD-34
ALH2
The record of the abnormal condition (N-
1)
0
O O O (R-only)
PD-35
ALH3
The record of the abnormal condition (N-
2)
0
O O O (R-only)
PD-36
ALH4
The record of the abnormal condition (N-
3)
0
O O O (R-only)
PD-37
ALH5
The record of the abnormal condition (N-
4)
0
O O O (R-only)
PD-38
PD-39
AOUT
The setting for the polarity of the pulse
output for the detector
PD-40
PCM
The status monitoring register (for PC
software)
PD-41
PCMS
The content selection of the status
monitoring register (for PC software)
PD-42
MSTP
The function of the motor stop mode
0
O O O
PD-43
TSPD
The level for the detection of the target
rotation speed
The rated
value
r/min
O O O
Lite-On Technology Corp.
Industrial Automation
88
Parameter
Abbr.
Function
Initial
value
Unit
Control mode
Remark
P S T
PD-44
RegMisc1
The write-in of the special parameter
0
O O
O
(S-off)
(N-keep)
PD-45
RES
The value of the regenerative resistor
Based on the
model
ohm
O O O
PD-46
RESC
The capacity of the regenerative resistor
Based on the
model
watt
O O O
PD-47
CRSR
The collision protection for the motor
(torque percentage)
%
PD-48
CRST
The collision protection for the motor
(protection time)
ms
PD-49
EXREG
The selection of the external braking unit
0
N/A
O O O
PD-50
AUTS
The status of inertia adjustment in the
semi-auto mode
0
N/A
O O O
(N-keep)
PD-51
INH
The auxiliary function
0
N/A
O O O
PD-52
PLOSS
The detection of the input phase failure
1
O O O
PD-53
OSPW
The condition for the overspeed warning
max. speed
rpm
O
PD-54
PCF
The condition for giving warnings of the
excessive error regarding the position
control
480000
pulse
O
PD-55
LVF
The level for the error of the low voltage
160
V(rms)
O O O PD-56
ENCType PD-57
INFOS PD-58
ABSRST
PD-59
AENCSTS
PD-60
APREV
PD-61
APREV PD-62
ZPWID
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Industrial Automation
89
Parameters for the monitoring and the general output setting
Parameter
Abbr.
Function
Initial
value
Unit
Control mode
Remark
P S T
PD-11
VER
The firmware version
0
N/A O O O (R-only)
PD-15
MON1
Display for Status Monitoring Register 1
0
N/A (R-only)
PD-16
MON2
Display for Status Monitoring Register 2
0
N/A (R-only)
PD-17
MON3
Display for Status Monitoring Register 3
0
N/A (R-only)
PD-18
MON4
Display for Status Monitoring Register 4
0
N/A (R-only)
PD-19
MON5
Display for Status Monitoring Register 5
0
N/A (R-only)
PD-20
ALD
The display for the error status of the drive
(seven-segment display)
0x2
N/A O O O (N-keep)
PD-21
SSD
Display for the status of the drive
0
N/A O O O
PD-22
VMON
The analog output monitoring
01
N/A O O O
PD-23
CM1
The selection for the content of the display
for Status Monitoring Register 1
0
N/A
PD-24
CM2
The selection for the content of the display
for Status Monitoring Register 2
0
N/A
PD-25
CM3
The selection for the content of the display
for Status Monitoring Register 3
0
N/A
PD-26
CM4
The selection for the content of the display
for Status Monitoring Register 4
0
N/A
PD-27
CM5
The selection for the content of the display
for Status Monitoring Register 5
0
N/A
PD-28
VMR1
The ratio for MON1 analog monitoring
output
100
% O O O
PD-29
VMR2
The ratio for MON2 analog monitoring
output
100
% O O O
(R-only)
This indicates the read-only register, which can only be used for reading status values.
(S-off)
This indicates Servo Off, which can be set only when the servo is off.
(Re-on)
This implies that the parameter is valid when the servo is booted again.
(N-keep)
The set content value won't be memorized by the parameter after power off.
6.2.2. Classification of the parameter function
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Industrial Automation
90
Parameters related to the filter smoothness and resonance suppression
Parameter
Abbr.
