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Delta ASDA A2 User Manual

The document provides instructions for safely installing, wiring, and operating Delta AC servo drives and motors. It outlines important safety precautions and hazards to avoid such as ensuring proper grounding, not connecting power supplies to motor terminals, and taking precautions during initial operation and trial runs.

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0% found this document useful (0 votes)

128 views

Delta ASDA A2 User Manual

Uploaded by

teknisiinverterpk

We take content rights seriously. If you suspect this is your content, claim it here.

Available Formats

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You are on page 1/ 606

Call 1(800)985-6929 for Selas deltaacdrives.com sales@deltaacdrives.

com

ASDA-A2_M_EN_20110128
Call 1(800)985-6929 for Sales deltaacdrives.com [email protected]
Call 1(800)985-6929 for Sales deltaacdrives.com [email protected]

Preface

Thank you very much for purchasing DELTA’s AC servo products.

This manual will be helpful in the installation, wiring, inspection, and operation of Delta AC servo drive and
motor. Before using the product, please read this user manual to ensure correct use.
You should thoroughly understand all safety precautions (DANGERS, WARNINGS and STOPS) before
proceeding with the installation, wiring and operation. If you do not understand please contact your local Delta
sales representative. Place this user manual in a safe location for future reference.

Using This Manual

Contents of this manual
This manual is a user guide that provides the information on how to install, operate and maintain
ASDA-A2 series AC servo drives and ECMA series AC servo motors. The contents of this manual are
including the following topics:
Installation of AC servo drives and motors
Configuration and wiring
Trial run steps
Control functions and adjusting methods of AC servo drives
Parameter settings
Communication protocol
Inspection and maintenance
Troubleshooting
Application examples
Who should use this manual
This user manual is intended for the following users:
Those who are responsible for designing.
Those who are responsible for installing or wiring.
Those who are responsible for operating or programming.
Those who are responsible for maintaining or troubleshooting.
Important precautions
Before using the product, please read this user manual thoroughly to ensure correct use and store this
manual in a safe and handy place for quick reference whenever necessary. Besides, please observe the
following precautions:
Do not use the product in a potentially explosive environment.
Install the product in a clean and dry location free from corrosive and inflammable gases
or liquids.

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Preface

Do not connect a commercial power supply to the U, V, W terminals of motor. Failure to observe this
precaution will damage either the Servo motor or drive.
Ensure that the motor and drive are correctly connected to a ground. The grounding method must
comply with the electrical standard of the country (Please refer to NFPA 70: National
Electrical Code, 2005 Ed.).
Do not disconnect the AC servo drive and motor while the power is ON.
Do not attach, modify and remove wiring when power is applied to the AC servo drive and
motor.
Before starting the operation with a mechanical system connected, make sure the emergency stop
equipment can be energized and work at any time.
Do not touch the drive heat sink or the servo motor during operation. Otherwise, it may
result in serious personnel injury.

PLEASE READ PRIOR TO INSTALLATION FOR SAFETY.

Carefully note and observe the following safety precautions when receiving, inspecting, installing, operating,
maintaining and troubleshooting. The following words, DANGER, WARNING and STOP are used to mark safety
precautions when using the Delta’s servo product. Failure to observe these precautions may void the warranty!

ASDA-A2 series drives are high-resolution, open type servo drives and must be installed in an NEMA enclosure
such as a protection control panel during operation to comply with the requirements of the international safety
standards. They are provided with precise feedback control and high-speed calculation function incorporating DSP
(Digital Signal Processor) technology, and intended to drive three-phase permanent magnet synchronous motors
(PMSM) to achieve precise positioning by means of accurate current output generated by IGBT (Insulated Gate
Bipolar Transistor).

ASDA-A2 series drives can be used in industrial applications and for installation in an end-use enclosure that do
not exceed the specifications defined in the ASDA-A2 series user manual (Drives, cables and motors are for use
in a suitable enclosure with a minimum of a UL50 type 1 or NEMA 250 Type 1 rating).

The words, DANGER, WARNING and STOP, have the following meaning:

Indicates a potentially hazardous situation and if not avoided, may result in serious injury or
death.

Indicates a potentially hazardous situation and if not avoided, may result in minor to moderate
injury or serious damage to the product.

Indicates an improper action that it is not recommended to do and if doing it may cause damage,
malfunction and inability.

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Preface

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

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

Wiring
Connect the ground terminals to a class-3 ground (Ground resistance should not exceed
100 Ω). Improper grounding may result in electric shock or fire.
Do not connect any power supplies to the U, V, W terminals. Failure to observe this precaution may result in
serious injury, damage to the drive or fire.
Ensure that all screws, connectors and wire terminations are secure on the power supply, servo drive and motor.
Failure to observe this caution may result in damage, fire or personal injury.
In order to prevent fire hazard and accidents, please form the wiring by the cable specifications outlined in
this user manual.
Operation
Before starting the operation with a mechanical system connected, change the drive
parameters to match the user-defined parameters of the mechanical system. Starting the operation without
matching the correct parameters may result in servo drive or motor damage, or damage to the mechanical system.
Ensure that the emergency stop equipment or device is connected and working correctly before operating the motor
that is connected to a mechanical system.

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

In order to prevent accidents, the initial trial run for servo motor should be conducted
under no load conditions (separate the motor from its couplings and belts).
For the initial trial run, do not operate the servo motor while it is connected to its mechanical system. Connecting the
motor to its mechanical system may cause damage or result in personal injury during the trail run. Connect the
servo motor once it has successfully completed a trail run.
Caution: Please perform trial run without load first and then perform trial run with load connected. After the servo
motor is running normally and regularly without load, then run servo motor with load connected. Ensure to
perform trial run in this order to prevent unnecessary danger.
Do not touch either the drive heat sink or the motor during operation as they may become hot and personal
injury may result.
Maintenance and Inspection
Do not touch any internal or exposed parts of servo drive and servo motor as electrical shock may result.
 Do not remove the operation panel while the drive is connected to an electrical power source otherwise
electrical shock may result.
Wait at least 10 minutes after power has been removed before touching any drive or motor terminals or performing
any wiring and/or inspection as an electrical charge may still remain in the servo drive and servo motor with
hazardous voltages even after power has been removed.
Do not disassemble the servo drive or motor as electric shock may result.
Do not connect or disconnect wires or connectors while power is applied to the drive and motor.
Only qualified personnel who have electrical knowledge should conduct maintenance and inspection.
Ensure that the “Charge” indicator ceases when performing any maintenance, inspection or repairing.

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Preface

Main Circuit Wiring

Install the encoder cables in a separate conduit from the motor power cables to avoid
signal noise. Separate the conduits by 30cm (11.8inches) above.
 Use multi-stranded twisted-pair wires or multi-core shielded-pair wires for signal, encoder (PG) feedback cables.
The maximum length of command input cable is 3m (9.84ft.) and the maximum length of encoder (PG) feedback
cables is 20m (65.62ft.).
As a charge may still remain in the drive with hazardous voltages even after power has been removed, be sure to
wait at least 10 minutes after power has been removed before performing any wiring and/or inspection.

It is not recommended to frequently power the drive on and off. Do not turn the drive off
and on more than once per minute as high charging currents within the internal capacitors may cause
damage.

Main Circuit Terminal Wiring

Please perform the wiring after the terminal blocks are all removed from the drive.
 Insert only one wire into one terminal on the terminal block.
 When inserting wires, please ensure that the conductors are not shorted to adjacent terminals or wires.
Ensure to double check the wiring before applying power to the drive.

In this manual, actual measured values are in metric units. Dimensions in (imperial units) are
NOTE
for reference only. Please use metric for precise measurements.
The content of this manual may be revised without prior notice. Please consult our
distributors or download the most updated version at
http://www.delta.com.tw/industrialautomation.
.

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Chapter 1 Unpacking Check and Model Explanation

1.1 Unpacking Check

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

Ensure that the product is what you have ordered.

Verify the part number indicated on the nameplate corresponds with the part number of your order (Please
refer to Section 1.2 for details about the model explanation).

Ensure that the servo motor shaft rotates freely.

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

Check for damage.

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

Check for loose screws.

Ensure that all necessary screws are tight and secure.

If any items are damaged or incorrect, please inform the distributor whom you purchased the product from or
your local Delta sales representative.
A complete and workable AC servo system should include the following parts:
Part I : Delta standard supplied parts
220V series
Servo drive
Servo motor
6 PIN Terminal Block (for L1c, L2c, , R, S, T) (available for 200W ~ 1.5kW models)
3 PIN Terminal Block (for R, S, T) (available for 2kW ~ 3kW models)
3 PIN Terminal Block (for L1c, L2c, ) (available for 2kW ~ 3kW models)
6 PIN Terminal Block (for L1c, L2c, , R, S, T) (available for 4.5kW ~ 7.5kW models)
3 PIN Quick Connector (for U, V, W)
3 PIN Quick Connector (for P , D, C)
One operating lever (for wire to terminal block insertion)
One jumper bar (installed at pins P and D of the 3 PIN Terminal Block for P , D, C)
Instruction Sheets (Multilingual version)

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400V series
Servo drive
Servo motor
3 PIN Terminal Block (for R, S, T) (available for 750W ~ 1.5kW models)
3 PIN Terminal Block (for DC24V, DC0V, ) (available for 750W ~ 1.5kW models)
Terminal Block (for DC24V, DC0V, R, S, T) (available for 2kW ~ 7.5kW models)
3 PIN Quick Connector (for U, V, W)
3 PIN Quick Connector (for P , D, C)
One operating lever (for wire to terminal block insertion)
One jumper bar (installed at pins P and D of the 3 PIN Terminal Block for P , D, C)
Instruction Sheets (Multilingual version)

One power cable, which is used to connect servo motor to U, V, W terminals of servo drive. This power cable
includes a green grounding cable. Please connect the green grounding cable to the ground terminal of
the servo drive.
One encoder cable, which is used to connect the encoder of servo motor to the CN2 terminal of servo drive.
CN1 Connector: 50 PIN Connector (3M type analog product)
CN2 Connector: 20 PIN Connector (3M type analog product)
CN3 Connector: 6 PIN Connector (IEEE1394 analog product) for general communication (RS-485)
CN4 Connector: 4 PIN Connector (USB Type B product)
CN6 Connector: RJ45 Connector for high-speed communication (CANopen)

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Chapter 1 Unpacking Check and Model Explanation

1.2 Model Explanation

1.2.1 Nameplate Information

ASDA-A2 Series Servo Drive
Nameplate Explanation

Serial Number Explanation

ECMA Series Servo Motor

Nameplate Explanation

Serial Number Explanation

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Chapter 1 Unpacking Check and Model Explanation

1.2.2 Model Name Explanation

ASDA-A2 Series Servo Drive

Model Type

Extension Port for

Type Full-Close Control CANopen DMCNET
Digital Input
M Yes Yes No No
U Yes No No Yes
F Yes No Yes No
L Yes No No No

NOTE

15kW models will be available soon. The models above 15kW are in the process of development.

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Chapter 1 Unpacking Check and Model Explanation

ECMA Series Servo Motor

NOTE

15kW models will be available soon. The models above 15kW are in the process of development.

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Chapter 1 Unpacking Check and Model Explanation

1.3 Servo Drive and Servo Motor Combinations

The table below shows the possible combination of Delta ASDA-A2 series servo drives and ECMA series
servo motors. (Please refer to Section 1.2 for model explanation)

1.3.1 220V Series

Power Servo Drive Servo Motor
100W ASD-A2-0121- ECMA-C10401S (S=8mm)
200W ASD-A2-0221- ECMA-C10602S (S=14mm)
ECMA-C10604S (S=14mm)
ECMA-C108047 (7=14mm)
400W ASD-A2-0421-
ECMA-E11305S (S=22mm)
ECMA-G11303S (S=22mm)
ECMA-C10807S (S=19mm)
750W ASD-A2-0721-
ECMA-G11306S (S=22mm)
ECMA-C11010S (S=22mm)
1000W ASD-A2-1021- ECMA-E11310S (S=22mm)
ECMA-G11309S (S=22mm)
1500W ASD-A2-1521- ECMA-E11315S (S=22mm)
ECMA-C11020S (S=22mm)
2000W ASD-A2-2023- ECMA-E11320S (S=22mm)
ECMA-E11820S (S=35mm)
ECMA-E11830S (S=35mm)
3000W ASD-A2-3023-
ECMA-F11830S (S=35mm)
4500W ASD-A2-4523- ECMA-F11845S (S=35mm)
5500W ASD-A2-5523- ECMA-F118553 (3=42mm)
7500W ASD-A2-7523- ECMA-F118753 (3=42mm)

NOTE

The boxes () at the ends of the servo drive model names are for optional configurations (Full-close control,
CANopen, DMCNET and extension port for digital input). For the actual model name, please refer to the ordering
information of the actual purchased product.
The boxes () in the servo motor model names are for optional configurations (keyway, brake and oil seal).

The drives shown in the above table are designed according to the three multiple of rated current of motors
shown in the above table. If the drives which are designed according to the six multiple of rated current of
motors are needed, please contact our distributors or your local Delta sales representative.

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Chapter 1 Unpacking Check and Model Explanation

1.3.2 400V Series

Power Servo Drive Servo Motor
750W ASD-A2-0743- ECMA-J10807S (S=19mm)
1000W ASD-A2-1043- ECMA-K11310S (S=22mm)
1500W ASD-A2-1543- ECMA-K11315S (S=22mm)
2000W ASD-A2-2043- ECMA-K11320S (S=22mm)
3000W ASD-A2-3043- ECMA-L11830S (S=35mm)
4500W ASD-A2-4543- ECMA-L11845S (S=35mm)
5500W ASD-A2-5543- ECMA-L118553 (3=42mm)
*7500W ASD-A2-7543- ECMA-L118753 (3=42mm)

*7.5kW models will be available soon.

NOTE

The servo drives shown in the above two tables are designed for use in combination with the specific servo motors.
Check the specifications of the drives and motors you want to use.

Also, please ensure that both the servo drive and motor are correctly matched for size (power rating). If the
power of motor and drive is not within the specifications, the drive and motor may overheat and servo alarm
would be activated. For the detail specifications of servo drives and motors, please refer to Chapter 12
“Specifications”.

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Chapter 1 Unpacking Check and Model Explanation

1.4 Servo Drive Features

1.4.1 220V Series

220V Series - Front View

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Chapter 1 Unpacking Check and Model Explanation

220V Series - Top View

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Chapter 1 Unpacking Check and Model Explanation

220V Series - Bottom View

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Chapter 1 Unpacking Check and Model Explanation

1.4.2 400V Series

400V Series - Front View

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Chapter 1 Unpacking Check and Model Explanation

400V Series - Top View

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Chapter 1 Unpacking Check and Model Explanation

400V Series - Bottom View

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Chapter 1 Unpacking Check and Model Explanation

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Chapter 2 Installation and Storage

2.1 Installation Notes

Please pay close attention on the following installation notes:

Do not bend or strain the connection cables between servo drive and motor.

When mounting the servo drive, make sure to tighten all screws to secure the drive in place.

If the servo motor shaft is coupled directly to a rotating device ensure that the alignment specifications of the
servo motor, coupling, and device are followed. Failure to do so may cause unnecessary loads or premature
failure to the servo motor.

If the length of cable connected between servo drive and motor is more than 20m, please increase the wire gauge
of the encoder cable and motor connection cable (connected to U, V, W terminals).

Make sure to tighten the screws for securing motor.

2.2 Storage Conditions

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

Store in a clean and dry location free from direct sunlight.

Store within an ambient temperature range of -20°C to +65°C (-4°F to 149°F).

Store within a relative humidity range of 0% to 90% and non-condensing.

Do not store in a place subjected to corrosive gases and liquids.

Correctly packaged and placed on a solid surface.

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Chapter 2 Installation and Storage

2.3 Installation Conditions

Operating Temperature
ASDA-A2 Series Servo Drive : 0°C to 55°C (32°F to 131°F)

ECMA Series Servo Motor : 0°C to 40°C (32°F to 104°F)

The ambient temperature of servo drive for long-term reliability should be under 45°C (113°F).
If the ambient temperature of servo drive is greater than 45°C (113°F), please install the drive in a well-
ventilated location and do not obstruct the airflow for the cooling fan.
Caution
The servo drive and motor will generate heat. If they are installed in a control panel, please ensure sufficient
space around the units for heat dissipation.
Pay particular attention to vibration of the units and check if the vibration has impacted the electric devices in the
control panel. Please observe the following precautions when selecting a mounting location. Failure to observe
the following precautions may void the warranty!

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

Do not mount the servo drive or motor in a location subjected to corrosive gases, liquids, or airborne dust or
metallic particles.

Do not mount the servo drive or motor in a location where temperatures and humidity will exceed specification.

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

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

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Chapter 2 Installation and Storage

2.4 Installation Procedure and Minimum Clearances

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

The ASDA-A2 servo drive should be mounted perpendicular to the wall or in the control panel. In order to ensure
the drive is well ventilated, ensure that the all ventilation holes are not obstructed and sufficient free space is
given to the servo drive. Do not install the drive in a horizontal position or malfunction and damage will occur.

Drive Mounting
The ASDA-A2 Servo drives must be back mounted vertically on a dry and solid surface such as a NEMA
enclosure. A minimum spacing of two inches must be maintained above and below the drive for ventilation and
heat dissipation. Additional space may be necessary for wiring and cable connections. Also, as the drive conducts
heat away via the mounting, the mounting plane or surface should not conduct heat into the drive from external
sources

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

For the dimensions and weights specifications of servo drive or motor, please refer to Chapter 12
“Specifications".

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Chapter 2 Installation and Storage

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

Minimum Clearances

750W ~ 1.5kW models: 2kW ~ 5.5kW models:

NOTE

The scale of the clearances does not match the dimensions as shown in the drawing above. In the event of any discrepancy
between the clearances and the dimensions, the dimensions shall prevail.

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Chapter 2 Installation and Storage

Side by Side Installation

750W ~ 1.5kW models:

NOTE

The scale of the clearances does not match the dimensions as shown in the drawing above. In the event of any discrepancy
between the clearances and the dimensions, the dimensions shall prevail.

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Chapter 2 Installation and Storage

2kW ~ 5.5kW models:

NOTE

The scale of the clearances does not match the dimensions as shown in the drawing above. In the event of any discrepancy
between the clearances and the dimensions, the dimensions shall prevail.

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Chapter 2 Installation and Storage

2.5 Circuit Interrupter and Fuse Current Recommended Value

Caution: Please use circuit interrupter and fuse which are recognized by and comply with
the UL or CSA standards.

220V Series

Servo Drive Model Recommended Breaker Recommended Fuse (Class T)

Operation Mode General General
ASD-A2-0121- 5A 5A
ASD-A2-0221- 5A 5A
ASD-A2-0421- 10A 10A
ASD-A2-0721- 10A 20A
ASD-A2-1021- 15A 25A
ASD-A2-1521- 20A 40A
ASD-A2-2023- 30A 50A
ASD-A2-3023- 30A 70A
ASD-A2-4523- 70A 140A
ASD-A2-5523- 75A 150A
ASD-A2-7523- 95A 175A

400V Series

Servo Drive Model Recommended Breaker Recommended Fuse (Class T)

Operation Mode General General
ASD-A2-0743- 10A 20A
ASD-A2-1043- 15A 25A
ASD-A2-1543- 20A 40A
ASD-A2-2043- 30A 50A
ASD-A2-3043- 30A 70A
ASD-A2-4543- 70A 140A
ASD-A2-5543- 75A 150A
ASD-A2-7543- 95A 175A

NOTE

When using a GFCI (Ground Fault Circuit Interrupter), select a current sensor with sensitivity of equal to or more
than 200mA, and not less than 0.1-second detection time to avoid nuisance tripping.

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Chapter 2 Installation and Storage

2.6 EMI Filter Selection

AC Servo Drive - EMI Filter Cross Reference

220V Series

Item Power Servo Drive Model Recommended EMI Filter FootPrint

1 100W ASD-A2-0121- 08TDT1W4S N
2 200W ASD-A2-0221- 08TDT1W4S N
3 400W ASD-A2-0421- 08TDT1W4S N
4 750W ASD-A2-0721- 11TDT1W4S N
5 1000W ASD-A2-1021- 11TDT1W4S N
6 1500W ASD-A2-1521- 11TDT1W4S N
7 2000W ASD-A2-2023- 20TDT1W4D N
8 3000W ASD-A2-3023- 20TDT1W4D N
9 4500W ASD-A2-4523- 20TDT1W4D N
10 5500W ASD-A2-5523- RF075M43BA Y
11 7500W ASD-A2-7523- RF075M43BA Y

400V Series

Item Power Servo Drive Model Recommended EMI Filter FootPrint

1 750W ASD-A2-0743- 11TDT1W4S N
2 1000W ASD-A2-1043- 11TDT1W4S N
3 1500W ASD-A2-1543- 11TDT1W4S N
4 2000W ASD-A2-2043- 20TDT1W4D N
5 3000W ASD-A2-3043- 20TDT1W4D N
6 4500W ASD-A2-4543- 20TDT1W4D N
7 5500W ASD-A2-5543- RF075M43BA Y
8 7500W ASD-A2-7543- RF075M43BA Y

NOTE

The boxes () in the model names are for optional configurations. (Please refer to section 1.2 for model explanation.)

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Chapter 2 Installation and Storage

Installation
All electrical equipment, including AC servo drives, will generate high-frequency/low-frequency noise and will
interfere with peripheral equipment by radiation or conduction when in operation. By using an EMI filter with
correct installation, much of the interference can be eliminated. It is recommended to use Delta’s EMI filter to
have the best interference elimination performance.
We assure that it can comply with following rules when AC servo drive and EMI filter are installed and
wired according to user manual:

EN61000-6-4 (2001)

EN61800-3 (2004) PDS of category C2

EN55011+A2 (2007) Class A Group 1

General Precaution
To ensure the best interference elimination performance when using Delta’s EMI filter, please follow the
guidelines in this user manual to perform wiring and/or installation. In addition, please also observe the
following precautions:

EMI filter and AC servo drive should be installed on the same metal plate.

Please install AC servo drive on same footprint with EMI filter or install EMI filter as close as possible to the
AC servo drive.

All wiring should be as short as possible.

Metal plate should be grounded.

The cover of EMI filter and AC servo drive or grounding should be fixed on the metal plate and the contact area
should be as large as possible.

Choose Suitable Motor Cable and Precautions

Improper installation and choice of motor cable will affect the performance of EMI filter. Be sure to observe
the following precautions when selecting motor cable.

Use the cable with shielding (double shielding is the best).

The shielding on both ends of the motor cable should be grounded with the minimum length and maximum
contact area.

Remove any paint on metal saddle for good ground contact with the plate and shielding (Please refer to Figure
1 on page B-3).

The connection between the metal saddle and the shielding on both ends of the motor cable should be correct and
well installed. Please refer to Figure 2 on page B-3 for correct wiring method.

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Chapter 2 Installation and Storage

Figure 1

Saddle on both ends

Saddle on one end

Figure 2

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Chapter 2 Installation and Storage

Dimensions

Delta Part Number: 08TDT1W4S

Delta Part Number: 11TDT1W4S

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Delta Part Number: 20TDT1W4D

Delta Part Number: RF075M43BA

.0 125.0
(2.36) (4.92)
.0 85.0
(1.18) (3.35)
282.0
(11.10)

(11.61)
10)(1.
282.0

295.0

.0 5.5
(0.52) (0.22)
30.0
(1.18)

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2.7 Regenerative Resistors

Built-in Regenerative Resistor

When the output torque of servo motor in reverse direction of motor rotation speed, it indicates that
regenerative power has returned from the load to the servo drive. This power will be transmitted into the
capacitance of the DC Bus and result in rising voltage. When the voltage rises too high, the servo system need
to dissipate the extra energy by using a regenerative resistor. The ASDA-A2 series servo drive provides a
built-in regenerative resistor which is equipped as standard (400W~5.5kW models only). Users can also
connect an external regenerative resistor if more regenerative capacity is needed.
The following table shows the specifications of the servo drive’s built-in regenerative resistor and the
amount of regenerative power (average value) that it can process.
220V Series

Specifications of Built-in Regenerative Resistors

Resistance Regenerative Power
Capacity (Watt) Min. Allowable
Servo Drive (Ohm) processed by built-in
(Parameter Resistance
(kW) (Parameter regenerative resistor
P1-53) (Ohm)
P1-52) (Watt) *1
0.1 - - - 30
0.2 - - - 30
0.4 - - - 30
0.75 40 60 30 20
1.0 40 60 30 20
1.5 40 60 30 20
2.0 20 100 50 10
3.0 20 100 50 10
4.5 20 100 50 10
5.5 - - - 8
7.5 - - - 8
400V Series

Specifications of Built-in Regenerative Resistors

Resistance (Ohm) Capacity (Watt) Min. Allowable
Servo Drive (kW)
(Parameter P1-52) (Parameter P1-53) Resistance (Ohm)
0.75 80 100 60
1.0 80 100 60
1.5 80 100 40
2.0 - - 40
3.0 - - 30
4.5 - - 20
5.5 - - 20
7.5 - - 15

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When the regenerative power exceeds the processing capacity of the servo drive, install an external
regenerative resistor. Please pay close attention to the following notes when using a regenerative resistor.
Make sure the settings of resistance (parameter P1-52) and capacity (parameter P1-53) are set correctly.
When installing an external regenerative resistor, make sure that its resistance value is the same as the
resistance of the built-in regenerative resistor. If combining multiple small-capacity regenerative
resistors in parallel to increase the regenerative resistor capacity, make sure that the resistance value
of the regenerative resistor complies with the specifications listed in the table above.
In general, when the amount of regenerative power (average value) that can be processed is used at or
below the rated load ratio, the resistance temperature will increase to 120°C or higher (when the
regeneration occurs continuously). For safety reasons, forced air cooling is a good way to reduce the
temperature of the regenerative resistors. We also recommend using regenerative resistors with
thermal switches. As for the load characteristics of the regenerative resistors, please check with the
manufacturer.

External Regenerative Resistor

When using an external regenerative resistor, connect it to P and C, and make sure the circuit between P and
D is open. We recommend using external regenerative resistors with resistance values that follow the table above
(Specifications of Built-in Regenerative Resistors). We ignore the dissipative power of IGBT (Insulated Gate
Bipolar Transistor) in order to let the users easily calculate the capacity of regenerative resistor. In the following
sections, we will describe Regenerative Power Calculation Method and Simple Calculation Method for calculating
the regenerative power capacity of external regenerative resistors.

Regenerative Power Calculation Method

Without Load
When there is no external load torque, if the servo motor repeats operation, the returned regenerative power
generated when braking will transmitted into the capacitance of DC bus. After the capacitance voltage
exceeds some high value, regenerative resistor can dissipate the remained regenerative power. Use the table
and procedure described below to calculate the regenerative power.

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Chapter 2 Installation and Storage

220V Series

Regenerative power Max.

regenerative
Servo Drive Rotor Inertia from empty load
(kW) Servo Motor × -4 2 3000r/min to stop Eo power of
J( 10 kg.m ) capacitance Ec
(joule)
(joule)
0.1 ECMA-C10402 0.037 0.18 3
0.2 ECMA-C10602 0.177 0.87 4
ECMA-C10604 0.277 1.37
Low 0.4 8
ECMA-C10804 0.68 3.36
Inertia
0.75 ECMA-C10807 1.13 5.59 14
1.0 ECMA-C11010 2.65 13.1 18
2.0 ECMA-C11020 4.45 22.0 21
0.4 ECMA-E11305 8.17 40.40 8
1.0 ECMA-E11310 8.41 41.59 18
Medium 1.5 ECMA-E11315 11.18 55.28 18
Inertia ECMA-E11320 14.59 72.15
2.0 21
ECMA-E11820 34.68 171.50
3.0 ECMA-F11830 54.95 217.73 28
3.0 ECMA-F11830 54.95 217.73 28
Medium- 4.5 ECMA-F11845 77.75 384.47 25
High
Inertia 5.5 ECMA-F11855 99.78 493.40 27
7.5 ECMA-F11875 142.7 705.66 93
0.4 ECMA-G11303 8.17 40.40 8
High
0.75 ECMA-G11306 8.41 41.59 14
Inertia
1.0 ECMA-G11309 11.18 55.29 18
Eo = J x wr2/182 (joule) , Wr : r/min
400V Series

Regenerative power Max.

regenerative
Servo Drive Rotor Inertia from empty load
(kW) Servo Motor × -4 2 3000r/min to stop Eo power of
J( 10 kg.m ) capacitance Ec
(joule)
(joule)
Low
0.75 ECMA-J10807 1.13 5.59 42.43
Inertia
1.0 ECMA-K11310 8.41 18.48 51.17
Medium 1.5 ECMA-K11315 11.18 24.57 57.41
Inertia

2.0 ECMA-K11320 14.59 18.04 34.94

3.0 ECMA-L11830 54.95 67.93 42.43
Medium- 4.5 ECMA-L11845 77.75 96.12 51.17
High
Inertia 5.5 ECMA-L11855 99.78 123.35 57.41
7.5 ECMA-L11875 142.7 176.41 62.40
Eo = J x wr2/182 (joule) , Wr : r/min

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If the load inertia is N × motor inertia, the regenerative power will be (N+1) x E0 when servo motor brakes from
3000r/min to 0. Then, the regenerative resistor can dissipate: (N+1) x E0 - Ec (joule). If the time of repeat
operation cycle is T sec, then the regenerative power = 2 x ((N+1) x E0 - Ec) / T. The calculating procedure is as
follows:

Step Procedure Equation and Setting Method

Set the capacity of
1 regenerative resistor to the Change the value of P1-53 to maximum
maximum
2 Set the operation cycle T Input by the users
Input by the users or read via P0-02 Drive State
3 Set motor speed Wr
Display
4 Set load/motor inertia ratio N Input by the users or read via P0-02 Drive State
Display
5 Calculate the max. Eo = J x wr2/182
regenerative power Eo
6 Set the regenerative power Ec Refer to the table above
that can be absorbed
Calculate the required
7 2 x (N+1) x Eo－Ec）/ T
regenerative power capacity

For example:
If we use 400W servo drive, the time of repeat operation cycle is T = 0.4 sec, max. motor speed is
3000r/min, the load inertia = 7 × motor inertia, then the necessary the power of regenerative resistor = 2 x
( (7+1) × 1.68 - 8) / 0.4 = 27.2W. If the calculation result is smaller than regenerative power, we recommend
the users to use the built-in 60W regenerative resistor. Usually the built-in regenerative resistor provided by
ASDA-A2 series servo drives can meet the requirement of general application when the external load inertia
is not excessive.
The users can see when the capacity of regenerative resistor is too small, the accumulated power will be
larger and the temperature will also increase. The fault, AL005 may occur if the temperature is over high.
The following figure shows the actual operation of regenerative resistor.

(2) With Load

When there is an external load torque, servo motor is in reverse rotation when external load greater than
motor torque. Servo motor is usually in forward rotation and the motor torque output direction is the same
as the rotation direction. However, there is still some special condition. If the motor output torque is in the
reverse direction of rotation, the servo motor is also in the reverse direction of rotation. The external power
is input into the servo drive through servo motor. The Figure 6.21 below is an example. The users can see
the motor is in forward rotation at constant speed when a sudden external load torque change and great
power is transmitted to regenerative resistor rapidly.

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Chapter 2 Installation and Storage

Motor Rotation Speed

External Load Torque

Motor Output Torque

Reverse Forward Reverse Forward

Rotation Rotation Rotation Rotation

External load torque in reverse direction: TL x Wr TL : External load torque

For the safety, we strongly recommend the users should select the proper resistance value according to
the load.
For example:
When external load torque is a +70% rated torque and rotation speed reaches 3000r/min, if using 400W
servo drive (rated torque: 1.27Nt-m), then the users need to connect a external regenerative resistor which
power is 2 x (0.7 x 1.27) x (3000 x 2 x π/ 60) = 560W, 40 .

Simple Calculation Method

The users can select the adequate regenerative resistors according to the allowable frequency required by
actual operation and the allowable frequency when the servo motor runs without load. The allowable
frequency when the servo motor run without load is the maximum frequency that can be operated during
continuous operation when servo motor accelerate from 0r/min to rated speed and decelerate from rated
speed down to 0r/min. The allowable frequencies when the servo motor run without load are summarized in
the following table.

Allowable frequency when the servo motor runs without load (times/min)
and uses a built-in regenerative resistor
Motor Capacity 600W 750W 900W 1.0kW 1.5kW 2.0kW 2.0kW 3.0kW 4.5kW 5.5kW 7.5kW

06 07 09 10 15 20 20 30 45 55 75
Servo Motor
83
ECMAC - 312 - 137 - - - - - -
(F100)
24 10
ECMAE - - - 42 32 11 - - -
(F130) (F180)

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Allowable frequency when the servo motor runs without load (times/min)
and uses a built-in regenerative resistor
Motor Capacity 600W 750W 900W 1.0kW 1.5kW 2.0kW 2.0kW 3.0kW 4.5kW 5.5kW 7.5kW

06 07 09 10 15 20 20 30 45 55 75
Servo Motor
ECMAF - - - - - - - 11 8 - -
ECMAG 42 - 31 - - - - - - - -
ECMAJ - 537 - - - - - - - - -
ECMAK - - - 162 122 - - - - - -
ECMAL - - - - - - - - - - -

When the servo motor runs with load, the allowable frequency will change according to the changes of the
load inertia and rotation speed. Use the following equation to calculate the allowable frequency.
2
Allowable frequency when serv o motor run without load Rated s peed times
Allowable frequency = x
m+1 Operating speed mi n.

m = load/motor inertia ratio

The users can select the adequate external regenerative resistors according to the allowable
frequency by referring to the table below:

Allowable frequency when the servo motor run without load (times/min)
and uses external regenerative resistor

Motor Capacity ECMAC

400W 400W
Recommended 100W 200W 750W 1.0kW 2.0kW
(F60) (F80)
Regenerative Resistor
Specifications 01 02 04 04 07 10 20
BR400W040 (400W 40Ω) - - 8608 3506 2110 925 562
BR1K0W020 (1kW 20Ω) - - - 8765 5274 2312 1406

Motor Capacity ECMAE

2.0kW 2.0kW
Recommended 0.5kW 1kW 1.5kw 3.0kW
(F130) (F180)
Regenerative Resistor
Specifications 05 1.0 15 20 20 30
BR400W040 (400W 40Ω) 291 283 213 163 68 -
BR1K0W020 (1kW 20Ω) 729 708 533 408 171 -
BR1K5W005 (3kW 10Ω) - - - - - 331

Motor Capacity ECMAF

3.0KW 4.5KW 5.5KW 7.5kW
Recommended
Regenerative Resistor 30 45 55 75
Specifications
BR1K5W005 (3kW 10Ω) 331 234 182 127

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Allowable frequency when the servo motor run without load (times/min)
and uses external regenerative resistor
Motor Capacity ECMAG
0.3kW 0.6kW 0.9kW
Recommended
Regenerative Resistor 03 06 09
Specifications
BR400W040 (400W 40Ω) 292 283 213

BR1K0W020 (1kW 20Ω) 729 708 533

Motor Capacity ECMAK

1.0kW 1.5kW 2.0kW
Recommended
Regenerative Resistor 10 15 20
Specifications
BR400W040 (400W 40Ω) - 488 665

Motor Capacity ECMAL

3.0KW 4.5KW 5.5KW 7.5kW
Recommended
Regenerative Resistor 30 45 55 75
Specifications
BR400W040 (400W 40Ω) 177 - - -
BR1K0W020 (1kW 20Ω) - 312 243 170

When the regenerative resistor capacity is not enough, the users can connect to multiple the same capacity
regenerative resistors in parallel to increase it.

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Dimensions

Delta Part Number：BR400W040（400W 40Ω）

L1 L2 H D W MAX. WEIGHT(g)
265 250 30 5.3 60 930

Delta Part Number：BR1K0W020（1kW 20Ω）

L1 L2 H D W MAX. WEIGHT(g)
400 385 50 5.3 100 2800

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Chapter 2 Installation and Storage

Delta Part Number：BR1K5W005（3kW 10Ω）

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Chapter 2 Installation and Storage

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Chapter 3 Connections and Wiring

This chapter provides information on wiring ASDA-A2 series products, the descriptions of I/O signals and gives
typical examples of wiring diagrams.

3.1 Connections - 220V series

3.1.1 Connecting to Peripheral Devices

Figure 3.1 Configuration

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3.1.2 Servo Drive Connectors and Terminals

Terminal Terminal
Notes
Identification Description
Control circuit Used to connect single-phase AC control circuit
L1c, L2c terminal power depending on connecting servo drive model.
Main circuit Used to connect three-phase AC main circuit power
R,S,T
terminal depending on connecting servo drive model.
Used to connect servo motor
Terminal
Wire Color Description
Symbol
U Red
U,V,W Connecting to three-
Servo motor
V White phase motor main
output
FG ( ) circuit cable.
W Black
Connecting to
FG( ) Green ground terminal ( )
of the servo drive.
Ensure the circuit is closed
Internal resistor between P and D, and the
circuit is open between P and C.
Connect regenerative resistor to
External resistor P and C, and ensure an open
circuit between P and D.

Regenerative Connect braking unit to P and

P ,D,C, resistor terminal , and ensure an open circuit
or braking unit between P and D, and P and
C.
External braking (N terminal is built in L1C, L2C, ,
unit and R, S, T.)
P : Connecting to (+) terminal of
V_BUS voltage.
: Connecting to (-) terminal of
V_BUS voltage.
Used to connect grounding wire of power supply
two places Ground terminal and servo motor.
I/O connector Used to connect external controllers. Please refer to
CN1 (Optional Part) section 3.3 for details.
Used to connect encoder of servo motor. Please
refer to section 3.4 for details.
Terminal
Wire Color Pin No.
Symbol
T+ Blue 5
Encoder
CN2 connector T- Blue/Black 4
(Optional Part) Reserved - -
Reserved - -
+5V Red & Red/White 14, 16
Black &
GND 13, 15
Black/White

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Terminal Terminal
Notes
Identification Description
Communication
Used for RS-485 or RS-232 communication
CN3 connector connection. Please refer to section 3.5 for details.
(Optional Part)
USB connector
Used to connect personal computer (PC or
CN4 (Type B) notebook). Please refer to section 3.6 for details.
(Optional Part)
Position feedback
signal connector Used to connect to linear scale or encoder to
CN5 (for full-closed constitute a full-closed loop. Please refer to section
loop) 3.7 for details.
(Optional Part)
CANopen
communication RJ45 connector, used for CANopen communication.
CN6 port Please refer to section 3.8 for details.
(Optional Part)
Extension digital
Used to connect to extension digital inputs. Please
CN7 input terminal refer to section 3.9 for details.
(Optional Part)
Reserved
CN8 connector Reserved

Communication
extension Used to connect to other extension cards (will be
CN9 connector available soon).
(Optional Part)

Wiring Notes
Please observe the following wiring notes while performing wiring and touching any electrical
connections on the servo drive or servo motor.
Ensure to check if the power supply and wiring of the "power" terminals (R, S, T, L1C, L2C, U, V, & W) is
correct.
Please use shielded twisted-pair cables for wiring to prevent voltage coupling and eliminate electrical
noise and interference.
As a residual hazardous voltage may remain inside the drive, please do not immediately touch any of the
"power" terminals (R, S, T, L1C, L2C, U, V, & W) and/or the cables connected to them after the power
has been turned off and the charge LED is lit. (Please refer to the Safety Precautions on page ii).
The cables connected to R, S, T and U, V, W terminals should be placed in separate conduits from the
encoder or other signal cables. Separate them by at least 30cm (11.8 inches).
If the encoder cable (CN2) or the cable for position feedback signal connector (CN5) is too short, please use
a twisted-shield signal wire with grounding conductor. The wire length should be 20m (65.62ft.) or
less. For lengths greater than 20m (65.62ft.), the wire gauge should be doubled in order to lessen any
signal

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Chapter 3 Connections and Wiring

attenuation. For the encoder cable specification, please use AWG26 wire size and the Metal braided
shield twisted-pair cable which meets the UL2464 specification.

When using CANopen communication, please use the shielded twisted-pair cables to ensure the
communication quality.

The shield of shielded twisted-pair cables should be connected to the SHIELD end (terminal marked )
of the servo drive.

For the connectors and cables specifications, please refer to section 3.1.6 for details.

3.1.3 Wiring Methods

For servo drives from 200W to 1.5kW the input power can be either single or three-phase.
However, single -phase connections are for servo drives 1.5kW and below only.
In the wiring diagram figures 3.2 & 3.3:
Power ON : contact “a” (normally open)
Power OFF /ALRM_RY : contact “b” (normally closed)
MC : coil of electromagnetic contactor, self-holding power, contact of main circuit power

Figure 3.2 Single-Phase Power Supply Connection (for 1.5kW and below models)

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Figure 3.3 Three-Phase Power Supply Connection (for all models)

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Chapter 3 Connections and Wiring

3.1.4 Motor Power Cable Connector Specifications

The boxes () in the model names are for optional configurations. (Please refer to section 1.2 for model
explanation.)

Terminal
Motor Model Name U, V, W / Electromagnetic Brake Connector
Identification

ECMA-C10401S (100W)
ECMA-C10602S (200W)
ECMA-C10604S (400W) A
ECMA-C108047 (400W)
ECMA-C10807S (750W)
HOUSING: JOWLE (C4201H00-2*2PA)

ECMA-C10401S (100W)
ECMA-C10602S (200W)
ECMA-C10604S (400W)
B
ECMA-C108047 (400W)
ECMA-C10807S (750W)
* : with brake
HOUSING：JOWLE (C4201H00-2*3PA)

ECMA-G11303S (300W)
ECMA-E11305S (500W)
ECMA-G11306S (600W)
ECMA-G11309S (900W)
ECMA-C11010S (1000W) C
ECMA-E11310S (1000W)
ECMA-E11315S (1500W)
ECMA-C11020S (2000W)
ECMA-E11320S (2000W)

ECMA-E11820S (2000W)
ECMA-E11830S (3000W)
ECMA-F11830S (3000W) D
ECMA-F11845S (4500W)
ECMA-F118553 (5500W)

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Terminal
Motor Model Name U, V, W / Electromagnetic Brake Connector
Identification

ECMA-F118553 (5500W)
E
ECMA-F118753 (7500W)

Terminal
Motor Model Name U, V, W / Electromagnetic Brake Connector
Identification

ECMA-F218553(5500W)
F
ECMA-F218753(7500W)

Terminal U V W CASE GROUND BRAKE1 BRAKE2

Identification (Red) (White) (Black) (Green) (Yellow) (Blue)
A 1 2 3 4 - -
B 1 2 4 5 3 6
C F I B E G H
D D E F G A B
E A B C D - -

Terminal
BRAKE1 BRAKE2
Identification
F A B

NOTE

The coil of brake has no polarity. The names of terminal identification are BRAKE1 (Yellow) and BRAKE2
(Blue).
The power supply for brake is DC24V. Never use it for VDD, the +24V source voltage.