Function
Initial
value
Unit
Control mode
Remark
P S T
PB-00
SFIL
The acceleration-deceleration smoothing
constant of the analog speed command
0
ms O
PB-01
TFIL
Smoothing constant of the analog torque
command
0
ms O
PB-02
PFIL
Constant of the low-pass filtering for the
position command
0
10ms O
PB-03
STAC
The acceleration constant of the S-shaped
speed curve
200
ms O
PB-04
STDC
The deceleration constant of the S-shaped
speed curve
200
ms O
PB-05
STL
The smoothing constant of the S-shaped
speed curve
0
ms O
PB-06
MFIL
The constant of the linear filtering for the
analog speed command
0
0.1ms
O
PB-07
FRCL
The friction compensation
0
% O O O
PB-08
FRCT
The friction compensation
0
ms O O O
PB-09
PFLT2
The constant of the linear filtering for the
position command
0
ms O
PB-10
NCF1
Notch filter for resonance suppression (1)
1000
Hz O O O
PB-11
NCD1
Notch filter for the attenuation rate of the
resonance suppression (1)
0
dB O O O
PB-12
NCF2
Notch filter for resonance suppression (2)
1000
HZ O O O
PB-13
NCD2
Notch filter for the attenuation rate of the
resonance suppression (2)
0
dB O O O
PB-14
NCF3
Notch filter for resonance suppression (3)
1000
Hz O O O
PB-15
NCD3
Notch filter for the attenuation rate of the
resonance suppression (3)
0
dB O O O
PB-16
NCFA
Setting for the suppression mode of autoresonance
1
N/A O O O
PB-17
NCLA
The setting for the sensitivity suppression
of auto-resonance
100
N/A O O O
PB-18
NLP
The low-pass filtering for resonance
suppression
9
0.1ms
O O O PB-19
SCJT
The filtering for the speed detection and
the suppression of micro-vibration
2500
sec O O O
(R-only)
This indicates the read-only register, which can only be used for reading status values.
(S-off)
This indicates Servo Off, which can be set only when the servo is off.
(Re-on)
This implies that the parameter is valid when the servo is booted again.
(N-keep)
The set content value won't be memorized by the parameter after power off.
Lite-On Technology Corp.
Industrial Automation
91
Parameters related to gain and switch
Parameter
Abbr.
Function
Initial
value
Unit
Control mode
Remark
P S T
PA-21
ATL
Response level for automatic negotiation
20
O O
PB-20
KPP
The gain of the position control
125
rad/s O
PB-21
PGR
Ratio for the gain variation of the position
control
100
% O
PB-22
PFG
The feed-forward gain for location
50
% O
PB-23
PFC
The smooth constant of the feed-forward
gain for the position
5
ms O
PB-24
KVP
The gain of the speed control
502
rad/s O O O
PB-25
SPR
The ratio for the gain variation of the speed
control
100
% O O O
PB-26
KVI
The integral compensation of the speed
50
rad/s O O O
PB-27
KVF
The feed-forward gain for speed
0
% O O O
PB-28
DSG
The resistance gain for the external
interference
50
0.001
O O O PB-29
GCM
Condition of the gain switch and the
selection for the switch method
10
N/A O O O
PB-30
GCT
The time constant for the gain switch
10
10ms
O O O
PB-31
GCC
The condition of the gain switch
1280000
pulse
Kpps
r/min
O O O
PB-32
AUTB
The setting for the response bandwidth of
the speed loop in the automatic and semiautomatic modes
80
Hz O O O
PB-33
AUTM
Gain adjustment mode
0
N/A O O
O
(S-off) N-
keep
PB-40
KPI
The integral compensation of the position
0
rad/s O O O
(R-only)
This indicates the read-only register, which can only be used for reading status values.
(S-off)
This indicates Servo Off, which can be set only when the servo is off.
(Re-on)
This implies that the parameter is valid when the servo is booted again.
(N-keep)
The set content value won't be memorized by the parameter after power off.
Lite-On Technology Corp.
Industrial Automation
92
Parameters related to the position control
Parameter
Abbr.
Function
Initial
value
Unit
Control mode
Remark
P S T
PA-00
CTLM
Setting for the input source of the control
mode and command
0
pulse
r/min
N-M
O O O
(Re-on)
PA-01
CMPT
The setting for the input format of the
external pulse
2
N/A O (S-off)
PA-02
STL
The setting for the speed and torque limit
0
N/A O O O (S-off)
PA-03
ITQ1
Internal Torque Limit 1
100
% O O O
PA-04
ITQ2
Internal Torque Limit 2
100
% O O O
PA-05
ITQ3
Internal Torque Limit 3
100
% O O O
PA-06
EOUT
The setting for the detector output of the
pulse value
2048
pulse
O O O
(S-off)
PA-07
MSPL
Maximum speed limit
rated
r/min
O O O
PA-09
GRM1
Numerator of the Electronic Gear Ratio
(N1)
1
pulse O (S-off)
PA-10
GRD
Denominator of the Electronic Gear Ratio
(M)
1
pulse O (S-off)
PA-11
GRM2
Numerator of the Electronic Gear Ratio
(N2)
1
pulse O (S-off)
PA-12
GRM3
Numerator of the Electronic Gear Ratio
(N3)
1
pulse O (S-off)
PA-13
GRM4
Numerator of the Electronic Gear Ratio
(N4)
1
pulse O (S-off)
PA-21
ATL
Response level for automatic negotiation
20
O O (S-off)
(R-only)
This indicates the read-only register, which can only be used for reading status values.