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Chapter 3 Connections and Wiring

3.1.5 Encoder Connector Specifications

The boxes () in the model names are for optional configurations. (Please refer to section 1.2 for model
explanation.)

Terminal
Motor Model Name Encoder Connector
Identification

ECMA-C10401S (100W)
ECMA-C10602S (200W)
ECMA-C10604S (400W) A
ECMA-C108047 (400W)
ECMA-C10807S (750W)

HOUSING：AMP (1-172161-9)
ECMA-G11303S (300W)
ECMA-E11305S (500W)
ECMA-G11306S (600W)
ECMA-G11309S (900W)
ECMA-C11010S (1000W)
ECMA-E11310S (1000W)
ECMA-E11315S (1500W)
ECMA-C11020S (2000W) B
ECMA-E11320S (2000W)
ECMA-E11820S (2000W)
ECMA-E11830S (3000W)
ECMA-F11830S (3000W)
ECMA-F11845S (4500W)
ECMA-F118553 (5500W)
ECMA- F118753 (7500W)

Terminal BRAID
T+ T- Reserved Reserved Reserved Reserved DC+5V GND
Identification SHELD
4 7 8
1
A (Blue/ - - - - (Red & (Black & 9
(Blue) Black) Red/White) Black/White)
B A B - - - - S R L

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3.1.6 Cable Specifications for Servo Drive

Power Cable

Power Cable - Wire Gauge AWG (mm2)

Servo Drive and Servo Motor
L1C, L2C R,S,T U,V,W P ,C
ASD-A2-0121- ECMA-C10401S 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)
ASD-A2-0221- ECMA-C10602S 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)
ECMA-C10604S 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)
ECMA-C108047 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)
ASD-A2-0421- ECMA-E11305S 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)
ECMA-G11303S 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)
ECMA-C10807S 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)
ASD-A2-0721- ECMA-G11306S 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)
ECMA-C11010S 1.3 (AWG16) 2.1 (AWG14) 1.3 (AWG16) 2.1 (AWG14)
ASD-A2-1021- ECMA-E11310S 1.3 (AWG16) 2.1 (AWG14) 1.3 (AWG16) 2.1 (AWG14)
ECMA-G11309S 1.3 (AWG16) 2.1 (AWG14) 1.3 (AWG16) 2.1 (AWG14)
ASD-A2-1521- ECMA-E11315S 1.3 (AWG16) 2.1 (AWG14) 1.3 (AWG16) 2.1 (AWG14)
ECMA-C11020S 1.3 (AWG16) 2.1 (AWG14) 2.1 (AWG14) 2.1 (AWG14)
ASD-A2-2023- ECMA-E11320S 1.3 (AWG16) 2.1 (AWG14) 2.1 (AWG14) 2.1 (AWG14)
ECMA-E11820S 1.3 (AWG16) 2.1 (AWG14) 3.3 (AWG12) 2.1 (AWG14)
ECMA-E11830S 1.3 (AWG16) 2.1 (AWG14) 3.3 (AWG12) 2.1 (AWG14)
ASD-A2-3023- ECMA-F11830S 1.3 (AWG16) 2.1 (AWG14) 3.3 (AWG12) 2.1 (AWG14)
ASD-A2-4523- ECMA-F11845S 1.3 (AWG16) 3.3 (AWG12) 8.4 (AWG8) 3.3 (AWG12)
ASD-A2-5523- ECMA-F118553 1.3 (AWG16) 3.3 (AWG12) 13.3 (AWG6) 3.3 (AWG12)
ASD-A2-7523- ECMA-F118753 1.3 (AWG16) 5.3 (AWG10) 13.3 (AWG6) 3.3 (AWG12)

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Encoder Cable

Encoder Cable - Wire Gauge AWG (mm2)

Servo Drive
Wire Size Wire Size Wire Size Wire Size
ASD-A2-0121- 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)
ASD-A2-0221- 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)
ASD-A2-0421- 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)
ASD-A2-0721- 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)
ASD-A2-1021- 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)
ASD-A2-1521- 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)
ASD-A2-2023- 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)
ASD-A2-3023- 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)
ASD-A2-4523- 0.13（AWG26） 10 core (4 pair) UL2464 3m (9.84ft.)
ASD-A2-5523- 0.13（AWG26） 10 core (4 pair) UL2464 3m (9.84ft.)
ASD-A2-7523- 0.13（AWG26） 10 core (4 pair) UL2464 3m (9.84ft.)

NOTE

Please use shielded twisted-pair cables for wiring to prevent voltage coupling and eliminate electrical
noise and interference.
The shield of shielded twisted-pair cables should be connected to the SHIELD end (terminal marked )
of the servo drive.
In order to prevent fire hazard and accidents, please form the wiring by following the cable specifications
outlined above.
The boxes () at the ends of the servo drive model names represent the model type of ASDA-A2 series. For
the actual model name, please refer to the ordering information of the actual purchased product.
The boxes () in the servo motor model names are for optional configurations (keyway, brake and oil sea).

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Chapter 3 Connections and Wiring

3.2 Connections - 400V series

3.2.1 Connecting to Peripheral Devices

Figure 3.4 Configuration

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3.2.2 Servo Drive Connectors and Terminals

Terminal Terminal
Notes
Identification Description
Control circuit Used to connect single-phase AC control circuit
DC24V, DC0V terminal power depending on connecting servo drive model.
Main circuit Used to connect three-phase AC main circuit power
R,S,T
terminal depending on connecting servo drive model.
Used to connect servo motor
Terminal
Wire Color Description
Symbol
U Red
U,V,W Connecting to three-
Servo motor
V White phase motor main
output
FG ( ) circuit cable.
W Black
Connecting to
FG( ) Green ground terminal ( )
of the servo drive.
Ensure the circuit is closed
Internal resistor between P and D, and the
circuit is open between P and C.
Connect regenerative resistor to
External resistor P and C, and ensure an open
circuit between P and D.

Regenerative Connect braking unit to P and

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Communication
extension Used to connect to other extension cards (will be
CN9 connector available soon).
(Optional Part)

Wiring Notes
Please observe the following wiring notes while performing wiring and touching any electrical
connections on the servo drive or servo motor.
Ensure to check if the power supply and wiring of the "power" terminals (R, S, T, DC24V &
DC0V) is correct.
Please use shielded twisted-pair cables for wiring to prevent voltage coupling and eliminate electrical
noise and interference.
As a residual hazardous voltage may remain inside the drive, please do not immediately touch any of the
"power" terminals (R, S, T, DC24V & DC0V) and/or the cables connected to them after the power
has been turned off and the charge LED is lit. (Please refer to the Safety Precautions on page ii).
The cables connected to R, S, T and U, V, W terminals should be placed in separate conduits from the
encoder or other signal cables. Separate them by at least 30cm (11.8 inches).
If the encoder cable (CN2) or the cable for position feedback signal connector (CN5) is too short, please use
a twisted-shield signal wire with grounding conductor. The wire length should be 20m (65.62ft.) or
less. For lengths greater than 20m

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(65.62ft.), the wire gauge should be doubled in order to lessen any signal attenuation. For the
encoder cable specification, please use AWG26 wire size and the Metal braided shield twisted-pair
cable which meets the UL2464 specification.
When using CANopen communication, please use the shielded twisted-pair cables to ensure the
communication quality.

The shield of shielded twisted-pair cables should be connected to the SHIELD end (terminal marked )
of the servo drive.
For the connectors and cables specifications, please refer to section 3.1.6 for details.

3.2.3 Wiring Methods

For 400V series servo drives from 750W to 7.5kW the input power can be three-phase only. Single -
phase connections are for 200V series servo drives 1.5kW and below only.
In the wiring diagram figures 3.5:
Power ON : contact “a” (normally open)
Power OFF /ALRM_RY : contact “b” (normally closed)
MC : coil of electromagnetic contactor, self-holding power, contact of main circuit power
Figure 3.5 Three-Phase Power Supply Connection (for all models)

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3.2.4 Motor Power Cable Connector Specifications

The boxes () in the model names are for optional configurations. (Please refer to section 1.2 for model
explanation.)
Terminal
Motor Model Name U, V, W / Electromagnetic Brake Connector
Identification

ECMA-J10807S (750W) A

HOUSING: JOWLE (C4201H00-2*2PA)

ECMA-J10807S (750W)
B
*：with brake

HOUSING：JOWLE (C4201H00-2*3PA)

ECMA-K11310S (1000W)
ECMA-K11315S (1500W) C
ECMA-K11320S (2000W)

ECMA-L11830S (3000W)
ECMA-L11845S (4500W)
D
ECMA-L118553 (5500W)
ECMA-L118753 (7500W)

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Terminal
Motor Model Name U, V, W / Electromagnetic Brake Connector
Identification

ECMA-F118553 (5500W)
E
ECMA-F118753 (7500W)

ECMA-F218553(5500W)
F
ECMA-F218753(7500W)

Terminal U V W CASE GROUND BRAKE1 BRAKE2

Identification (Red) (White) (Black) (Green) (Yellow) (Blue)
A 1 2 3 4 - -
B 1 2 4 5 3 6
C F I B E G H
D D E F G A B
E A B C D - -

Terminal
BRAKE1 BRAKE2
Identification
F A B

NOTE

The coil of brake has no polarity. The names of terminal identification are BRAKE1 (Yellow) and BRAKE2
(Blue).
The power supply for brake is DC24V. Never use it for VDD, the +24V source voltage.

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3.2.5 Encoder Connector Specifications

The boxes () in the model names are for optional configurations. (Please refer to section 1.2 for model
explanation.)

Terminal
Motor Model Name Encoder Connector
Identification

ECMA-J10807S (750W) A

HOUSING：AMP (1-172161-9)

ECMA-K11310S (1000W)
ECMA-K11315S (1500W)
ECMA-K11320S (2000W)
ECMA-L11830S (3000W) B
ECMA-L11845S (4500W)
ECMA-L118553 (5500W)
ECMA-L118753 (7500W)

Terminal BRAID
T+ T- Reserved Reserved Reserved Reserved DC+5V GND
Identification SHELD
4 7 8
1
A (Blue/ - - - - (Red & (Black & 9
(Blue) Black) Red/White) Black/White)
B A B - - - - S R L

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3.2.6 Cable Specifications for Servo Drive

Power Cable

Power Cable - Wire Gauge AWG (mm2)

Servo Drive and Servo Motor
DC24V, DC0V R,S,T U,V,W P ,C
ASD-A2-0743- ECMA-J10807S 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)
ASD-A2-1043- ECMA-K11310S 1.3 (AWG16) 2.1 (AWG14) 1.3 (AWG16) 2.1 (AWG14)
ASD-A2-1543- ECMA-K11315S 1.3 (AWG16) 2.1 (AWG14) 1.3 (AWG16) 2.1 (AWG14)
ASD-A2-2043- ECMA-K11320S 1.3 (AWG16) 2.1 (AWG14) 2.1 (AWG14) 2.1 (AWG14)
ASD-A2-3043- ECMA-L11830S 1.3 (AWG16) 2.1 (AWG14) 3.3 (AWG12) 2.1 (AWG14)
ASD-A2-4543- ECMA-L11845S 1.3 (AWG16) 3.3 (AWG12) 8.4 (AWG8) 3.3 (AWG12)
ASD-A2-5543- ECMA-L118553 1.3 (AWG16) 3.3 (AWG12) 13.3 (AWG6) 3.3 (AWG12)
ASD-A2-7543- ECMA-L118753 1.3 (AWG16) 5.3 (AWG10) 13.3 (AWG6) 3.3 (AWG12)

Encoder Cable

Encoder Cable - Wire Gauge AWG (mm2)

Servo Drive
Wire Size Wire Size Wire Size Wire Size
ASD-A2-0743- 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)
ASD-A2-1043- 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)
ASD-A2-1543- 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)
ASD-A2-2043- 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)
ASD-A2-3043- 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)
ASD-A2-4543- 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)
ASD-A2-5543- 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)
ASD-A2-7543- 0.13（AWG26） 10 core (4 pair) UL2464 3m (9.84ft.)

NOTE

Please use shielded twisted-pair cables for wiring to prevent voltage coupling and eliminate
electrical noise and interference.
The shield of shielded twisted-pair cables should be connected to the SHIELD end (terminal marked )
of the servo drive.
In order to prevent fire hazard and accidents, please form the wiring by following the cable specifications
outlined above.
The boxes () at the ends of the servo drive model names represent the model type of ASDA-A2 series. For
the actual model name, please refer to the ordering information of the actual purchased product.
The boxes () in the servo motor model names are for optional configurations (keyway, brake and oil sea).

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3.3 Basic Wiring

3.3.1 220V series

Figure 3.6 Basic Wiring Schematic of 400W and below models (Without built-
in regenerative resistor)

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Figure 3.7 Basic Wiring Schematic of 750W to 4.5kW models (With built-
in regenerative resistor and fan)

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Figure 3.8 Basic Wiring Schematic of 5.5kW to 7.5kW models (With built-
in fan but no regenerative resistor)

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3.3.2 400V series

Figure 3.9 Basic Wiring Schematic of 750W to 1.5kW models (With built-in
regenerative resistor and fan)

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Figure 3.10 Basic Wiring Schematic of 2kW to 5.5kW models (With built-
in fan but no regenerative resistor)

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3.4 Input / Output Interface Connector -CN1

The CN1 Interface Connector provides access to three signal groups:

General interface for the analog speed and torque control, encoder reference signal from the motor, pulse /
direction inputs, and reference voltages.
8 programmable Digital Inputs (DI), can be set via parameters P2-10 ~ P2-17
5 programmable Digital Outputs (DO), can be set via parameters P2-18 ~ P2-22
A detailed explanation of each group is available in Section 3.3.2, Tables 3.A, 3.B & 3.C.

3.4.1 CN1 Terminal Identification

Figure 3.11 The Layout of CN1 Drive Connector

CN1 Drive Connector Side View

Rear View

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CN1 Terminal Signal Identification

1 DO4+ Digital 26DO4- Digital output
output
2 DO3- Digital output 27 DO5- Digital output
3 DO3+ Digital 28DO5+ Digital output
output
4 DO2- Digital output 29 /HPULSE High-speed
5 DO2+ Digital position 30DI8- Digital input
output pulse (-)
6 DO1- Digital output 31 DI7- Digital input
7 DO1+ Digital 32DI6- Digital input
output
8 DI4- Digital input 33 DI5- Digital input
9 DI1- Digital input 34DI3- Digital input
10 DI2- Digital input 35 PULL Pulse applied
11 COM+ Power input HI_S power (SIGN) 36/SIGN Position sign
(12~24V) (SIGN) (-)
12 GND Analog input 37 SIGN Position sign
signal ground (+)
13 GND Analog input 38HPULSE High-speed
14 NC No signal 39 PULL Pulse applied position
Connection ground pulse (+)
HI_P Power
15 MON2 Analog (PULSE) (PULSE) 40/HSIGN High-speed
monitor position sign
16 MON1 Analog 41 PULSE Pulse input
monitor output 2 (+) (-)
output 1 17 VDD +24V power 42V_REF Analog speed
18 T_REF Analog output (for 43 /PULSE Pulse input (-) input (+)
torque external I/O)
Input 19 GND Analog input 44GND Analog input
20 VCC +12V power signal 45 COM- VDD(24V) signal ground
output ground
power
(for analog 21 OA Encoder ground 46HSIGN High-speed
command) A pulse position sign
22 /OA Encoder output 47 COM- VDD(24V) (+)
/A pulse 23 /OB Encoder /B power 48OCZ Encoder Z
output pulse ground pulse open-
output collector
24 /OZ Encoder /Z 49 COM- VDD(24V)
output
pulse power
output 25 OB Encoder B 50OZ Encoder Z
pulse ground pulse line-
output driver output

NOTE

The terminal marked "NC" must be left unconnected (No Connection). The NC terminal is used within the
servo drive. Any outside connection to the NC terminal will result in damage to the drive and void the
warranty!

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Chapter 3 Connections and Wiring

3.4.2 Signals Explanation of Connector CN1

The Tables 3.A, 3.B, & 3.C detail the three groups of signals of the CN1 interface. Table 3.A details the general
signals. Table 3.B details the Digital Output (DO) signals and Table
3.C details the Digital Input (DI) signals. The General Signals are set by the factory and can not be changed,
reprogrammed or adjusted. Both the Digital Input and Digital Output signals can be programmed by the
users.
Table 3.A General Signals

Wiring Diagram
Signal Pin No Details
(Refer to 3.3.4)
1. Motor speed command: -10V to +10V,
corresponds to -3000 ~ +3000 r/min speed
command (Factory default setting).
V_REF 42 C1
Analog 2. Motor speed command: -10V to +10V,
Signal corresponds to -3 ~ +3 rotations position
Input command (Factory default setting).
Motor torque command: -10V to +10V,
T_REF 18 corresponds to -100% to +100% rated torque C1
command.
Monitor operation status: Motor characteristics
such as speed and current can be represented
by analog voltages. The drive provides two
channels which can be configured with the
Analog parameter P0-03 to output the desired
MON1 16
Monitor characteristics. C2
Output MON2 15 Please reference the parameter P0-03 for
monitoring commands and P1-04 / P1-05 for
scaling factors.
Output voltage is reference to the power
ground.
The drive can accept two different types of
pulse inputs: Line-driver input (max. input
PULSE 43 frequency is 500Kpps) and Open-collector input
/PULSE 41 (max. input frequency is 200Kpps).
C3/C4
Position SIGN 36 Three different pulse commands can be
Pulse /SIGN 37 selected via parameter P1-00. They are A phase
Input + B phase (Quadrature), CW pulse + CCW pulse,
and Pulse + Direction.

PULL HI_P 39 When an Open-collector type of pulse is used,

this terminal must be connected to a pull-up C3/C4
PULL HI_S 35 power supply.
The drive can accept two different types of
high-speed pulse inputs: +5V input and Line-
High- HSIGN 46 driver input. The max. input frequency is
speed
/HSIGN 40 4MHz.
Position C4-2
Pulse HPULSE 38 Three different pulse commands can be
Input /HPULSE 29 selected via parameter P1-00. They are A phase
+ B phase (Quadrature), CW pulse + CCW pulse,
and Pulse + Direction.

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Wiring Diagram
Signal Pin No Details
(Refer to 3.3.4)
OA 21
/OA 22
OB 25 Encoder signal output A, B, Z (Line-driver
Position output). The motor encoder signals are C13/C14
/OB 23 available through these terminals.
Pulse
Output OZ 50
/OZ 24
Encoder signal output Z (Open-collector
OCZ 48 -
output).
VDD is the +24V source voltage provided by the
VDD 17
drive. Maximum permissible current 500mA.
COM+ is the common voltage rail of the Digital
Input (DI) and Digital Output (DO) signals.
11 When using VDD, VDD should be connected to
COM+ 45 COM+. If not using VDD, the users should add
an external applied power (+12V to +24V). The
COM- 47 positive end of this applied power should be
49 connected to COM+ and the negative end of
Power
this applied power should be connected to
COM-. -
VCC is a +12V power rail provided by the drive.
It is used for providing simple analog command
VCC 20
(analog speed or analog torque command).
Maximum permissible current 100mA.
12,13, The polarity of VCC is with respect to Ground
GND
19,44 (GND).

See previous note for NC terminal description

Other NC 14
of CN1 connector on page 3-13.

The Digital Input (DI) and Digital Output (DO) have factory default settings which correspond to the
various servo drive control modes. (See section 6.1). However, both the DI's and DO's can be programmed
independently to meet the requirements of the users.
Detailed in Tables 3.B and 3.C are the DO and DI functions with their corresponding signal name and
wiring schematic. The factory default settings of the DI and DO signals are detailed in Table 3.G and 3.H.
All of the DI's and DO's and their corresponding pin numbers are factory set and non-changeable, however,
all of the assigned signals and control modes are user changeable. For Example, the factory default setting
of DO5 (pins 28/27) can be assigned to DO1 (pins 7/6) and vise versa.

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The following Tables 3.B and 3.C detail the functions, applicable operational modes, signal name and
relevant wiring schematic of the default DI and DO signals.
Table 3.B DO Signals

Assigned Pin No.

Wiring Diagram
DO Signal Control (Default) Details
Mode
(Refer to 3.3.4)
+ -
SRDY is activated when the servo drive is
SRDY ALL 7 6 ready to run. All fault and alarm conditions, if
present, have been cleared.
SON is activated when control power is
applied the servo drive. The drive may or may
not be ready to run as a fault / alarm
condition may exist.
Not
SON assigned - - Servo ON (SON) is "ON" with control power
applied to the servo drive, there may be a
fault condition or not. The servo is not ready
to run. Servo ready (SRDY) is "ON" where the
servo is ready to run, NO fault / alarm exists.
ZSPD is activated when the drive senses the
motor is equal to or below the Zero Speed
Range setting as defined in parameter P1-38.
ZSPD ALL 5 4 For Example, at factory default ZSPD will be
activated when the drive detects the motor
rotating at speed at or below 10 r/min, ZSPD
will remain activated until the motor speed
increases above 10 r/min.
TSPD is activated once the drive has detected
ALL the motor has reached the Target Rotation
TSPD (except - - Speed setting as defined in parameter P1-39.
PT, PR) TSPD will remain activated until the motor C5/C6/C7/C8
speed drops below the Target Rotation Speed.
1. When the drive is in PT mode, TPOS will
be activated when the position error is
equal and below the setting value of P1-
54.
PT, PR,
2. When the drive is in PR mode, TPOS will
PT-S, be activated when the drive detects that
TPOS PT-T, 1 26 the position of the motor is in a -P1-54 to
PR-S, +P1-54 band of the target position. For
Example, at factory default TPOS will
PR-T
activate once the motor is in -99 pulses
range of the target position, then
deactivate after it reaches +99 pulses
range of the desired position.
TQL is activated when the drive has detected
Not that the motor has reached the torques limits
TQL - -
assigned set by either the parameters P1-12 ~ P1-14 of
via an external analog voltage.
ALRM is activated when the drive has detected
a fault condition. (However, when Reverse
ALRM ALL 28 27 limit error, Forward limit error, Emergency
stop, Serial communication error, and
Undervoltage these fault occur, WARN is
activated first.)

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Chapter 3 Connections and Wiring

Assigned Pin No.

Wiring Diagram
DO Signal Control (Default) Details
Mode
(Refer to 3.3.4)
+ -
BRKR ALL - - BRKR is activated actuation of motor brake.
HOME is activated when the servo drive has
HOME ALL 3 2 detected that the "HOME" sensor (ORGP,
digital input 0x24) has been detected.
OLW is activated when the servo drive has
detected that the motor has reached the
OLW ALL - -
output overload level set by the parameter P1-
56.
Servo warning output. WARN is activated
when the drive has detected Reverse limit
WARN ALL - - error, Forward limit error, Emergency stop,
Serial communication error, and Undervoltage
these fault conditions.
Position command overflow. OVF is activated
OVF ALL - - when the servo drive has detected that a
position command overflows.

SNL Reverse software limit. SNL is activated when

PR - - the servo drive has detected that reverse
(SCWL) software limit is reached.

SPL Forward software limit. SPL is activated when

PR - - the servo drive has detected that forward
(SCCWL) software limit is reached.
Internal position command completed output. C5/C6/C7/C8
CMDOK is activated when the servo drive has
CMD_OK PR - -
detected that the internal position command
has been completed.
Capture operation completed output. CAP_OK
CAP_OK PR - - is activated when the servo drive has detected
that capture operation has been completed.
Motion control completed output. MC_OK is
activated when CMD_OK and TPOS are both
ON. It indicates MC_OK is activated only when
MC_OK PR - - the servo drive has detected that the position
command has been given and the positioning
has been completed also. If only CMD_OK or
TPOS is ON, MC_OK will not be activated.
CAM_AREA is activated when the servo drive
CAM_AREA PR - - has detected the master position of E-CAM
(electronic CAM) is within the setting area.
SP_OK will be activated when the speed error
SP_OK S, Sz - -
is equal and below the setting value of P1-47.
SDO_0 ALL - - Output the status of bit00 of P4-06.
SDO_1 ALL - - Output the status of bit01 of P4-06.
SDO_2 ALL - - Output the status of bit02 of P4-06.

SDO_3 ALL - - Output the status of bit03 of P4-06.

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Chapter 3 Connections and Wiring

Assigned Pin No.

Wiring Diagram
DO Signal Control (Default) Details
Mode
(Refer to 3.3.4)
+ -
SDO_4 ALL - - Output the status of bit04 of P4-06.
SDO_5 ALL - - Output the status of bit05 of P4-06.
SDO_6 ALL - - Output the status of bit06 of P4-06.
SDO_7 ALL - - Output the status of bit07 of P4-06.
SDO_8 ALL - - Output the status of bit08 of P4-06.
SDO_9 ALL - - Output the status of bit09 of P4-06.
C5/C6/C7/C8
SDO_A ALL - - Output the status of bit10 of P4-06.
SDO_B ALL - - Output the status of bit11 of P4-06.
SDO_C ALL - - Output the status of bit12 of P4-06.
SDO_D ALL - - Output the status of bit13 of P4-06.
SDO_E ALL - - Output the status of bit14 of P4-06.
SDO_F ALL - - Output the status of bit15 of P4-06.

NOTE

PINS 3 & 2 can either be TSPD or HOME dependent upon control mode selected.
The DO signals that do not have pin numbers in Tables 3.B are not default DO signals. If the users want to use
these non-default DO signals, the users need to change the settings of parameters P2-18 ~ P2-22. The “state”
of the output function may be turned ON or OFF as it will be dependant on the settings of parameters P2-18 ~
P2-22. Please refer to section 3.3.3 for details.

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Chapter 3 Connections and Wiring

Table 3.C DI Signals

DI Assigned Pin No. Wiring Diagram

Control Details
Signal Mode (Default) (Refer to 3.3.4)

SON ALL 9 Servo On. Switch servo to "Servo Ready".

A number of Faults (Alarms) can be cleared
by activating ARST. Please see table 10-3 for
applicable faults that can be cleared with the
ARST ALL 33 ARST command. However, please investigate
Fault or Alarm if it does not clear or the fault
description warrants closer inspection of the
drive system.
GAINUP ALL - Gain switching
When CCLR is activated, the setting
CCLR PT, PR 10 parameter P2-50 Pulse Clear Mode is
executed.
When this signal is On and the motor speed
value is lower than the setting value of P1-
ZCLAMP ALL -
38, it is used to lock the motor in the instant
position while ZCLAMP is On.
When this signal is On, the motor is in
CMDINV PR, T, S -
reverse rotation.
When the drive is in PR mode and CTRG is
PR, activated, the drive will command the motor
PR-S, to move the stored position which C9/C10/C11
CTRG 10
PR-T, correspond the POS 0 ~ POS 5 settings. /C12
S, Sz Activation is triggered on the rising edge of
the pulse.
ON indicates the torque limit command is
TRQLM S, Sz 10
valid.
ON indicates the speed limit command is
SPDLM T, Tz 10
valid.
POS0 34

POS1 8
When the PR Control Mode is selected, the
POS2 PR, PR-S, - 64 stored positions are programmed via a
PR-T combination of the POS 0 ~ POS 5
POS3 - commands. See table 3.D.
POS4 -

POS5 -

STOP - - Motor stop.

SPD0 S, Sz, PT- 34 Select the source of speed command:
S, PR-S,
SPD1 S-T 8 See table 3.E.

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Chapter 3 Connections and Wiring

DI Assigned Pin No. Wiring Diagram

Control Details
Signal Mode (Default) (Refer to 3.3.4)

TCM0 PT, T, 34
Tz, Select the source of torque command:
TCM1 PT-T, PR- 8 See table 3.F.
T, S-T
PT-S, PR- Speed / Position mode switching
S-P 31
S OFF: Speed, ON: Position
Speed / Torque mode switching
S-T S-T 31
OFF: Speed, ON: Torque
PT-T, PR- Torque / Position mode switching
T-P 31
T OFF: Torque, ON: Position
Internal position (PR) and external pulse (PT)
PT-PR PT, PR -
mode switching. OFF: PT, ON: PR
External command source selection: pulse
and analog voltage switching.
PTAS PT - OFF: The command source is external pulse.
ON: The command source is external analog
voltage.
External command source selection: high-
speed / low-speed pulse switching
OFF: The command source is low-speed
pulse (PULSE, /PULSE, SIGN, /SIGN).
C9/C10/C11
ON: The command source is high-speed
PTCMS PT - /C12
pulse (HPULSE, /HPULSE, HSIGN, /HSIGN).
When high-speed pulse is selected, the users
can add an external manual pulse generator
and use this DI signal to switch the
command source.
It should be contact “b” and normally ON or
EMGS ALL 30
a fault (AL013) will display.
Reverse inhibit limit. It should be contact “b”
PT, PR, S,
NL(CWL) 32 and normally ON or a fault (AL014) will
T, Sz, Tz
display.
Forward inhibit limit. It should be contact “b”
PT, PR, S,
PL(CCWL) T, Sz, Tz 31 and normally ON or a fault (AL015) will
display.
When ORGP is activated, the drive will
ORGP PR - command the motor to start to search the
reference “Home” sensor.
When SHOM is activated, the drive will
SHOM PR -
command the motor to move to “Home”.
CAM PR - Electronic cam engaging control. [see P5-88]
Forward JOG input. When JOGU is activated,
JOGU ALL - the motor will JOG in forward direction. [see
P4-05]

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Chapter 3 Connections and Wiring

DI Assigned Pin No. Wiring Diagram

Control Details
Signal Mode (Default) (Refer to 3.3.4)

Reverse JOG input. When JOGD is activated,

JOGD ALL - the motor will JOG in reverse direction. [see
P4-05]
EV1 PR - Event trigger command 1.

EV2 PR - Event trigger command 2.

Event trigger command 3. (available for
EV3 PR - ASDA-A2 firmware version V1.008 sub04 or
later)
Event trigger command 4. (available for C9/C10/C11
EV4 PR - ASDA-A2 firmware version V1.008 sub04 or /C12
later)
PT, PR, Electronic gear ratio (Numerator) selection 0.
GNUM0 PT-S, PR- -
S [See P2-60~P2-62]

PT, PR, Electronic gear ratio (Numerator) selection 1.

GNUM1 PT-S, PR- -
S [See P2-60~P2-62]

Pulse inhibit input. When the drive is in

INHP PT, PT-S - position mode, if INHP is activated, the
external pulse input command is not valid.

NOTE

The DI signals that do not have pin numbers in Tables 3.C are not default DI signals. If the users want to use these
non-default DI signals, the users need to change the settings of parameters P2-10 ~ P2-17. The “state” of the
output function may be turned ON or OFF as it will be dependant on the settings of parameters P2-10 ~ P2-17.
Please refer to section 3.3.3 for details.

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Chapter 3 Connections and Wiring

Table 3.D Source of Position Command

Position
POS5 POS4 POS3 POS2 POS1 POS0 CTRG Parameters
Command
P6-00
P1 ON ON ON ON ON ON
P6-01
P6-02
P2 ON ON ON ON ON OFF
P6-03
~ ~
P6-98
P50 OFF OFF ON ON OFF ON
P6-99
P7-00
P51 OFF OFF ON ON OFF OFF
P7-01
~ ~
P7-26
P64 OFF OFF OFF OFF OFF OFF
P7-27

Table 3.E Source of Speed Command

SPD1 SPD0 Parameters

S mode: analog input

OFF OFF
Sz mode: 0

OFF ON P1-09

ON OFF P1-10

ON ON P1-11

Table 3.F Source of Torque Command

TCM1 TCM0 Parameters

T mode: analog input

OFF OFF
Tz mode: 0

OFF ON P1-12

ON OFF P1-13

ON ON P1-14

The default DI and DO signals in different control mode are listed in the following table 3.G and table
3.H. Although the content of the table 3.G and table 3.H do not provide more information than the table
3.B and table 3.C above, as each control mode is separated and listed in different row, it is easy for user to
view and can avoid confusion. However, the Pin number of each signal can not be displayed in the table
3.G and table 3.H.

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Chapter 3 Connections and Wiring

Table 3.G Default DI signals and Control modes

DI PT- PR-
Signal Function PT PR S T Sz Tz PT-S PR-S S-T
Code T T
SON 0x01 Servo On DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1
ARST 0x02 Reset DI5 DI5 DI5 DI5 DI5 DI5
GAINUP 0x03 Gain switching
CCLR 0x04 Pulse clear DI2 DI2 DI2
ZCLAMP 0x05 Low speed CLAMP

CMDINV 0x06 Command input

reverse control
Reserved 0x07 Reserved
CTRG 0x08 Command triggered DI2 DI2 DI2
TRQLM 0x09 Torque limit enabled DI2 DI2
SPDLM 0x10 Speed limit enabled DI2 DI2

POS0 0x11 Position command DI3 DI3 DI3

selection 0 (1~64)
POS1 0x12 Position command DI4 DI4 DI4
selection 1 (1~64)
POS2 0x13 Position command
selection 2 (1~64)
POS3 0x1A Position command
selection 3 (1~64)
POS4 0x1B Position command
selection 4 (1~64)
POS5 0x1C Position command
selection 5 (1~64)
STOP 0x46 Motor stop

SPD0 0x14 Speed command DI3 DI3 DI3 DI5 DI3

selection 0 (1~4)
SPD1 0x15 Speed command DI4 DI4 DI4 DI6 DI4
selection 1 (1~4)
TCM0 0x16 Torque command DI3 DI3 DI3 DI3 DI5 DI5
selection 0 (1~4)
TCM1 0x17 Torque command DI4 DI4 DI4 DI4 DI6 DI6
selection 1 (1~4)
Position / Speed mode
S-P 0x18 switching (OFF: Speed, DI7 DI7
ON: Position)
Speed / Torque mode
S-T 0x19 switching (OFF: Speed, DI7
ON: Torque)
Torque / Position
T-P 0x20 mode switching (OFF: DI7 DI7
Torque, ON: Position)

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Chapter 3 Connections and Wiring

DI PT- PR-
Signal Function PT PR S T Sz Tz PT-S PR-S S-T
Code T T
Internal position (PR)
PT-PR 0x2B and external pulse (PT)
mode switching (OFF:
PT, ON: PR)
External command
source selection: pulse
PTAS 0x2C and analog voltage
switching (in PT mode
only)
External command
0x2 source selection: high-
PTCMS speed / low-speed
D
pulse switching (in PT
mode only)
EMGS 0x21 Emergency stop DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8
NL(CWL) 0x22 Reverse inhibit limit DI6 DI6 DI6 DI6 DI6 DI6
PL(CCWL) 0x23 Forward inhibit limit DI7 DI7 DI7 DI7 DI7 DI7
ORGP 0x24 Reference “Home”
sensor
SHOM 0x27 Move to “Home”

CAM 0x36 Electronic cam

engaging control
JOGU 0x37 Forward JOG input
JOGD 0x38 Reverse JOG input
Event trigger
EV1 0x39 command 1
[see P5-98, P5-99]
Event trigger
EV2 0x3A command 2
[see P5-98, P5-99]
Event trigger
command 1
EV3 0x3B (available for ASDA-A2
firmware version
V1.008 sub04 or later)
Event trigger
command 2
EV4 0x3C (available for ASDA-A2
firmware version
V1.008 sub04 or later)
Electronic gear ratio
GNUM0 0x43 (Numerator) selection
0
Electronic gear ratio
GNUM1 0x44 (Numerator) selection
1
INHP 0x45 Pulse inhibit input

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Chapter 3 Connections and Wiring

NOTE

1) For Pin numbers of DI1~DI8 signals, please refer to section 3.3.1.

Table 3.H Default DO signals and Control modes

DO
Signal Function PT PR S T Sz Tz PT-S PT-T PR-S PR-T S-T
Code
SRDY 0x01 Servo ready DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1
SON 0x02 Servo On
ZSPD 0x03 At Zero speed DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2
TSPD 0x04 At Speed reached DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3

TPOS 0x05 At Positioning DO4 DO4 DO4 DO4 DO4 DO4 DO4
completed
TQL 0x06 At Torques limit
Servo alarm (Servo
ALRM 0x07 fault) activated DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5

BRKR 0x08 Electromagnetic DO4 DO4 DO4 DO4

brake control
HOME 0x09 Homing completed DO3 DO3
Output overload
OLW 0x10 warning
Servo warning
WARN 0x11 activated
Position command
OVF 0x12 overflow
SNL 0x13 Reverse software
(SCWL) limit
SPL Forward software
(SCCWL) 0x14 limit
Internal position
CMD_OK 0x15 command completed
output
CAP_OK 0x16 Capture operation
completed output
Motion control
MC_OK 0x17 completed output
Master position of E-
CAM_AREA 0x18 CAM (electronic
CAM)

SP_OK 0x19 Speed reached

output
SDO_0 0x30 Output the status of
bit00 of P4-06.

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Chapter 3 Connections and Wiring

DO
Signal Function PT PR S T Sz Tz PT-S PT-T PR-S PR-T S-T
Code
SDO_1 0x31 Output the status of
bit01 of P4-06.
SDO_2 0x32 Output the status of
bit02 of P4-06.
Output the status of
SDO_3 0x33 bit03 of P4-06.
Output the status of
SDO_4 0x34 bit04 of P4-06.
Output the status of
SDO_5 0x35 bit05 of P4-06.

SDO_6 0x36 Output the status of

bit06 of P4-06.
SDO_7 0x37 Output the status of
bit07 of P4-06.
SDO_8 0x38 Output the status of
bit08 of P4-06.
Output the status of
SDO_9 0x39 bit09 of P4-06.

SDO_A 0x3A Output the status of

bit10 of P4-06.
Output the status of
SDO_B 0x3B bit11 of P4-06.

SDO_C 0x3C Output the status of

bit12 of P4-06.
SDO_D 0x3D Output the status of
bit13 of P4-06.
SDO_E 0x3E Output the status of
bit14 of P4-06.
SDO_F 0x3F Output the status of
bit15 of P4-06.

NOTE

1) For Pin numbers of DO1~DO5 signals, please refer to section 3.3.1.

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Chapter 3 Connections and Wiring

3.4.3 User-defined DI and DO signals

If the default DI and DO signals could not be able to fulfill users’ requirements, there are still user-defined
DI and DO signals. The setting method is easy and they are all defined via parameters. The user-defined DI
and DO signals are defined via parameters P2-10 to P2-17 and P2-18 to P2-22.
Please refer to the following Table 3.I for the settings.
Table 3.I User-defined DI and DO signals

Signal Name Pin No. Parameters Signal Name Pin No. Parameters
DI1- Pin 9 of CN1 P2-10 DO1+ Pin 7 of CN1
Pin 10 of P2-18
DI2- P2-11 DO1- Pin 6 of CN1
CN1
Pin 34 of
DI3- P2-12 DO2+ Pin 5 of CN1
CN1 P2-19
DI4- Pin 8 of CN1 P2-13 DO2- Pin 4 of CN1
Standard
Pin 33 of DO3+ Pin 3 of CN1
DI DI5- CN1 P2-14 P2-20
Standard
Pin 32 of DO DO3- Pin 2 of CN1
DI6- P2-15
CN1
Pin 31 of DO4+ Pin 1 of CN1
DI7- P2-16 P2-21
CN1
Pin 26 of
Pin 30 of DO4-
DI8- P2-17 CN1
CN1 Pin 28 of
DO5+
EDI9 Pin 2 of CN7 P2-36 CN1
P2-22
Pin 27 of
DO5-
EDI10 Pin 3 of CN7 P2-37 CN1
Extension
DI EDI11 Pin 4 of CN7 P2-38
EDI12 Pin 5 of CN7 P2-39
EDI13 Pin 6 of CN7 P2-40
EDI14 Pin 7 of CN7 P2-41

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Chapter 3 Connections and Wiring

3.3.4 Wiring Diagrams of I/O Signals (CN1)

The valid voltage range of analog input command in speed and torque mode is -10V ~+10V. The
command value can be set via relevant parameters. The value of input impedance is 10k .

C1: Speed / Torque analog signal input

C2: Analog monitor output (MON1, MON2)

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Chapter 3 Connections and Wiring

There are two kinds of pulse inputs, Line driver input and Open-collector input. Max. input pulse
frequency of Line-driver input is 500kpps and max. input pulse frequency of Open-collector input is
200kpps.

C3-1: Pulse input, for the use of internal power supply (Open-collector input)

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Chapter 3 Connections and Wiring

C3-2: Pulse input, for the use of external power supply (Open-collector input)

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

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Chapter 3 Connections and Wiring

C4-1: Pulse input (Line driver input). It requires 5V power supply only. Never apply a 24V power supply.

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Chapter 3 Connections and Wiring

C4-2: High-speed pulse input (Line driver). It requires 5V power supply only. Never apply a 24V power supply.

Caution: Ensure that the ground terminal of the controller and the servo drive should be
connected to each other.

Be sure to connect a diode when the drive is applied to inductive load.

(Permissible current: 40mA, Instantaneous peak current: max. 100mA)

C5: Wiring of DO signal, for the use of internal power C6: Wiring of DO signal, for the use of internal power
supply, general load supply, inductive load

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C7: Wiring of DO signal, for the use of external power C8: Wiring of DO signal, for the use of external power
supply, general load supply, inductive load

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

with multiple emitter fingers (SINK Mode)

C9: Wiring of DI signal, for the use of internal power C10: Wiring of DI signal, for the use of
supply external power supply

PNP transistor with multiple emitter fingers (SOURCE Mode)

C11: Wiring of DI signal, for the use of internal power C12: Wiring of DI signal, for the use of
supply external power supply

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

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Chapter 3 Connections and Wiring

C13: Encoder output signal (Line driver) C14: Encoder output signal (Photocoupler)

C15: Encoder OCZ output (Open-collector Z-pulse output）

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Chapter 3 Connections and Wiring

3.5 Encoder Connector CN2

Feedback to the amplifier of the UVW signals for commutation is via the ABZ encoder signal wires.
Following rotor position sensing the amplifier automatically switches to encoding for commutation control.
The 20-bit encoder is automatically multiplied to 1280000ppr for increased control accuracy.