(S-off)
This indicates Servo Off, which can be set only when the servo is off.
(Re-on)
This implies that the parameter is valid when the servo is booted again.
(N-keep)
The set content value won't be memorized by the parameter after power off.
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Industrial Automation
93
Parameters related to the speed control
Parameter
Abbr.
Function
Initial
value
Unit
Control mode
Remark
P S T
PA-00
CTLM
Setting for the input source of the control
mode and command
0
pulse
r/min
N-M
O O O
(Re-on)
PA-02
STL
The setting for the speed and torque limit
0
N/A O O O (S-off)
PA-03
ITQ1
Internal Torque Limit 1
100
% O O O
PA-04
ITQ2
Internal Torque Limit 2
100
% O O O
PA-05
ITQ3
Internal Torque Limit 3
100
% O O O
PA-06
EOUT
The setting for the detector output of the
pulse value
2048
pulse
O O O
(S-off)
PA-07
MSPL
Maximum speed limit
rated
r/min
O O O
PA-14
ISP1
Internal Speed Command 1
10000
0.1
r/min
O O
PA-15
ISP2
Internal Speed Command 2
20000
0.1
r/min
O O
PA-16
ISP3
Internal Speed Command 3
30000
0.1
r/min
O O
PA-17
CVM
The maximum rotation speed of the analog
speed command
rated
r/min
O O
(S-off)
PA-18
CTM
The limited maximum output of the analog
torque
100
% O O O (S-off)
PA-21
ATL
Response level for automatic negotiation
20
O O
(R-only)
This indicates the read-only register, which can only be used for reading status values.
(S-off)
This indicates Servo Off, which can be set only when the servo is off.
(Re-on)
This implies that the parameter is valid when the servo is booted again.
(N-keep)
The set content value won't be memorized by the parameter after power off.
Lite-On Technology Corp.
Industrial Automation
94
Parameters related to the torque control
Parameter
Abbr.
Function
Initial
value
Unit
Control mode
Remark
P S T
PA-00
CTLM
Setting for the input source of the control
mode and command
0
pulse
r/min
N-M
O O O
(Re-on)
PA-02
STL
The setting for the speed and torque limit
0
N/A O O O (S-off)
PA-03
ITQ1
Internal Torque Limit 1
100
% O O O
PA-04
ITQ2
Internal Torque Limit 2
100
% O O O
PA-05
ITQ3
Internal Torque Limit 3
100
% O O O
PA-06
EOUT
The setting for the detector output of the
pulse value
2048
pulse
O O O
(S-off)
PA-07
MSPL
Maximum speed limit
rated
r/min
O O O
PA-14
ISP1
Internal Speed Command 1
10000
0.1
r/min
O O
PA-15
ISP2
Internal Speed Command 2
20000
0.1
r/min
O O
PA-16
ISP3
Internal Speed Command 3
30000
0.1
r/min
O O
PA-17
CVM
The maximum rotation speed of the analog
speed command
rated
r/min
O O
(S-off)
PA-18
CTM
The limited maximum output of the analog
torque
100
% O O O (S-off)
(R-only)
This indicates the read-only register, which can only be used for reading status values.
(S-off)
This indicates Servo Off, which can be set only when the servo is off.
(Re-on)
This implies that the parameter is valid when the servo is booted again.
(N-keep)
The set content value won't be memorized by the parameter after power off.
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Industrial Automation
95
Parameters for the planning of the digital I/O pin and for the setting related to the output
Parameter
Abbr.
Function
Initial
value
Unit
Control mode
Remark
P S T
PA-20
INP
Confirmation of the range when the
position is reached
1000
pulse O
PC-00
DIRT
The time for response filtering of the
digital input
2
2ms O O O
PC-01
DI1
The function planning for Pin DI1 of the
digital input
101
N/A O O O
PC-02
DI2
Function planning for Pin DI2 of the
digital input
104
N/A O O O
PC-03
DI3
Function planning for Pin DI3 of the
digital input
116
N/A O O O
PC-04
DI4
Function planning for Pin DI4 of the
digital input
117
N/A O O O
PC-05
DI5
Function planning for Pin DI5 of the
digital input
102
N/A O O O
PC-06
DI6
Function planning for Pin DI6 of the
digital input
22
N/A O O O
PC-07
DI7
Function planning for Pin DI7 of the
digital input
23
N/A O O O
PC-08
DI8
Function planning for Pin DI8 of the
digital input
21
N/A O O O
PC-09
DI9
Function planning for Pin DI9 of the
digital input
0
N/A O O O
PC-10
DO1
Function planning for Pin DO1 of the
digital output
101
N/A O O O
PC-11
DO2
Function planning for Pin DO2 of the
digital output
103
N/A O O O
PC-12
DO3
Function planning for Pin DO3 of the
digital output
109
N/A O O O
PC-13
DO4
Function planning for Pin DO4 of the
digital output
105
N/A O O O
PC-14
DO5
Function planning for Pin DO5 of the
digital output
7
N/A O O O
PC-15
DO6
Function planning for Pin DO6 of the
digital output
7
N/A O O O
PC-21
BTOD
The turn-on delay time for the
electromagnetic brake
0
ms O O O
PC-22
BTCD
The turn-off delay time for the
electromagnetic brake
0
ms O O O
PC-23
SPOK
The level for detection of the speed
comparison
10
r/min
O
PC-25
POL
The output level for the expected overload
0
% O O O
PD-43
TSPD
The level for the detection of the target
rotation speed
The rated
value
r/min
O O O
(R-only)
This indicates the read-only register, which can only be used for reading status values.