Figure 3.12 The layout of CN2 Drive Connector

CN2 Drive Connector Side View

Rear View Layout of CN2 Drive Connector

Figure 3.13 The layout of CN2 Motor Connector

Quick Connector
HOUSING: AMP (1-172161-9)

Military Connector
3106A-20-29S

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Chapter 3 Connections and Wiring

CN2 Terminal Signal Identification

Drive Connector Motor Connector

Terminal Military Quick
PIN No. Description Color
Identification Connector Connector

Serial communication
5 T+ A 1 Blue
signal input / output (+)

Serial communication
4 T- B 4 Blue/Black
signal input / output (-)

- - Reserved - - -
- - Reserved - - -
Red &
14,16 +5V +5V power supply S 7
Red/White
Black &
13,15 GND Ground R 8
Black/White
- - Shielding L 9 -

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3.6 Serial Communication Connector CN3

3.6.1 CN3 Terminal Layout and Identification

The servo drive can be connected to a PC or controller via this serial communication connector CN3. Users
can operate the servo drive through PC software supplied by Delta. The communication connector/port of
Delta servo drive can provide two common serial communication interfaces: RS-232 and RS-485
connection. RS-232 is mostly be used but is somewhat limited. The maximum cable length for an RS-232
connection is 15 meters (50 feet). Using RS-485 interface can allow longer distance for transmission and
support multiple drives to be connected simultaneously.

Figure 3.14 The layout of CN3 Drive Connector

CN3 Drive Connector

Side View Rear View

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CN3 Terminal Signal Identification

Terminal
PIN No. Signal Name Description
Identification
1 Grounding GND Ground
RS-232 data For data transmission of the servo drive.
2 RS-232_TX
transmission Connected to the RS-232 interface of PC.
3 - - Reserved

4 RS-232 data receiving RS-232_RX For data receiving of the servo drive.
Connected to the RS-232 interface of PC.
RS-485 data For data transmission of the servo drive
5 RS-485(+)
transmission (differential line driver + end)
RS-485 data For data transmission of the servo drive
6 RS-485(-)
transmission (differential line driver - end)

NOTE

For the connection of RS-485, please refer to page 9.3.

There are two kinds of IEEE1394 communication cables available on the market. If the user
uses one kind of cable, which its GND terminal (Pin 1) and its shielding is short-circuited, the communication
may be damaged. Never connect the case of the terminal to the ground of this kind of communication cable.

3.6.2 Connection between PC and Connector CN3

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3.7 Serial Communication Connector CN4 (USB)

The servo drive can be connected to a PC via this serial communication connector CN4. Users can operate the
servo drive through PC software supplied by Delta. The USB transmission speed can reach up to 1MB.
Therefore, the users can easily monitor the servo drive data in real time by using Data Scope function provided
by Delta PC software.

Figure 3.15 The layout of CN4 Drive Connector

CN4 Terminal Signal Identification

PIN No. Signal Name Description

1 V bus DC +5V (external power supply)

2 D- Data-
3 D+ Data+
4 GND Ground

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3.8 Position Feedback Signal Connector CN5 (for Full-close Control)

The servo drive can be connected to a linear scale or external encoder to constitute a full-closed loop via this
position feedback signal connector CN5. In position mode, the pulse position commands given by the external
controller just refer to the control loop structure of the external linear scale. Please refer to Chapter 6 for more
descriptions.

Figure 3.16 The layout of CN5 Drive Connector

CN5 Terminal Signal Identification

Terminal
PIN No. Signal Name Description
Identification
1 /Z phase input Opt_/Z Linear scale /Z phase output
2 /B phase input Opt_/B Linear scale /B phase output
3 B phase input Opt_B Linear scale B phase output
4 A phase input Opt_A Linear scale A phase output
5 /A phase input Opt_/A Linear scale /A phase output
6 Encoder grounding GND Ground
7 Encoder grounding GND Ground
8 Encoder power +5V Linear scale 5V power
9 Z phase input Opt_Z Linear scale Z phase output

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Chapter 3 Connections and Wiring

3.9 CANopen Communication Connector CN6

CANopen Communication Connector CN6 is designed in accordance with CANopen DS301 and DS402
implementation. With this connector CN6, the servo drive can be connected to a CAN device so as to perform
position, speed and torque control, or read and monitor the status of the servo drive through CANopen
communication.
The station numbers of CANopen communication are the same as RS-232 and RS-485 communication and all be
determined by parameter P3-00. The transmission speed can be reached up to 1Mbps. There are two communication
ports of connector CN6, one is for transmission and the other is for receiving, convenient for connecting to more than
one servo drives in serial. Ensure to connect a termination resistor to the last connected servo drive.

Figure 3.17 The layout of CN6 Drive Connector

CN6 Terminal Signal Identification

PIN No. Signal Name Description

1, 9 CAN_H CAN_H bus line (dominant high)

2, 10 CAN_L CAN_H bus line (dominant low)
3, 11 CAN_GND Ground / 0 V / V -
4, 12 - Reserved
5, 13 - Reserved
6, 14 - Reserved
7, 15 CAN_GND Ground / 0 V / V -
8, 16 - Reserved

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Chapter 3 Connections and Wiring

Figure 3.18 Connecting more than one servo drives via CANopen communication

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Chapter 3 Connections and Wiring

3.10 Extension digital input connector CN7

ASDA-A2 series provides single-axis point-to-point position control function and the position numbers can be up
to 64 points. When internal 8 programmable Digital Inputs (DI) which can be set via parameters P2-10 ~ P2-17
can not satisfied, the users can use this extension digital input connector CN7 to increase more digital inputs. Up
to 6 programmable external Digital Inputs (DI) could be added.

Figure 3.19 The layout of CN7 Drive Connector

CN7 Terminal Signal Identification

Terminal
PIN No. Signal Name Description
Identification
1 (NOTE) VDD 24V power COM+ VDD (24V) power supply, same as Pin 11 of
CN1
2 Extension DI9 EDI 9- Digital input DI9-
3 Extension DI10 EDI 10- Digital input DI10-
4 Extension DI11 EDI 11- Digital input DI11-
5 Extension DI12 EDI 12- Digital input DI12-
6 Extension DI13 EDI 13- Digital input DI13-
7 Extension DI14 EDI 14- Digital input DI14-

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

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Chapter 3 Connections and Wiring

3.11 Standard Connection Example – 220V series

3.11.1 Position (PT) Control Mode

Please note:
*1 Please refer to C3 ~ C4 wiring diagrams in section 3.4.4.
*2 Please refer to C3 ~ C4 wiring diagrams in section 3.4.4.
*3 Please refer to C9 ~ C12 wiring diagrams (SINK / SOURCE mode) in section 3.4.4.
*4 400W and below drives do not provide built-in regenerative resistor.
*5 The coil of brake has no polarity.
*6 For extension digital inputs (DI) connections (CN7 is a optional part, not Delta standard supplied part.).
*7 For USB connection. It is used to connect to personal computer or notebook.
*8 Single -phase connections are for servo drives 1.5kW and below only.

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Chapter 3 Connections and Wiring

3.11.2 Position (PR) Control Mode

Please note:
*1 Please refer to C9 ~ C12 wiring diagrams (SINK / SOURCE mode) in section 3.4.4.
*2 400W and below drives do not provide built-in regenerative resistor.
*3 The coil of brake has no polarity.
*4 For extension digital inputs (DI) connections (CN7 is a optional part, not Delta standard supplied part.).
*5 For USB connection. It is used to connect to personal computer or notebook.
*6 Single -phase connections are for servo drives 1.5kW and below only.

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Chapter 3 Connections and Wiring

3.11.3 Speed Control Mode

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Chapter 3 Connections and Wiring

3.11.4 Torque Control Mode

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Chapter 3 Connections and Wiring

3.11.5 CANopen Communication Mode

Please note:
*1 Please refer to C9 ~ C12 wiring diagrams (SINK / SOURCE mode) in section 3.4.4.
*2 400W and below drives do not provide built-in regenerative resistor.
*3 The coil of brake has no polarity.
*4 For USB connection. It is used to connect to personal computer or notebook.
*5 Single -phase connections are for servo drives 1.5kW and below only.

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Chapter 3 Connections and Wiring

3.12 Standard Connection Example – 400V series

3.12.1 Position (PT) Control Mode

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Chapter 3 Connections and Wiring

3.12.2 Position (PR) Control Mode

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Chapter 3 Connections and Wiring

3.12.3 Speed Control Mode

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Chapter 3 Connections and Wiring

3.12.4 Torque Control Mode

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Chapter 3 Connections and Wiring

3.12.5 CANopen Communication Mode

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Chapter 3 Connections and Wiring

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Chapter 4 Display and Operation

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

4.1 Description of the Digital Keypad

The digital keypad includes the display panel and function keys. The Figure 4.1 shows all of the features of the
digital keypad and an overview of their functions.

Figure 4.1 Keypad Features

Name Function
The LCD Display (5-digit, 7-step display panel) shows the monitor
LCD Display
codes, parameter settings and operation values of the AC servo drive.
Charge LED The Charge LED lights to indicate the power is applied to the circuit.
MODE Key. Pressing MODE key can enter or exit different parameter
MODE Key
groups, and switch between Monitor mode and Parameter mode.
SHIFT Key. Pressing SHIFT key can scrolls through parameter groups.
After a parameter is selected and its value displayed, pressing SHIFT
SHIFT Key
key can move the cursor to the left and then change parameter settings
(blinking digits) by using arrow keys.
UP and DOWN Key. Pressing the UP and DOWN key can scroll through
UP and DOWN Key and change monitor codes, parameter groups and various parameter
settings.
SET Key. Pressing the SET key can display and save the parameter
groups, the various parameter settings. In monitor mode, pressing SET
key can switch decimal or hexadecimal display. In parameter mode,
SET Key pressing SET key can enter into parameter setting mode. During
diagnosis operation, pressing SET key can execute the function in the
last step. (The parameter settings changes are not effective until the
SET key is pressed.)

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Chapter 4 Display and Operation

4.2 Display Flowchart

Figure 4.2 Keypad Operation

When the power is applied to the AC servo drive, the LCD display will show the monitor function codes for
approximately one second, then enter into the monitor mode.
In monitor mode, pressing MODE key can enter into parameter mode. In parameter mode, pressing MODE
key can return to monitor mode.
No matter working in which mode, when an alarm occurs, the system will enter into fault mode immediately. In
fault mode, pressing MODE key can switch to other modes. In other modes, if no key is pressed for over 20
seconds, the system will return to fault mode automatically.
In monitor mode, pressing UP or DOWN arrow key can switch monitor parameter code. At this time, monitor
display symbol will display for approximately one second.
In monitor mode, pressing MODE key can enter into parameter mode. In parameter mode, pressing SHIFT key
can switch parameter group and pressing UP or DOWN arrow key can change parameter group code.
In parameter mode, the system will enter into the setting mode immediately after the Set key is pressed. The
LCD display will display the corresponding setting value of this parameter simultaneously. Then, users
can use UP or DOWN arrow key to change parameter value or press MODE key to exit and return back to
the parameter mode.
In parameter setting mode, the users can move the cursor to left by pressing SHIFT key and change the
parameter settings (blinking digits) by pressing the UP or DOWN arrow key.
After the setting value change is completed, press SET key to save parameter settings or execute command.
When the parameter setting is completed, LCD display will show the end code “SAVED“ and
automatically return back to parameter mode.

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Chapter 4 Display and Operation

4.3 Status Display

4.3.1 Save Setting Display

After the SET key is pressed, LCD display will show the following display messages for approx. one
second according to different status.

Display Message Description

The setting value is saved correctly. [Saved)

This parameter is read only. Write-protected. (Read-Only)

Invalid password or no password was input. (Locked)

The setting value is error or invalid. (Out of Range)

The servo system is running and it is unable to accept this setting

value to be changed. (Servo On)
This parameter is valid after restarting the drive. (Power On)

4.3.2 Decimal Point Display

Display Message Description
High/Low byte display. When the data is a decimal 32-bit
data, these two digits are used to show if the display is
high byte or low byte.
Negative value display. When the data is displayed in
decimal format, the most left two digits represent
negative sign no matter it is a 16-bit or 32-bit data. If the
data is displayed in hexadecimal format, it is a positive
value always and no negative sign is displayed.

4.3.3 Fault Message Display

Display Message Description
When the AC servo drive has a fault, LCD display will
display “ALnnn”. “AL” indicates the alarm and “nnn”
indicates the drive fault code. For the list of drive fault
code, please refer to parameter P0-01 in Chapter 8 (Servo
Parameters) or refer to Chapter 11 (Troubleshooting).

4.3.4 Polarity Setting Display

Display Message Description
Positive value display. When entering into parameter
setting mode, pressing UP or DOWN arrow key can
increase or decrease the display value. SHIFT key is used
to change the selected digit (The selected digit will
blink).

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Chapter 4 Display and Operation

Display Message Description

Negative value display. Continuously press SHIFT key for two
seconds and then the positive(+) or negative( -) sign can be switched.
When the setting value exceeds its setting range, the positive(+) and
negative( -) sign can not be switched. (The negative value display is
for a decimal negative value only. There is no negative value display
for a hexadecimal negative value.)

4.3.5 Monitor Setting Display

When the AC servo drive is applied to power, the LCD display will show the monitor function codes for
approximately one second and then enter into the monitor mode. In monitor mode, in order to change the
monitor status, the users can press UP or DOWN arrow key or change parameter P0-02 directly to specify
the monitor status. When the power is applied, the monitor status depends on the setting value of P0-02. For
example, if the setting value of P0-02 is 4 when the power is applied, the monitor function will be input
pulse number of pulse command, the C-PLS monitor codes will first display and then the pulse number will
display after.

P0-02
Display Message Description Unit
Setting
Motor feedback pulse number (after
0 [user unit]
electronic gear ratio is set)
Input pulse number of pulse
1 command (after electronic gear [user unit]
ratio is set)
Position error counts between
2 control command pulse and [user unit]
feedback pulse
Motor feedback pulse number
3 [pulse]
(encoder unit, 1280000 pulse/rev)
Input pulse number of pulse
4 command (before electronic gear [pulse]
ratio is set)

5 Position error counts [pulse]

6 Input frequency of pulse command [Kpps]

7 Motor rotation speed [r/min]

8 Speed input command [Volt]

9 Speed input command [r/min]

10 Torque input command [Volt]

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Chapter 4 Display and Operation

P0-02
Display Message Description Unit
Setting
11 Torque input command [%]

12 Average load [%]

13 Peak load [％]

14 Main circuit voltage [Volt]

Ratio of load inertia to Motor inertia

15 (Please note that if the display is [0.1times]
130, it indicates that the actual
inertia is 13.0)

16 IGBT temperature [oC]

Resonance frequency (The low byte
is the first resonance point and the
17 [Hz]
high byte is the second resonance
point.)

Absolute pulse number relative to

encoder (use Z phase as home). The
18 value of Z phase home point is 0, -
and it can be the value from -5000
to +5000 pulses.

Mapping Parameter 1: Display the

content of parameter P0-25
19 -
(mapping target is specified by
parameter P0-35)
Mapping Parameter 2: Display the
content of parameter P0-26
20 -
(mapping target is specified by
parameter P0-36)
Mapping Parameter 3: Display the
content of parameter P0-27
21 -
(mapping target is specified by
parameter P0-37)
Mapping Parameter 4: Display the
content of parameter P0-28
22 -
(mapping target is specified by
parameter P0-38)
Status Monitor 1: Display the
content of parameter P0-09 (the
23 -
monitor status is specified by
parameter P0-17)
Status Monitor 2: Display the
content of parameter P0-10 (the
24 -
monitor status is specified by
parameter P0-18)

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Chapter 4 Display and Operation

P0-02
Display Message Description Unit
Setting
Status Monitor 3: Display the
content of parameter P0-11 (the
25 -
monitor status is specified by
parameter P0-19)
Status Monitor 4: Display the
content of parameter P0-12 (the
26 -
monitor status is specified by
parameter P0-20)

The following table lists the display examples of monitor value:

Display Message Description

Decimal display. When the actual value is
(Dec.) 16-bit 1234, the display is 01234.
Data Hexadecimal display. When the actual value is
(Hex.) 0x1234, the display is 1234.

(Dec. High Byte) Decimal display. When the actual value is

1234567890, the display of high byte is
1234.5 and the display of low byte is 67890.
(Dec. Low Byte) 32-bit
Data
(Hex. High Byte) Hexadecimal display. When the actual value is
0x12345678, the display of high byte is h1234
(Hex. Low Byte) and the display of low byte is L5678.
Negative value display. When the actual value is -
12345, the display is 1.2.345. (The negative value
display is displayed to indicate a decimal negative
value. There is no negative value display for a
hexadecimal negative value.)

NOTE

Dec. represents Decimal display and Hex. represents Hexadecimal display.

The above display methods are both available in monitor mode and parameter setting mode.
All monitor variables are 32-bit data. The users can switch to high byte or low byte and display format (Dec. or Hex.)
freely. Regarding the parameters listed in Chapter 8, for each parameter, only one kind of display format is
available and cannot be changed.

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Chapter 4 Display and Operation

4.4 General Function Operation

4.4.1 Fault Code Display Operation

After entering the parameter mode P4-00 to P4-04 (Fault Record), press SET key to display the corresponding
fault code history for the parameter. Please refer to the Figure 4.3.

Figure 4.3

4.4.2 JOG Operation

After entering parameter mode P4-05, the users can follow the following steps to perform JOG operation.
(Please also refer to Figure 4.4).
Step1. Press the SET key to display the JOG r/min speed. (The default value is 20 r/min).
Step2. Press the UP or DOWN arrow keys to increase or decrease the desired JOG speed. (This also can
be undertaken by using the SHIFT key to move the cursor to the desired unit column (the effected
number will blink) then changed using the UP and DOWN arrow keys. The example display in
Figure 4.4 is adjusted as 100 r/min.)
Step3. Press the SET key when the desired JOG speed is set. The Servo Drive will display "JOG".
Step4. Press the UP or DOWN arrow keys to jog the motor either N(CW) and P(CCW)
direction. The motor will only rotate while the arrow key is activated.
Step5. To change JOG speed again, press the MODE key. The servo Drive will display "P4 - 05". Press the
SET key and the JOG r/min speed will displayed again. Refer back to #2 and #3 to change speed.

NOTE

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

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Chapter 4 Display and Operation

Figure 4.4

4.4.3 Force Output Control Operation

For testing, the digital outputs can be forced to be activated (ON) or inactivated (OFF) by using parameter
P2-08 and P4-06. First, set P2-08 to 406 to enable the force output control function and then using P4-06 to
force the digital outputs to be activated. Follow the setting method in Figure 4.6 to enter into Force Output
Control operation mode. When P4-06 is set to 2, the digital output, DO2 is activated. When P4-06 is set to
5, the digital outputs, DO1 and DO3 are both activated. The parameter setting value of P4-06 is not retained
when power is off. After re-power the servo drive, all digital outputs will return to the normal status. If P2-
08 is set to 400, it also can switch the Force Output Control operation mode to normal Digital Output (DO)
Control operation mode.
1The DO function and status is determined by P2-18 to P2-22. This function is enabled only when Servo
Off (the servo drive is disabled).

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Chapter 4 Display and Operation

Figure 4.6

NOTE

As the display of P4-06 is hexadecimal, 0(zero) of the fifth digit will not show on the LED display.

4.4.4 DI Diagnosis Operation

Following the setting method in Figure 4.7 can perform DI diagnosis operation (parameter P4-07, Input
Status). According to the ON and OFF status of the digital inputs DI1 to DI8, the corresponding status will
display on the servo drive LED display. When the Bit is set to “1”, it means that the corresponding digital
input signal is ON. (Please also refer to Figure 4.7)
For example:
Suppose that the servo drive LED display is “3FE1”.
“E” is hexadecimal, which is equal to “1110” in binary system, and it means that the digital inputs
DI6 ~ DI8 are ON.

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Chapter 4 Display and Operation

Figure 4.7

4.4.5 DO Diagnosis Operation

Following the setting method in Figure 4.8 can perform DO diagnosis operation (parameter P4-09, Output
Status Display). According to the ON and OFF status of the digital outputs DO1 to DO5, the corresponding
status will display on the servo drive LED display. When the Bit is set to “1”, it means that the
corresponding digital output signal is ON. (Please also refer to Figure 4.8)
For example:
Suppose that the servo drive LED display is “1F”.
“F” is hexadecimal, which is equal to “1111” in binary system, and it means that the digital outputs
DO1 ~ DO4 are ON.

Figure 4.8

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Chapter 5 Trial Run and Tuning Procedure

This chapter, which is divided into two parts, describes trial run for servo drive and motor. One part is to
introduce the trial run without load, and the other part is to introduce trial run with load. Ensure to complete the
trial run without load first before performing the trial run with load.

5.1 Inspection without Load

In order to prevent accidents and avoid damaging the servo drive and mechanical system, the trial run should be
performed under no load condition (no load connected, including disconnecting all couplings and belts). Do not
run servo motor while it is connected to load or mechanical system because the unassembled parts on motor shaft
may easily disassemble during running and it may damage mechanical system or even result in personnel injury.
After removing the load or mechanical system from the servo motor, if the servo motor can runs normally
following up the normal operation procedure (when trial run without load is completed), then the users can
connect to the load and mechanical system to run the servo motor.

In order to prevent accidents, the initial trial run for servo motor should be conducted
under no load conditions (separate the motor from its couplings and belts).
Caution: Please perform trial run without load first and then perform trial run with load connected. After the servo
motor is running normally and regularly without load, then run servo motor with load connected. Ensure to
perform trial run in this order to prevent unnecessary danger.

After power in connected to AC servo drive, the charge LED will light and it indicates that AC servo drive is
ready. Please check the followings before trial run:
Inspection before operation (Control power is not applied)
Inspect the servo drive and servo motor to insure they were not damaged.
Ensure that all wiring terminals are correctly insulated.
Ensure that all wiring is correct or damage and or malfunction may result.
Visually check to ensure that there are not any unused screws, metal strips, or any conductive or
inflammable materials inside the drive.
Make sure control switch is OFF.
Never put inflammable objects on servo drive or close to the external regenerative resistor.
If the electromagnetic brake is being used, ensure that it is correctly wired.
If required, use an appropriate electrical filter to eliminate noise to the servo drive.

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Chapter 5 Trial Run and Tuning Procedure

Ensure that the external applied voltage to the drive is correct and matched to the controller.
Inspection during operation (Control power is applied)
Ensure that the cables are not damaged, stressed excessively or loaded heavily. When the motor is running,
pay close attention on the connection of the cables and notice that if they are damaged, frayed or over
extended.
Check for abnormal vibrations and sounds during operation. If the servo motor is vibrating or there are
unusual noises while the motor is running, please contact the dealer or manufacturer for assistance.
Ensure that all user-defined parameters are set correctly. Since the characteristics of different machinery
equipment are not the same, in order to avoid accident or cause damage, do not adjust the parameter
abnormally and ensure the parameter setting is not an excessive value.
Ensure to reset some parameters when the servo drive is off (Please refer to Chapter 8). Otherwise, it may
result in malfunction.
If there is no contact sound or there be any unusual noises when the relay of the servo drive is operating, please
contact your distributor for assistance or contact with Delta.
Check for abnormal conditions of the power indicators and LED display. If there is any abnormal condition
of the power indicators and LED display, please contact your distributor for assistance or contact with
Delta.

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Chapter 5 Trial Run and Tuning Procedure

5.2 Applying Power to the Drive

The users please observe the following steps when applying power supply to the servo drive.
Please check and confirm the wiring connection between the drive and motor is correct.
Terminal U, V, W and FG (frame ground) must connect to Red, White, Black and Green cables separately
(U: Red, V: White, W: Black, FG: Green). If not connect to the specified cable and terminal, then the
drive cannot control motor. The motor grounding lead, FG must connect to grounding terminal. For
more information of cables, please refer to section 3.1.
Ensure to connect encoder cable to CN2 connector correctly. If the users only desire to execute JOG
operation, it is not necessary to make any connection to CN1 and CN3 connector. For more information
of the connection of CN2 connector, please refer to Section 3.1 and 3.4.

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

Main circuit wiring

Connect power to the AC servo. For three-phase input power connection and single-phase input power
connection, please refer to Section 3.1.3.

Turn the Power On

The Power includes control circuit power (L1c, L2c) and main circuit power (R, S, T). When the power is
on, the normal display should be shown as the following figure:

As the default settings of digital input signal, DI6, DI7 and DI8 are Reverse Inhibit Limit (NL), Forward
Inhibit Limit (PL) and Emergency Stop (EMGS) respectively, if the users do not want to use the default
settings of DI6 ~ DI8, the users can change their settings by using parameters P2-15 to P2-17 freely. When
the setting value of parameters P2-15 to P2-17 is 0, it indicates the function of this DI signal is disabled. For
more information of parameters P2-15 to P2-17, please refer to Chapter 8 “Parameters”.
If the parameter P0-02 is set as motor speed (06), the normal display should be shown as the following
figure:

If there is no text or character displayed on the LED display, please check if the voltage of the control circuit
terminal ((L1c, L2c) is over low.

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Chapter 5 Trial Run and Tuning Procedure

1) When display shows:

Overvoltage:
The main circuit voltage has exceeded its maximum allowable value or input power is error (Incorrect
power input).
Corrective Actions:
Use voltmeter to check whether the main circuit input voltage falls within the rated input voltage.
Use voltmeter to check whether the input voltage is within the specified limit.

When display shows:

Encoder error:
Check if the wiring is correct. Check if the encoder wiring (CN2) of servo motor is loose or incorrect.
Corrective Actions:
ᜀĀᜀĀᜀĀᜀĀᜀĀᜀĀᜀĀᜀĀᜀĀ渀ǰᜀĀᜀĀᜀĀᜀĀᜀĀᜀĀᜀĀᜀĀ Check if the users perform wiring recommended in the user
manual.
ᜀĀᜀĀᜀĀᜀĀᜀĀᜀĀᜀĀᜀĀᜀĀ渀ǰᜀĀᜀĀᜀĀᜀĀᜀĀᜀĀᜀĀᜀĀ Examine the encoder connector and cable.
ᜀĀᜀĀᜀĀᜀĀᜀĀᜀĀᜀĀᜀĀᜀĀ渀ǰᜀĀᜀĀᜀĀᜀĀᜀĀᜀĀᜀĀᜀĀ Inspect whether wire is loose or not.
ᜀĀᜀĀᜀĀᜀĀᜀĀᜀĀᜀĀᜀĀᜀĀ渀ǰᜀĀᜀĀᜀĀᜀĀᜀĀᜀĀᜀĀᜀĀ Check if the encoder is damaged.

When display shows:

Emergency stop activated:

Please check if any of digital inputs DI1 ~ DI8 signal is set to “Emergency Stop” (EMGS).
Corrective Actions:
If it does not need to use “Emergency Stop (EMGS)” as input signal, the users only need to confirm that if all
of the digital inputs DI1 ~ DI8 are not set to “Emergency Stop (EMGS)”. (The setting value of
parameter P2-10 to P2-17 is not set to 21.)

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Chapter 5 Trial Run and Tuning Procedure

If it is necessary to use “Emergency Stop (EMGS)” as input signal, the users only need to confirm
that which of digital inputs DI1 ~ DI8 is set to “Emergency Stop (EMGS)” and check if the
digital input signal is ON (It should be activated).

When display shows:

Reverse limit switch error:

Please check if any of digital inputs DI1 ~ DI8 signal is set to “Reverse inhibit limit (NL)” and check if
the signal is ON or not.
Corrective Actions:
If it does not need to use “Reverse inhibit limit (NL)” as input signal, the users only need to confirm that if all
of the digital inputs DI1 ~ DI8 are not set to “Reverse inhibit limit (NL)”. (The setting value of
parameter P2-10 to P2-17 is not set to 22.)
If it is necessary to use “Reverse inhibit limit (NL)” as input signal, the users only need to confirm that
which of digital inputs DI1 ~ DI8 is set to “Reverse inhibit limit (NL)” and check if the digital input
signal is ON (It should be activated).

When display shows:

Forward limit switch error:

Please check if any of digital inputs DI1 ~ DI8 signal is set to “Forward inhibit limit (PL)” and check if
the signal is ON or not.
Corrective Actions:
If it is no need to use “Forward inhibit limit (PL)” as input signal, the users only need to confirm that if
all of the digital inputs DI1 ~ DI8 are not set to “Forward inhibit limit (PL)”. (The setting value of
parameter P2-10 to P2-17 is not set to 23.)
If it is necessary to use “Forward inhibit limit (PL)” as input signal, the users only need to confirm that
which of digital inputs DI1 ~ DI8 is set to “Forward inhibit limit (PL)” and check if the digital input
signal is ON (It should be activated).

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When “Digital Input 1 (DI1)” is set to Servo On (SON), if DI1 is set to ON (it indicates that Servo On (SON)
function is enabled) and the following fault message shows on the display:

6) When display shows:

Overcurrent:
Corrective Actions:
Check the wiring connections between the servo drive and motor.
Check if the circuit of the wiring is closed.
Remove the short-circuited condition and avoid metal conductor being exposed.

When display shows:

Undervoltage:
Corrective Actions:
Check whether the wiring of main circuit input voltage is normal.
Use voltmeter to check whether input voltage of main circuit is normal.
Use voltmeter to check whether the input voltage is within the specified limit.

NOTE

If there are any unknown fault codes and abnormal display when applying power to the drive or servo on is activated
(without giving any command), please inform the distributor or contact with Delta for assistance.

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Chapter 5 Trial Run and Tuning Procedure

5.3 JOG Trial Run without Load

It is very convenient to use JOG trial run without load to test the servo drive and motor as it can save the wiring. The
external wiring is not necessary and the users only need to connect the digital keypad to the servo drive. For safety, it
is recommended to set JOG speed at low speed. Please refer to the following steps to perform JOG trial run without
load.

STEP 1: Turn the drive ON through software. Ensure that the setting value of parameter P2-30 should be set
to 1 (Servo On).
STEP 2: Set parameter P4-05 as JOG speed (unit: r/min). After the desired JOG speed is set, and then press
SET key, the drive will enter into JOG operation mode automatically
STEP 3: The users can press UP and DOWN key to change JOG speed and press SHIFT key to adjust the digit
number of the displayed value.
STEP 4: Pressing SET key can determine the speed of JOG operation.
STEP 5: Pressing UP key and the servo motor will run in P(CCW) direction. After releasing UP key, the motor
will stop running.
STEP 6: Pressing DOWN key and the servo motor will run in N(CW) direction. After releasing DOWN key,
the motor will stop running.
N(CW) and P(CCW) Definition:
P(CCW, Counterclockwise): when facing the servo motor shaft, P is running in
counterclockwise direction.
N(CW, Clockwise): when facing the servo motor shaft, N is running in clockwise direction.
STEP 7: When pressing MODE key, it can exit JOG operation mode.

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

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Chapter 5 Trial Run and Tuning Procedure

5.4 Speed Trial Run without Load

Before speed trial run, fix and secure the motor as possible to avoid the danger from the reacting force when
motor speed changes.
STEP 1:
Set the value of parameter P1-01 to 02 and it is speed (S) control mode. After selecting the operation mode as
speed (S) control mode, please restart the drive as P1-01 is effective only after the servo drive is restarted (after
switching power off and on).
STEP 2:
In speed control mode, the necessary Digital Inputs are listed as follows:

Digital Input Parameter Setting Sign Function Description CN1 PIN No.
Value
DI1 P2-10=101 SON Servo On DI1-=9
DI2 P2-11=109 TRQLM Torque limit enabled DI2-=10
DI3 P2-12=114 SPD0 Speed command selection DI3-=34
DI4 P2-13=115 SPD1 Speed command selection DI4-=8
DI5 P2-14=102 ARST Reset DI5-=33
DI6 P2-15=0 Disabled This DI function is disabled -
DI7 P2-16=0 Disabled This DI function is disabled -
DI8 P2-17=0 Disabled This DI function is disabled -
EDI9 P2-36=0 Disabled This DI function is disabled CN7=2
EDI10 P2-37=0 Disabled This DI function is disabled CN7=3
EDI11 P2-38=0 Disabled This DI function is disabled CN7=4
EDI12 P2-39=0 Disabled This DI function is disabled CN7=5
EDI13 P2-40=0 Disabled This DI function is disabled CN7=6
EDI14 P2-41=0 Disabled This DI function is disabled CN7=7
By default, DI6 is the function of reverse inhibit limit, DI7 is the function of forward inhibit limit and DI6 is the
function of emergency stop (DI8), if the users do not set the setting value of parameters P2-15 to P2-17 and P2-36
to P2-41 to 0 (Disabled), the faults (AL013, 14 and 15) will occur (For the information of fault messages, please
refer to Chapter 11). Therefore, if the users do not need to use these three digit inputs, please set the setting value
of parameters P2-15 to P2-17 and P2-36 to P2-41 to 0 (Disabled) in advance.
All the digital inputs of Delta ASDA-A2 series are user-defined, and the users can set the DI signals freely.
Ensure to refer to the definitions of DI signals before defining them (For the description of DI signals, please
refer to Table 8.A in Chapter 8). If any alarm code displays after the setting is completed, the users can restart
the drive or set DI5 to be activated to clear the fault. Please refer to section 5.2.

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Chapter 5 Trial Run and Tuning Procedure

The speed command is selected by SPD0, SPD1. Please refer to the following table:

Speed DI signal of CN1

Command Source Content Range
Command No.
SPD1 SPD0
External analog Voltage between V-REF
S1 0 0 -10V ~ +10V
command and GND
S2 0 1 P1-09 -60000 ~ 60000
S3 1 0 Internal parameter P1-10 -60000 ~ 60000
S4 1 1 P1-11 -60000 ~ 60000
indicates OFF (Normally Open); 1: indicates ON (Normally Closed) The range of
internal parameter is from -60000 to 60000.
Setting value of speed command = Setting range x unit (0.1 r/min). For example:
If P1-09 is set to +30000, the setting value of speed command = +30000 x 0.1 r/min = +3000 r/min.

P1-09 is set to +30000 Input value

Rotation direction
command
P1-10 is set to +1000 + N(CW)
P1-11 is set to -30000 - P(CCW)

The users can use DI1 to enable the servo drive (Servo On).
If DI3 (SPD0) and DI4 (SPD1) are OFF both, it indicates S1 command is selected. At this time, the motor is
operating according to external analog command.
If only DI3 is ON (SPD0), it indicates S2 command (P1-09 is set to +30000) is selected, and the motor speed
is 3000r/min at this time.
If only DI4 is ON (SPD1), it indicates S3 command (P1-10 is set to +1000) is selected, and the motor speed
is 100r/min at this time.
If DI3 (SPD0) and DI4 (SPD1) are ON both, it indicates S4 command (P1-11 is set to - 30000) is selected,
and the motor speed is -3000r/min at this time.
Repeat the action of (3), (4), (5) freely.
When the users want to stop the speed trial run, use DI1 to disable the servo drive (Servo Off).

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Chapter 5 Trial Run and Tuning Procedure

5.5 Position Trial Run without Load

Before position trial run, fix and secure the motor as possible to avoid the danger from the reacting force when
the motor speed changes.
STEP 1:
Set the value of parameter P1-01 to 01 and it is position (PR) control mode. After selecting the operation mode as
position (PR) control mode, please restart the drive and the setting would be valid.
STEP 2:
In position control mode, the necessary DI setting is listed as follows:

Digital Input Parameter Setting Sign Function Description CN1 PIN No.
Value
DI1 P2-10=101 SON Servo On DI1-=9
DI2 P2-11=108 CTRG Command trigged DI2-=10
DI3 P2-12=111 POS0 Position command selection DI3-=34
DI4 P2-13=112 POS1 Position command selection DI4-=8
DI5 P2-14=102 ARST Reset DI5-=33
DI6 P2-15=0 Disabled This DI function is disabled -
DI7 P2-16=0 Disabled This DI function is disabled -
DI8 P2-17=0 Disabled This DI function is disabled -
EDI9 P2-36=0 Disabled This DI function is disabled CN7=2
EDI10 P2-37=0 Disabled This DI function is disabled CN7=3
EDI11 P2-38=0 Disabled This DI function is disabled CN7=4
EDI12 P2-39=0 Disabled This DI function is disabled CN7=5
EDI13 P2-40=0 Disabled This DI function is disabled CN7=6
EDI14 P2-41=0 Disabled This DI function is disabled CN7=7
By default, DI6 is the function of reverse inhibit limit, DI7 is the function of forward inhibit limit and DI6 is the
function of emergency stop (DI8), if the users do not set the setting value of parameters P2-15 to P2-17 and P2-36
to P2-41 to 0 (Disabled), the faults (AL013, 14 and 15) will occur (For the information of fault messages, please
refer to Chapter 11). Therefore, if the users do not need to use these three digit inputs, please set the setting value
of parameters P2-15 to P2-17 and P2-36 to P2-41 to 0 (Disabled) in advance.
All the digital inputs of Delta ASDA-A2 series are user-defined, and the users can set the DI signals freely.
Ensure to refer to the definitions of DI signals before defining them (For the description of DI signals, please refer
to Table 8.A in Chapter 8). If any alarm code displays after the setting is completed, the users can restart the drive
or set DI5 to be activated to clear the fault. Please refer to section 5.2. For the information of wiring diagrams,
please refer to Section 3.10.2 (Wiring of position (PR) control mode). Because POS2 is not the default DI, the
users need to change the value of parameter P2-14 to 113.

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Chapter 5 Trial Run and Tuning Procedure

Please refer to the following table for 64 groups of position commands and position command
selection from POS0 to POS5.

Position
POS5 POS4 POS3 POS2 POS1 POS0 CTRG Parameters
Command
P6-00
P1 0 0 0 0 0 0
P6-01
P6-02
P2 0 0 0 0 0 1
P6-03
~ ~
P6-98
P50 1 1 0 0 1 0
P6-99
P7-00
P51 1 1 0 0 1 1
P7-01
~ ~
P7-26
P64 1 1 1 1 1 1
P7-27
0: indicates OFF (Normally Open); 1: indicates ON (Normally Closed)
The users can set the value of these 64 groups of commands (P6-00 ~ P7-27) freely. The command can be
absolute position command as well.

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Chapter 5 Trial Run and Tuning Procedure

5.6 Tuning Procedure

Table 5.A Estimate the ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor): JOG Mode
Tuning Procedure Display
1. After wiring is completed, when power in connected to the AC servo drive, the
right side display will show on the LCD display.
2. Press MODE key to enter into parameter mode.

3. Press SHIFT key twice to select parameter group.

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

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

Press SHIFT key twice to change the parameter values. Use UP key to
cycle through the available settings and then press SET key to determine the parameter
settings.
7. Press UP key to view each parameter and select parameter P2-30.

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

9. Select parameter value 1. Use UP key to cycle through the available settings.
10. At this time, the servo drive is ON and the right side display will appear next.
11. Press DOWN key three times to select the ratio of Load Inertia to Servo Motor
Inertia (J_load /J_motor).
12. Display the current ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor).
(5.0 is default setting.)
13. Press MODE key to select parameter mode.

14. Press SHIFT key twice to select parameter group.

15. Press UP key to select user parameter P4-05.

16. Press SET key and JOG speed 20 r/min will be displayed. Press UP and DOWN key to
increase and decrease JOG speed. To press SHIFT key one time can add one digit
number.

17. Select desired JOG speed, press SET key and it will show the right side display.
Pressing UP key is forward rotation and pressing DOWN key is reverse rotation.
Execute JOG operation in low speed first. After the machine is running smoothly, then execute JOG operation
in high speed.
The ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor) cannot be shown in the display of JOG
parameter P4-05 operation. Please press MODE key twice continuously and the users can see the ratio of
Load Inertia to Servo Motor Inertia (J_load /J_motor). Then, execute JOG operation again, press MODE
key once and press SET key twice to view the display on the keypad. Check if the value of J_load /J_motor
is adjusted to a fixed value and displayed on the keypad after acceleration and deceleration repeatedly.

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Chapter 5 Trial Run and Tuning Procedure

5.6.1 Tuning Flowchart

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Chapter 5 Trial Run and Tuning Procedure

5.6.2 Load Inertia Estimation Flowchart

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Chapter 5 Trial Run and Tuning Procedure

5.6.3 Auto Mode Tuning Flowchart

Set P2-32 to 1 (1: Auto Mode [Continuous adjustment] )

The servo drive will continuously estimate the system inertia, save the measured load inertia value
automatically and memorized in P1-37 every 30 minutes by referring to the frequency response settings of
P2-31.

P2-31 : Auto Mode Stiffness Setting (Default setting: 80)

In Auto mode and Semi-Auto mode, the speed loop frequency response settings are as follows:
1 ~ 50Hz : Low stiffness and low frequency response
51 ~ 250Hz : Medium stiffness and medium frequency response
251 ~ 850Hz : High stiffness and high frequency response
851 ~ 1000Hz : Extremely high stiffness and extremely high frequency response
Adjust P2-31: Increase the setting value of P2-31 to enhance the stiffness or reduce the noise.
Continuously perform the adjustment until the satisfactory performance is achieved.

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Chapter 5 Trial Run and Tuning Procedure

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Chapter 5 Trial Run and Tuning Procedure

5.6.4 Semi-Auto Mode Tuning Flowchart

Set P2-32 to 2 (2: Semi-Auto Mode [Non-continuous adjustment] )

The servo drive will continuously perform the adjustment for a period of time. After the system inertia
becomes stable, it will stop estimating the system inertia, save the measured load inertia value automatically,
and memorized in P1-37. When switching from other modes, such as Manual Mode or Auto Mode, to Semi-
Auto Mode, the servo drive will perform continuous adjustment for estimating the load inertia (P1-37) again.
The servo drive will refer to the frequency response settings of P2-31 when estimating the system inertia.

P2-31 : Auto Mode Stiffness Setting (Default setting: 80)

In Auto mode and Semi-Auto mode, the speed loop frequency response settings are as follows:
1 ~ 50Hz : Low stiffness and low frequency response
51 ~ 250Hz : Medium stiffness and medium frequency response
251 ~ 850Hz : High stiffness and high frequency response
851 ~ 1000Hz : Extremely high stiffness and extremely high frequency response
Adjust P2-31: Increase the setting value of P2-31 to enhance the frequency response or reduce the noise.
Continuously perform the adjustment until the satisfactory performance is achieved.

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Chapter 5 Trial Run and Tuning Procedure

NOTE

When bit0 of P2-33 is set to 1, it indicates that the system inertia estimation of semi-auto mode has been completed
and the measured load inertia value is saved and memorized in P1-37 automatically.

If reset bit0 of P2-33 to 0, it will start estimating the system inertia again.

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Chapter 5 Trial Run and Tuning Procedure

5.6.5 Limit of Load Inertia Estimation

The accel. / decel. time for reaching 2000r/min must be below 1 second. The rotation speed must be above
200 r/min. The load inertia must be 100 multiple or less of motor inertia. The change of external force and
the inertia ratio can not be too much. In Auto Mode (P2-32 is set to 1), the measured load inertia value will
be saved automatically and memorized in P1-37 every 30 minutes. In Semi-Auto Mode, it will stop
estimating the load inertia after a period of continuous adjustment time when the system inertia becomes
stable. The measured load inertia value will be saved automatically and memorized in P1-37 when load
inertia estimation is stopped.