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96
(S-off)
This indicates Servo Off, which can be set only when the servo is off.
(Re-on)
This implies that the parameter is valid when the servo is booted again.
(N-keep)
The set content value won't be memorized by the parameter after power off.
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Communication parameters
Parameter
Abbr.
Function
Initial
value
Unit
Control mode
Remark
P S T
PD-00
ADR
The setting of the branch number
0x7F
N/A O O O (Re-on)
PD-01
BRT
The communication transmission rate
0x33
O O O
PD-02
PTL
The protocol
6
N/A O O O
PD-03
CFP
The handling of the communication error
0
N/A O O O
PD-04
COT
The setting for the communication timeout
0
sec O O O
PD-06
SWDI
Control switch for the source of the input
contact (DI)
0
N/A O O O (N-keep)
PD-07
CDT
The time for the delay of the
communication response
0
1ms O O O
(R-only)
This indicates the read-only register, which can only be used for reading status values.
(S-off)
This indicates Servo Off, which can be set only when the servo is off.
(Re-on)
This implies that the parameter is valid when the servo is booted again.
(N-keep)
The set content value won't be memorized by the parameter after power off.
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Industrial Automation
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Diagnostic parameters
Parameter
Abbr.
Function
Initial
value
Unit
Control mode
Remark
P S T
PD-30
JOG
The jog control of the servo motor
20
r/min
O O O
PD-31
FDO
The DO data register of the software
(readable and writable)
0
N/A
O O O
(S-off)
(N-keep)
PD-32
DISF
The multi-function for the contact of
the digital input
0
N/A
O O O
(N-keep)
PD-33
ALH1
Record of the Abnormal Status (N)
0
N/A
O O O
(R-only)
PD-34
ALH2
The record of the abnormal condition
(N-1)
0
N/A
O O O
(R-only)
PD-35
ALH3
The record of the abnormal condition
(N-2)
0
N/A
O O O
(R-only)
PD-36
ALH4
The record of the abnormal condition
(N-3)
0
N/A
O O O
(R-only)
PD-37
ALH5
The record of the abnormal condition
(N-4)
0
N/A
O O O
(R-only)
PD-38
MDO
The display regarding the status for
the contact of the digital output
N/A
N/A
O O O
(R-only)
(R-only)
This indicates the read-only register, which can only be used for reading status values.
(S-off)
This indicates Servo Off, which can be set only when the servo is off.
(Re-on)
This implies that the parameter is valid when the servo is booted again.
(N-keep)
The set content value won't be memorized by the parameter after power off.
Lite-On Technology Corp.
Industrial Automation
99
PA-00
(Re-on)
CTLM
Setting for the input source of the control mode
and command
Communication
address:
0000H
0001H
Initial value
0
Control mode
ALL
Unit
N/A
Configuration
range
000 ~ 0x109
Data size
16bit
Data format
Hex
Mode
Setting value
Description
P
00
Single mode
S
01
T
02
PS
05
Mixed mode
PT
06
ST
07
Sn
08
Single mode
Tn
09
6.3. Parameter description
PA-XX (Basic parameter)
Lite-On Technology Corp.
Industrial Automation
□□□■■: The setting of the control mode
□□■□□: The control over the direction of torque output
Setting of the control mode
Single mode:
P: Position control mode
S: Speed control mode (The command comes from the external analog voltage/internal register, and can be
selected with D1: SPD0, SPD1.)
T: Torque control mode (The command comes from the external analog voltage/ the internal register, and can
be selected with D1: TCM0, TCM1.)
Sn: Speed control mode (The command source comes from the the internal register and can be selected with
D1: SPD0, SPD1. If (SPD0,SPD1) = (0,0), the speed command is zero.)
Tn: Torque control mode (the command source comes from the internal register, and can be chosen with D1:
TCM0, TCM 1. If (TCM0,TCM1) = (0,0), the torque command is zero.)
100
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