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Chapter 5 Trial Run and Tuning Procedure

NOTE

Parameters P2-44 and P2-46 are used to set notch filter attenuation rate. If the resonance can not be suppressed when
the setting values of P2-44 and P2-46 are set to 32bB (the maximum value), please decrease the speed loop
frequency response. After setting P2-47, the users can check the setting values of P2-44 and P2-46. If the setting
value of P2-44 is not 0, it indicates that one resonance frequency exists in the system and then the users can read
P2-43, i.e. the frequency (unit is Hz) of the resonance point. When there is any resonance point in the system, its
information will be shown in P2-45 and P2-46 as P2-43 and P2-44.

If the resonance conditions are not improved when P2-47 is set to 1 for over three times, please adjust notch filters
(resonance suppression parameters) manually to or eliminate the resonance.

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Chapter 5 Trial Run and Tuning Procedure

5.6.6 Mechanical Resonance Suppression Method

In order to suppress the high frequency resonance of the mechanical system, ASDA-A2 series servo
drive provides three notch filters (resonance suppression parameters) for resonance suppression. Two
notch filters can be set to suppress the resonance automatically. If the users do not want to suppress the
resonance automatically, these two notch filter can also be set to or eliminate the resonance manually.
Please refer to the following flowchart for manual adjustment.

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Chapter 5 Trial Run and Tuning Procedure

5.6.7 Relationship between Tuning Modes and Parameters

AutoSet
Tuning Mode P2-32 User-defined Parameter Gain Value
Parameter
P1-37 (Ratio of Load Inertia to Servo
Motor Inertia [J_load / J_motor])
P2-00 (Proportional Position Loop
0 Gain)
Manual Mode (Default None P2-04 (Proportional Speed Loop Gain) Fixed
setting) P2-06 (Speed Integral Compensation)
P2-25 (Low-pass Filter Time Constant
of Resonance Suppression)
P2-26 (External Anti-Interference Gain)
P1-37
P2-00
P2-02 Continuous
Auto Mode
P2-04 P2-31 (Auto Stiffness and Frequency Adjusting
[Continuous 1
P2-06 response Level) (every 30
Adjustment]
P2-25 minutes)
P2-26
P2-49
P1-37
P2-00
Non-
P2-02 continuous
Semi-Auto Mode
P2-04 P2-31 (Auto Stiffness and Frequency Adjusting
[Non-continuous 2
P2-06 response Level) (stop after a
Adjustment]
P2-25 period of
time)
P2-26
P2-49
When switching mode #1 to #0, the setting value of P2-00, P2-02, P2-04, P2-06, P2-25, P2-26 and P2-49
will change to the value that measured in #1 auto-tuning mode.
When switching mode #2 to #0, the setting value of P2-00, P2-02, P2-04, P2-06, P2-25, P2-26 and P2-49 will
change to the value that measured in #2 semi-auto tuning mode.

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Chapter 5 Trial Run and Tuning Procedure

5.6.8 Gain Adjustment in Manual Mode

The position and speed frequency response selection is depending on and determined by the the control
stiffness of machinery and conditions of applications. Generally, high reponsiveness is essential for the high
frequency positioning control of mechanical facilities and the applications of high precision process system.
However, the higher frequency response may easily result in the resonance of machinery system. Therefore,
for the applications of high frequency response, the machinery system with control stiffness is needed to
avoid the resonance. Especially when adjusting the frequency response of unfamiliar machinery system, the
users can gradually increase the gain setting value to improve frequency response untill the resonance
occurs, and then decrease the gain setting value. The relevant parameters and gain adjusting methods are
described as follows:

KPP, Parameter P2-00 Proportional Position Loop Gain

This parameter is used to determine the frequency response of position loop (position loop gain). It
could be used to increase stiffness, expedite position loop response and reduce position error. When
the setting value of KPP is higher, the response to the position command is quicker, the position error
is less and the settling time is also shorter. However, if the setting value is over high, the machinery
system may generate vibration or noise, or even overshoot during positioning. The position loop
frequency response is calculated as follows:

KVP, Parameter P2-04 Proportional Speed Loop Gain

This parameter is used to determine the frequency response of speed loop (speed loop gain). It could
be used to expedite speed loop response. When the setting value of KVP is higher, the response to the
speed command is quicker. However, if the setting value is over high, it may result in the resonance of
machinery system. The frequency response of speed loop must be higher than the 4~6 times of the
frequency response of position loop. If frequency response of position loop is higher than the
frequency response of speed loop, the machinery system may generate
vibration or noise, or even overshoot during positioning. The speed loop frequency
JM: Motor Inertia
response is calculated as follows:
JL: Load Inertia
P1-37: 0.1 times

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Chapter 5 Trial Run and Tuning Procedure

When the value of P1-37 (no matter it is the measured load inertia value or the set load inertia
value) is equal to the actual load inertia value, the actual speed loop frequency response will be:
KV P
= 2 Hz .

KVI, Parameter P2-06 Speed Integral Compensation

If the setting value of KVI is higher, the capability of decreasing the speed control deviation is better.
However, if the setting value is over high, it may easily result in the vibration of machinery system. The
recommended setting value is as follows:

NLP, Parameter P2-25 Low-pass Filter Time Constant of Resonance Suppression

When the value of (J_load / J_motor) is high, the frequency response of speed loop may decrease. At
this time, the users can increase the setting value of KVP (P2-04) to keep the frequency response of
speed loop. However, when increasing the setting value of KVP (P2-04), it may easily result in the
vibration of machinery system. Please use this parameter to suppress or eliminate the noise of
resonance. If the setting value of NLP is higher, the capability of improving the noise of resonance is
better. However, if the setting value is over high, it may easily lead to the instability of speed loop and
overshoot of machinery system.
The recommended setting value is as follows:

DST, Parameter P2-26 External Anti-Interference Gain

This parameter is used to enhance the anti-interference capability and reduce the occurrence of
overshoot. The default setting is 0 (Disabled). It is not recommended to use it in manual mode only
when performing a few tuning on the value gotten through P2-32 Auto Mode.

PFG, Parameter P2-02 Position Feed Forward Gain

This parameter is used to reduce position error and shorten the positioning settling time. However, if
the setting value is over high, it may easily lead to the overshoot of machinery system. If the value of
electronic gear ratio (1-44/1-45) is over than 10, the machinery system may also easily generate
vibration or noise.

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Chapter 5 Trial Run and Tuning Procedure

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Chapter 6 Control Modes of Operation

6.1 Control Modes of Operation

The Delta ASDA-A2 series can be programmed to provide six single, eight dual modes and two multiple modes of
operation. Their operation and description is listed in the following table.

Mode Mode Code Description

External Position Position control for the servo motor is
PT 00
Control achieved via an external pulse command.
Position control for the servo motor is
achieved via by internal position commands
Internal Position
PR 01 stored within the servo controller. Execution
Control
of the 64 positions is via Digital Input (DI)
signals.
Speed control for the servo motor can be
achieved via parameters set within the
controller or from an external analog -10 ~
Speed Control S 02 +10 Vdc command. Control of the internal
speed parameters is via the Digital Inputs
(DI). (A maximum of three speeds can be
stored internally).
Speed control for the servo motor is only
Single achieved via parameters set within the
Mode Internal Speed controller. Control of the internal speed
Sz 04
Control parameters is via the Digital Inputs (DI). (A
maximum of three speeds can be stored
internally).
Torque control for the servo motor can be
achieved via parameters set within the
controller or from an external analog -10 ~
Torque Control T 03 +10 Vdc command. Control of the internal
torque parameters is via the Digital Inputs
(DI). (A maximum of three torque levels can
be stored internally).
Torque control for the servo motor is only
achieved via parameters set within the
Internal Torque controller. Control of the internal torque
Tz 05
Control parameters is via the Digital Inputs (DI). (A
maximum of three torque levels can be stored
internally).

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Chapter 6 Control Modes of Operation

Mode Mode Code Description

Either PT or S control mode can be selected
PT-S 06
via the Digital Inputs (DI)
Either PT or T control mode can be selected
PT-T 07
via the Digital Inputs (DI).
Either PR or S control mode can be selected
PR-S 08
via the Digital Inputs (DI).
Either PR or T control mode can be selected
PR-T 09
via the Digital Inputs (DI).
Dual Mode
Either S or T control mode can be selected via
S-T 0A
the Digital Inputs (DI).
CANopen communication control is achieved via
CANopen 0B the commands from the host (external)
controller.
Reserved 0C Reserved
Either PT or PR control mode can be selected via
PT-PR 0D
the Digital Inputs (DI).
Either PT or PR or S control mode can be
PT-PR-S 0E
selected via the Digital Inputs (DI).
Multiple Mode
Either PT or PR or T control mode can be
PT-PR-T 0F
selected via the Digital Inputs (DI).

The steps of changing mode:

Switching the servo drive to Servo Off status. Turning SON signal of digit input to be off can complete this
action.
Using parameter P1-01. (Refer to chapter 8).
After the setting is completed, cut the power off and restart the drive again.

The following sections describe the operation of each control mode, including control structure,
command source and loop gain adjustment, etc.

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Chapter 6 Control Modes of Operation

6.2 Position Control Mode

The position control mode (PT or PR mode) is usually used for the applications requiring precision positioning,
such as industry positioning machine, indexing table etc. Delta ASDA-A2 series servo drives support two kinds
of command sources in position control mode. One is an external pulse train (PT: Position Terminals, External
Position Control) and the other is internal parameter (PR: Position Register, i.e. internal parameters P6-00 to P7-
27, Internal Position Control). The external pulse train with direction which can control the rotation angle of
servo motor. The max. input frequency for the external pulse command is 4MKpps.
In order to provide a convenient position control function, Delta servo drive provides 64
internal preset parameters for position control. There are two setting methods of internal
parameters, one is to set different position command into these 64 internal parameters
before operation and then use POS0~POS5 of DI signals of CN1 to perform positioning control.
The other setting method is to use serial communication to change the setting value of these
eight internal parameters.
To make the servo motor and load operate more smoothly, Delta servo drive also provide complete Position
Spine Line (P-curve) profile for position control mode. For the closed-loop positioning, speed control loop is the
principal part and the auxiliary parameters are position loop gain and feed forward compensation. The users can
also select two kinds of tuning mode (Manual/Auto modes) to perform gain adjustment. This Section 6.2 mainly
describes the applicability of loop gain adjustment and feed forward compensation of Delta servo system.

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Chapter 6 Control Modes of Operation

6.2.1 Command Source of Position (PT) Control Mode

The command source of P mode is external pulse train input form terminals.
There are three types of pulse input and each pulse type is with·logic type (positive (+), negative (-)). They
all can be set in parameter P1-00. Please refer to the following relevant parameters:
Relevant Parameter:

P1 - 00▲ PTT External Pulse Input Type Address: 0100H, 0101H

Default: 0x2 Related Section:

Applicable Control Mode: PT Section 6.2.1
Unit: N/A
Range: 0 ~ 1132
Data Size: 16-bit
Display Format: Hexadecimal
Settings:

A: Input pulse type

0: AB phase pulse (4x) (Quadrature Input)
A 1: Clockwise (CW) + Counterclockwise(CCW) pulse
B 2: Pulse + Direction
C
3: Other settings:
D
not used
B: Input pulse filter
This setting is used to suppress or reduce the chatter caused by the noise, etc. However, if the instant
input pulse filter frequency is over high, the frequency that exceeds the setting value will be regarded
as noise and filtered.
Setting Setting
Low Filter High Filter
Value Value
0 1.66Mpps 0 6.66Mpps
1 416Kpps 1 1.66Mpps
2 208Kpps 2 833Kpps
3 104Kpps 3 416Kpps
4 No Filter Function 4 No Filter Function

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Chapter 6 Control Modes of Operation

C: Input polarity

Logic Pulse Type Forward Reverse

AB phase
pulse

0 Positive CW + CCW
Logic pulse

Pulse +
Direction

AB phase
pulse

Negative CW + CCW
Logicpulse

Pulse +
Direction

Max. Min. time width

input
Pulse specification
pulse
T1 T2 T3 T4 T5 T6
frequency
High-speed Line
4Mpps 62.5ns 125ns 250ns 200ns 125ns 125ns
pulse driver
Line
500Kpps 0.5μs 1μs 2μs 2μs 1μs 1μs
Low-speed driver
pulse Open
200Kpps 1.25μs 2.5μs 5μs 5μs 2.5μs 2.5μs
collector

Max. input pulse Voltage Forward

Pulse specification
frequency specification specification
High-speed
Line driver 4Mpps 5V < 25mA
pulse
Line driver 500Kpps 2.8V ~ 3.7V < 25mA
Low-speed
pulse Open 200Kpps 24V (Max.) < 25mA
collector

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Chapter 6 Control Modes of Operation

D: Source of pulse command

Setting
Input pulse interface Remark
value
Open collector for CN1 Terminal Identification:
0
low-speed pulse PULSE, SIGN
Line driver for CN1 Terminal Identification:
1
high-speed pulse PULSE_D, SIGN_D

Position pulse can be input from these terminals, PULSE (41), /PULSE (43), HPULSE (38), /HPULSE (29),
SIGN (37), /SIGN (36) and HSIGN (46), /HSIGN (40). It can be an open-collector circuit or line driver circuit.
For the detail wiring, please refer to 3.10.1.

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Chapter 6 Control Modes of Operation

6.2.2 Command Source of Position (PR) Control Mode

The command sources of PR mode are (P6-00, P6-01) ~ (P7-26, P7-27) these 64 built-in parameters. Using
with external I/O signals (CN1, POS 0 to POS 5 and CTRG) can select one of the 64 built-in parameters to be
position command. Please refer to the table below:

State of POS0~5: 0 indicates the contact is OFF (Normally Open)

1 indicates the contact is ON (Normally Closed)
CTRG : the instant time when the contact changes from 0 (open) to 1 (closed).

The application of absolute and incremental position control is various and multiple. This kind of position
control is equal to a simple sequence control. Users can easily complete the cycle running by using the
above table. For example, the position command, P1 is 10 turns and P2 is 20 turns. Give the position
command P1 first and then give the position command P2. The difference between absolute and incremental
position control is shown as the figure below:

Absolute Type Incremental Type

20 turns

20 turns
10 turns 10 turns

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Chapter 6 Control Modes of Operation

6.2.3 Structure of Position Control Mode

Basic Structure:

In order to pursue the goal of perfection in position control, the pulse signal should be modified through
position command processing and the structure is shown as the figure below:
ASDA-A2 Series:

Using parameter can select PR mode and PT mode. Electronic gear ratio can be set in both two modes to set
proper position revolution. ASDA-A2 series servo drives also provide S-curve and low-pass filter, which are
used whenever the motor and load need to be operated more smoothly. As for the information of electronic
gear ratio, S-curve and low-pass filter, please refer to the following sections 6.2.4, 6.2.5 and 6.2.6.

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Chapter 6 Control Modes of Operation

Pulse Inhibit Input Function (INHIBIT)

This function is activated via digital inputs (Please refer to parameter P2-10 ~ P2-17 and DI INHP in Table
8.A).When the drive is in position mode, if INHP is activated, the external pulse input command is not valid
and the motor will stop (Please note that only DI8 supports this function).
INHP
ON OFF ON

Pulse
command

6.2.4 S-curve Filter for Position Control

The S-curve filter is for the position smoothing of motion command. Using S-curve filter can run the servo
motor more smoothly in response to a sudden position command. Since the speed and acceleration curve are
both continuous and the time for the servo motor to accelerate is short, using S-curve filter not only can
improve the performance when servo motor accelerate or decelerate but also can make motor to operate more
smoothly (from mechanical view). When the load is change, the motor usually run not smoothly when starts
to run and stop due to the friction and inertia change. At this moment, users can increase Accel/Decel S-
curve constant (TSL), Accel time constant (TACC) and Decel time constant (TDEC) to improve the
performance. Because the speed and angle acceleration are continuous when position command is changed to
pulse signal input, so it is not needed to use S-curve filter.

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Chapter 6 Control Modes of Operation

Relevant Parameters:

P1-34 TACC Acceleration Time Address: 0144H, 0145H

Default: 200 Related Section:

Applicable Control Mode: S Section 6.3.3,
Unit: msec
Range: 1 ~ 65500
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to determine the acceleration time to accelerate from 0 to its rated motor
speed. The functions of parameters P1-34, P1-35 and P1-36 are each individual. When P1-36 is set
to 0 (Disabled), the settings of P1-34, P1-35 are still effective. It indicates that the parameters P1-
34 and P1-35 will not become disabled even when P1-36 is disabled.
Please note:
When the source of speed command is analog command, the maximum setting value of P1-36 is set
to 0, the acceleration and deceleration function will be disabled.
When the source of speed command is analog command, the maximum setting value of P1-34 is
limited to 20000 automatically.

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Chapter 6 Control Modes of Operation

P1-35 TDEC Deceleration Time Address: 0146H, 0147H

Default: 200 Related Section:

P1-36 TSL Accel /Decel S-curve Address: 0148H, 0149H

Default: 0 Related Section:

Unit: msec Section 6.3.3,
Applicable Control Mode: S, PR
Unit: msec
Range: 0 ~ 65500 (0: Disabled)
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to make the motor run more smoothly when startup and windup. Using
this parameter can improve the motor running stability.

TACC: P1-34, Acceleration time

TDEC: P1-35, Deceleration time

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Chapter 6 Control Modes of Operation

TSL: P1-36, Accel /Decel S-curve

Total acceleration time = TACC + TSL
Total deceleration time = TDEC + TSL
The functions of parameters P1-34, P1-35 and P1-36 are each individual. When P1-36 is set to 0
(Disabled), the settings of P1-34, P1-35 are still effective. It indicates that the parameters P1-34 and
P1-35 will not become disabled even when P1-36 is disabled.
Please note:
When the source of speed command is analog command, the maximum setting value of P1-36 is set
to 0, the acceleration and deceleration function will be disabled.
When the source of speed command is analog command, the maximum setting value of P1-36 is
limited to 10000 automatically.

6.2.5 Electronic Gear Ratio

Relevant parameters:

P1 - 44▲ GR1 Electronic Gear Ratio (1st Numerator) (N1) Address: 0158H, 0159H

Default: 128 Related Section:

Applicable Control Mode: PT, PR Section 6.2.5
Unit: pulse
Range: 1 ~ (229-1)
Data Size: 32-bit
Display Format: Decimal
Settings:
This parameter is used to set the numerator of the electronic gear ratio. The denominator of the
electronic gear ratio is set by P1-45. P2-60 ~ P2-62 are used to set the additional numberators.
Please note:
In PT mode, the setting value of P1-44 can be changed only when the servo drive is enabled
(Servo On).
In PR mode, the setting value of P1-44 can be changed only when the servo drive is disabled
(Servo Off).

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Chapter 6 Control Modes of Operation

P1 - 45▲ GR2 Electronic Gear Ratio (Denominator) (M) Address: 015AH, 015BH

Default: 10 Related Section:

Applicable Control Mode: PT, PR Section 6.3.6
Unit: pulse
Range: 1 ~ (231-1)
Data Size: 32-bit
Display Format: Decimal
Settings:
This parameter is used to set the denominator of the electronic gear ratio. The numerator of the
electronic gear ratio is set by P1-44. P2-60 ~ P2-62 are used to set the additional numberators.
As the wrong setting may cause motor to run chaotically (out of control) and it may lead to
personnel injury, therefore, ensure to observe the following rule when setting P1-44, P1-45.
The electronic gear ratio setting (Please also see P1-44, P2-60 ~ P2-62):
Position f1: Pulse input f2: Position command
Pulse input N command
f1 M N N: Numerator, the setting value of P1-44 or
f2 = f1 x M P2-60 ~ P2-62
M: Denominator, the setting value of P1-45

The electronic gear ratio setting range must be within: 1/50<N/M<25600.

Please note:
In PT and PR mode, the setting value of P1-45 can not be changed when the servo drive is
enabled (Servo On).

The electronic gear function provides easy travel distance ratio change. However, the over high electronic
gear ratio will command the motor to move not smoothly. At this time, the users can use low-pass filter
parameter to improve this kind of situation. For example, assume that the electronic gear ratio is equal to 1
and the encoder pulse per revolution is 10000ppr, if the electronic gear ratio is changed to 0.5, then the motor
will rotate one pulse when the command from external controller is two pulses.
For example, after the proper electronic gear ratio is set, the reference travel distance is 1 m/pulse, the
machinery will become easier to be used.

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Chapter 6 Control Modes of Operation

Corresponding travel distance

Electronic Gear Ratio
per pulse
When the electronic
1 3x 100 0 300 0
gear ratio is not = = = m
used 1 4x 250 0 100 00

When the electronic

10000
gear ratio is not = =1 m
3000
used

6.2.6 Low-pass Filter

Relevant parameters:
Smooth Constant of Position Command
P1-08 PFLT Address: 0110H, 0111H
(Low-pass Filter)
Default: 0 Related Section:
Applicable Control Mode: PT/PR Section 6.2.6
Unit: 10msec
Range: 0 ~ 1000 (0: Disabled)
Data Size: 16-bit
Display Format: Decimal
Position

Target pos ition

Time (ms)

PFLT

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Chapter 6 Control Modes of Operation

6.2.7 Timing Chart of Position (PR) Control Mode

In PR mode, position command source is DI signal from CN1, i.e. selected by POS0~POS5 and CTRG.
Please refer to 6-2-2 to see the relationship between DI signals and parameters. The following figure is shown
the timing chart of PR mode:

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Chapter 6 Control Modes of Operation

6.2.8 Position Loop Gain Adjustment

Before performing position control (setting position control block diagram), the users should complete the speed
control setting by using Manual mode (parameter P-32) since the position loop contains speed loop. Then, adjust
the Proportional Position Loop Gain, KPP (parameter P2-00) and Position Feed Forward Gain, PFG (parameter
P2-02). Or use Auto mode to adjust the gain of speed and position control block diagram automatically.

Proportional Position Loop Gain: To increase this gain can enhance the position loop responsiveness.
Position Feed Forward Gain: To increase this gain can reduce the position track error during operation.
The position loop responsiveness cannot exceed the speed loop responsiveness, and it is recommended that
the speed loop responsiveness should be at least four times faster than the position loop responsiveness.
This also means that the setting value of Proportional Speed Loop Gain, KVP should be at least four times
faster than Proportional Position Loop Gain, KPP.
The equation is shown as follows:

fp < fv
4 , fv : Speed Loop Responsiveness (Hz), fp : Position Loop Responsiveness (Hz)

KPP = 2 × × fp.

For example, the desired position loop responsiveness is equal to 20 Hz.

Then, KPP = 2 × × 20= 125 rad/s.

Relevant parameters:

P2-00 KPP Proportional Position Loop Gain Address: 0200H, 0201H

Default: 35 Related Section:

Applicable Control Mode: PT, PR Section 6.2.8
Unit: rad/s
Range: 0 ~ 2047
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the position loop gain. It can increase stiffness, expedite position loop
response and reduce position error. However, if the setting value is over high, it may generate
vibration or noise.

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Chapter 6 Control Modes of Operation

P2-02 PFG Position Feed Forward Gain Address: 0204H, 0205H

Default: 50 Related Section:

Applicable Control Mode: PT, PR Section 6.2.8
Unit: %
Range: 0 ~ 100
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the feed forward gain when executing position control command.
When using position smooth command, increase gain can improve position track deviation. When
not using position smooth command, decrease gain can improve the resonance condition of
mechanical system.

When the value of Proportional Position Loop Gain, KPP is too great, the position loop responsiveness will be
increased and it will result in small phase margin. If this happens, the rotor of motor will oscillate. At this time,
the users have to decrease the value of KPP until the rotor of motor stop oscillating. When there is an external
torque command interrupted, over low KPP value will let the motor cannot overcome the external strength and
fail to meet the requirement of reasonable position track error demand. Adjust feed forward gain, PFG (P2-02) to
efficiently reduce the dynamic position track error.

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Chapter 6 Control Modes of Operation

6.2.9 Low-frequency Vibration Suppression

If the stiffness of the mechanical system is not sufficient, after the positioning command has completed,
continuous vibration of the mechanical system may occur still even when the motor has almost stopped. At
this time, using low-frequency vibration suppression function can suppress the low-frequency vibration of
mechanical system. The range of frequency setting is from 1.0 to 100.0Hz. Besides, two modes
(Manual/Auto) of low-frequency vibration suppression function are available for the users to select.

Auto Mode

If the users know the point where the low-frequency occurs, we recommend the users can use this mode to
find the low-frequency of the mechanical vibration automatically. When P1-29 is set to 1, the system will
disable the filter function and find the vibration frequency of low-frequency automatically. After the
detected frequency becomes fixed and stable, the system will set P1-29 to 0, save the first measured low-
frequency value automatically into P1-25 and set P1-26 to 1; then save the second measured low-frequency
value automatically into P1-27 and set P1-28 to 1. If any low-frequency vibration occurs after P1-29 is set to
0 automatically, please examine if the function of P1-26 or P1-28 is enabled or not. When the setting value
of P1-26 or P1-28 is 0, it indicates that there is no frequency is detected. Please decrease the setting value of
P1-
(Low-frequency Vibration Detection Level) and set P1-29 to 1 to find the low-frequency again. Please pay close
attention on the setting value of P1-30 as if the setting value of
P1-30 is too low, it is easy to regard the interference as the low-frequency and results in erroneous
measurement.

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Chapter 6 Control Modes of Operation

Please note:
When P1-26 and P1-28 are both set to 0, it indicates that the system could not find the frequency. Please check
the setting value of P1-30 because when the setting value of P1-30 is too high, it may causes that the
frequency becomes difficult to be found.
When P1-26 and P1-28 are both set to a non-zero value, if the vibration condition can not be improved,
please check the setting value of P1-30 as the low setting value of P1-30 may result in erroneous
measurement. The system may regard the interference as a low-frequency.
When the vibration still exists and can not be suppressed after using auto low-frequency vibration
suppression function, if the users know the vibration frequency, please set P1-25 and P1-27 manually
to improve the vibration condition.

Relevant parameters:
Auto Low-frequency Vibration Suppression
P1-29 AVSM Address: 013AH, 013BH
Mode Selection
Default: 0 Related Section:
Applicable Control Mode: PT/PR Section 6.2.9
Unit: -
Range: 0 ~ 1
Data Size: 16-bit
Display Format: Decimal
Settings:
Normal mode (Disable Auto Low-frequency Vibration Suppression Mode).
Auto mode (Enable Auto Low-frequency Vibration Suppression Mode). Explanation:
If P1-29 is set to 0, the setting of low-frequency vibration suppression is fixed and will not change
automatically.
If P1-29 is set to 1, when there is no low-frequency vibration or the low-frequency vibration
becomes less and stable, the system will set P1-29 to 0, save the measured low-frequency value
automatically and memorize it in P1-25.

P1-30 VCL Low-frequency Vibration Detection Level Address: 013CH, 013DH

Default: 500 Related Section:

Applicable Control Mode: PT/PR Section 6.2.9
Unit: pulse
Range: 1 ~ 8000
Data Size: 16-bit
Display Format: Decimal

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Chapter 6 Control Modes of Operation

Settings:
When P1-29 is set to 1, the system will find this detection level automatically. If the setting value of
P1-30 is too low, the detection of frequency will become sensitive and result in erroneous
measurement. If the setting value of P1-30 is too high, although the probability of erroneous
measurement will decrease, the frequency will become difficult to be found especially when the
vibration of mechanical system is less.
The setting value of P1-30 indicates the range of vibration frequency. When the vibration can not be
detected (out of range), it indicates that the setting value of
P1-30 is too high and we recommend the users can decrease the setting value of P1-30. The users
can also use the Scope function provided in ASDA-A2 configuration software to observe the
vibration during positioning operation so as to set P1-30 appropriately.

Manual Mode

There area two groups of low-frequency vibration suppression parameters. The first group is P1-25 and P1-
26 and the second group is P1-27 and P1-28. Using these two groups of parameters can improve the
vibration condition of two different low frequencies. P1-25 and P1-26 are used to set the occurred vibration
frequency and P1-26 and P1-28 are used to set the frequency response after filter function is used. When the
setting values of P1-26 and P1-28 are higher, the performance of frequency response will be better.
However, if the setting value is over high, it may affect the motor operation. The default setting of P1-26
and P1-28 are both 0, and it indicates that the low-frequency vibration suppression function is disabled.

Relevant parameters:

P1-25 VSF1 Low-frequency Vibration Suppression (1) Address: 0132H, 0133H

Default: 100.0 Related Section:

Applicable Control Mode: PT/PR Section 6.2.9
Unit: Hz
Range: 1.0 ~ 100.0
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the first group of the low-frequency of mechanical system. It can
be used to suppress the low-frequency vibration of mechanical system. If P1-26 is set to 0, this
parameter is disabled.

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Chapter 6 Control Modes of Operation

Low-frequency Vibration Suppression Gain

P1-26 VSG1 Address: 0134H, 0135H
(1)
Default: 0 Related Section:
Applicable Control Mode: PT/PR Section 6.2.9
Unit: -
Range: 0 ~ 9 (0: Disable the function of P1-25)
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the vibration suppression gain for P1-25. When the setting value is
higher, the position response is quicker. However, if the setting value is over high, it may addect
the normal operation of servo motor. It is recommended to set P1-26 as 1.

P1-27 VSF2 Low-frequency Vibration Suppression (2) Address: 0136H, 0137H

Default: 100.0 Related Section:

Applicable Control Mode: PT/PR Section 6.2.9
Unit: Hz
Range: 1.0 ~ 100.0
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the second group of the low-frequency of mechanical system. It can be
used to suppress the low-frequency vibration of mechanical system. If P1-28 is set to 0, this
parameter is disabled.

Low-frequency Vibration Suppression Gain

P1-28 VSG2 Address: 0138H, 0139H
(2)
Default: 0 Related Section:
Applicable Control Mode: PT/PR Section 6.2.9
Unit: -
Range: 0 ~ 9 (0: Disable the function of P1-27)
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the vibration suppression gain for P1-27. When the setting value is
higher, the position response is quicker. However, if the setting value is over high, it may addect
the normal operation of servo motor. It is recommended to set P1-28 as 1.

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Chapter 6 Control Modes of Operation

Please note:
After the low-frequency vibration is suppressed, the changes of the response may become excessive.
Therefore, please ensure that the machine is able to stop any time and ensure the safety of personnel
working with the machine when execute low-frequency vibration suppression function.
The low-frequency vibration suppression function can be enabled only in position control mode (PT,
PR or PR-PT mode).
When the users use resonance suppression function, the resonance condition can be improved immediately
after the correct resonance frequency is found. However, when the users use low-frequency vibration
suppression function, the vibration of the mechanical system will not be eliminated immediately. The
vibration condition is improved gradually after the correct frequency is found. This is because the low-
frequency vibration suppression function is not effective for the vibration caused by external force and
the vibration occurred before using suppression function.
After the low-frequency vibration suppression function is enabled, it will certainly affect the original
response performance. When the value of the low-frequency is lower, the effect upon the response
performance is greater. At this time, the users can adjust the setting value of P1-26 to increase the
position response. But, please do not set P1-26 to a higher value. If the setting value of P1-26 is too
high, it will affect the motor operation.
In order to avoid that the vibration frequency may not easily to be found when the commanding time is too
fast in Auto mode, we recommend the users can set a longer command delay time. The command can
be given after the vibration frequency is found.

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Chapter 6 Control Modes of Operation

6.3 Speed Control Mode

The speed control mode (S or Sz) is usually used on the applications of precision speed control, such as CNC
machine, etc. ASDA-A2 series servo drives support two kinds of command sources in speed control mode. One
is external analog signal and the other is internal parameter. The external analog signal is from external voltage
input and it can control the speed of servo motor. There are two usage of internal parameter, one is set different
speed command in three speed control parameters before operation and then using SPD0 and SPD1 of CN1 DI
signal perform switching. The other usage is using serial communication to change the setting value of
parameter.
Beside, in order to make the speed command switch more smoothly, ASDA-A2 series servo drives also provide
complete S-curve profile for speed control mode. For the closed-loop speed control, ASDA-A2 series servo
drives provide gain adjustment function and an integrated PI or PDFF controller. Besides, two modes of tuning
technology (Manual/Auto) are also provided for the users to select (parameter P2-32).

There are two turning modes for gain adjustment: Manual and Auto modes.

Manual Mode: User-defined loop gain adjustment. When using this mode, all auto and auxiliary function will
be disabled.

Auto Mode: Continuous adjustment of loop gains according to measured inertia, with ten levels of system
bandwidth. The parameter set by user is default value.

6.3.1 Command Source of Speed Control Mode

Speed command Sources:
External analog signal: External analog voltage input, -10V to +10V
Internal parameter: P1-09 to P1-11

Speed CN1 DI signal

Command Command Source Content Range
SPD1 SPD0
External Voltage
S analog between V-REF- -10 V ~ +10V
S1 0 0 Mode signal GND
Speed
Sz N/A 0
command is 0
S2 0 1 P1-09
-60000 ~
S3 1 0 Internal parameter P1-10
+60000 r/min
S4 1 1 P1-11

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Chapter 6 Control Modes of Operation

State of SPD0~1: 0: indicates OFF (Normally Open); 1: indicates ON (Normally Closed)

When SPD0 and SPD1 are both = 0 (OFF), if the control mode of operation is Sz, then the speed
command is 0. Therefore, if the users do not use analog voltage as speed command, the users can
choose Sz mode and avoid the zero point drift problem of analog voltage signal. If the speed control
mode is S mode, then the command is the analog voltage between V-REF and GND. The setting
range of the input voltage is from -10V to +10V and the corresponding motor speed is adjustable
(Please see parameter P1-40).
When at least one of SPD0 and SPD1 is not 0 (OFF), the speed command is internal parameter (P1-09 to
P1-11). The command is valid (enabled) after either SPD0 or SPD1 is changed.
The range of internal parameters is within -60000 ~ +60000 r/min. Setting value = Range x Unit (0.1
r/min). For example, if P1-09 is set to +30000, the setting value = +30000 x 0.1 r/min = +3000
r/min.

The speed command that is described in this section not only can be taken as speed command in speed
control mode (S or Sz mode) but also can be the speed limit input command in torque control mode (T
or Tz mode).

6.3.2 Structure of Speed Control Mode

Basic Structure:

In the figure above, the speed command processing is used to select the command source of speed control
according to chapter 6.3.1, including proportional gain (P1-40) and S-curve filter smoothing strategy of
speed control. The speed control block diagram is used to manage the gain parameters of the servo drive
and calculate the current input provided to motor instantaneously. The resonance suppression block
diagram is used to suppress the resonance of mechanical system.

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Chapter 6 Control Modes of Operation

The function and structure of speed command processing is shown as the figure below:

The command source is selected according to the state of SPD0, SPD1 and parameter P1-01 (S or Sz).
Whenever the command signal needs to be more smoothly, we recommend the users to use S-curve and
low-pass filter.

6.3.3 Smoothing Strategy of Speed Control Mode

S-curve Filter
The S-curve filter is a speed smoothing command which provides 3 steps accel / decel S-curve to smooth the
speed command change of the motor during acceleration and deceleration. Using S-curve filter can let the
servo motor run more smoothly in response to a sudden speed command change. Since the speed and
acceleration curve are both continuous, in order to avoid the mechanical resonance and noise may occur due
to a sudden speed command (differentiation of acceleration), using S-curve filter not only can improve the
performance when servo motor accelerate or decelerate but also can make the motor run more smoothly. S-
curve filter parameters include P1-34 Acceleration Time (TACC), P1-35 Deceleration Time (TDEC) and
Accel /Decel S-curve (TSL), and the users can use these three parameters to improve the motor performance
during acceleration, deceleration and operation. ASDA-A2 series servo drives also support the time
calculation of completing speed command. T (ms) is the operation (running) time. S (r/min) is absolute
speed command, i.e. the absolute value (the result) after starting speed subtracts the final speed.

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Chapter 6 Control Modes of Operation

Relevant parameters:

P1-34 TACC Acceleration Time Address: 0144H, 0145H

Default: 200 Related Section: Section

6.3.3,
Applicable Control Mode: S
Unit: msec
Range: 1 ~ 65500
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to determine the acceleration time to accelerate from 0 to its rated motor
speed. The functions of parameters P1-34, P1-35 and P1-36 are each individual. When P1-36 is set
to 0 (Disabled), the settings of P1-34, P1-35 are still effective. It indicates that the parameters P1-
34 and P1-35 will not become disabled even when P1-36 is disabled.
Please note:
When the source of speed command is analog command, the maximum setting value of P1-36 is set
to 0, the acceleration and deceleration function will be disabled.
When the source of speed command is analog command, the maximum setting value of P1-34 is
limited to 20000 automatically.

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Chapter 6 Control Modes of Operation

P1-35 TDEC Deceleration Time Address: 0146H, 0147H

Default: 200 Related Section:

Applicable Control Mode: S Section 6.3.3
Unit: msec
Range: 1 ~ 65500
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to determine the acceleration time to accelerate from 0 to its rated motor
speed. The functions of parameters P1-34, P1-35 and P1-36 are each individual. When P1-36 is set
to 0 (Disabled), the settings of P1-34, P1-35 are still effective. It indicates that the parameters P1-
34 and P1-35 will not become disabled even when P1-36 is disabled.
Please note:
When the source of speed command is analog command, the maximum setting value of P1-36 is set
to 0, the acceleration and deceleration function will be disabled.
When the source of speed command is analog command, the maximum setting value of P1-35 is
limited to 20000 automatically.

P1-36 TSL Accel /Decel S-curve Address: 0148H, 0149H

Default: 0 Related Section:

Unit: msec Section 6.3.3
Applicable Control Mode: S, PR
Unit: msec
Range: 0 ~ 65500 (0: Disabled)
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to make the motor run more smoothly when startup and windup. Using
this parameter can improve the motor running stability.

TACC: P1-34, Acceleration time

TDEC: P1-35, Deceleration time

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Chapter 6 Control Modes of Operation

TSL: P1-36, Accel /Decel S-curve

Analog Speed Command S-curve Filter

ASDA-A2 series servo drives also provide Analog Speed Command S-curve Filter for the smoothing in
response to a sudden analog input signal.

Speed (rpm) Analog speed command Motor Torque

3000

0
1 2 3 4 5 6 7 8 9 Time (sec)

-3000

The analog speed command S-curve filter is for the smoothing of analog input signal and its function is the
same as the S-curve filter. The speed and acceleration curve of analog speed command S-curve filter are both
continuous. The above figure shows the curve of analog speed command S-curve filter and the users can see
the ramp of speed command is different during acceleration and deceleration. Also, the users can see the
difference of input command tracking and can adjust time setting by using parameter P1-34, P1-35, P1-36 to
improve the actual motor performance according to actual condition.

Analog Speed Command Low-pass Filter

Analog Speed Command Low-pass Filter is used to eliminate high frequency response and electrical
interference from an analog speed command and it is also with smoothing function.

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Chapter 6 Control Modes of Operation

Relevant parameters:
Accel / Decel Smooth Constant of Analog
P1-06 SFLT Address: 010CH, 010DH
Speed Command (Low-pass Filter)
Default: 0 Related Section:
Applicable Control Mode: S Section 6.3.3
Unit: msec
Range: 0 ~ 1000 (0: Disabled)
Data Size: 16-bit
Display Format: Decimal
Target Speed

SFLT

6.3.4 Analog Speed Input Scaling

The analog voltage between V_REF and GND determines the motor speed command. Using with
parameter P1-40 (Max. Analog Speed Command) can adjust the speed control ramp and its range.

5000rpm
The speed control ramp is
determined by parameter P1-40
3000rpm

-10 -5

5 10 Analog Input Voltage (V)

-3000rpm

-5000rpm

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Chapter 6 Control Modes of Operation

Relevant parameters:

P1 - 40▲ VCM Max. Analog Speed Command or Limit Address: 0150H, 0151H

Default: rated speed Related Section:

Applicable Control Mode: S, T Section 6.3.4
Unit: r/min
Range: 0 ~ 10000
Data Size: 16-bit
Display Format: Decimal
Settings:
In Speed mode, this parameter is used to set the maximum analog speed command based
on the maximum input voltage (10V).
In Torque mode, this parameter is used to set the maximum analog speed limit based on the
maximum input voltage (10V).
For example, in speed mode, if P1-40 is set to 3000 and the input voltage is 10V, it indicates that the
speed command is 3000 r/min. If P1-40 is set to 3000, but the input voltage is changed to 5V, then the
speed command is changed to 1500 r/min.
Speed Command / Limit = Input Voltage Value x Setting value of P1-40 / 10

6.3.5 Timing Chart of Speed Control Mode

S4 (P1-11)
Internal speed
S3 (P1-10)
command
S2 (P1-09)

External analog
voltage or zero (0) S1

SPD0 OFF ON OFF ON

External I/O signal SPD1 OFF ON

SON ON

NOTE

OFF indicates normally open and ON indicates normally closed.

When speed control mode is Sz, the speed command S1=0; when speed control mode is S, the speed command S1
is external analog voltage input (Please refer to P1-01).

After Servo ON, the users can select command according to the state of SPD0~1.

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Chapter 6 Control Modes of Operation

6.3.6 Speed Loop Gain Adjustment

The function and structure of speed control mode is shown as the figure below:

There are two turning modes of gain adjustment: Manual and Auto modes. The gain of ASDA-A2 series
servo drives can be adjusted by using any one of two tuning modes.
Manual Mode: User-defined loop gain adjustment. When using this mode, all auto and auxiliary function
will be disabled.
Auto Mode: Continuous adjustment of loop gains according to measured inertia, with ten levels of
system bandwidth. The parameter set by user is default value.

The mode of gain adjustment can be selected by parameter P2-32:

Relevant Parameter:

P2 - 32▲ AUT2 Tuning Mode Selection Address: 0240H, 0241H

Default: 0 Related Section:

Applicable Control Mode: ALL Section 5.6, Section 6.3.6
Unit: N/A
Range: 0 ~ 2
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
Manual mode
Auto Mode [Continuous adjustment]
Semi-Auto Mode [Non-continuous adjustment]

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Chapter 6 Control Modes of Operation

Explanation of manual mode:

When P2-32 is set to mode#0, the setting value of P2-00, P2-02, P2-04, P2-06, P2-07, P2-25 and
P2-26 can be user-defined. When switching mode #1 or #2 to #0, the setting value of P2-00,
P2-02, P2-04, P2-06, P2-07, P2-25 and P2-26 will change to the value that measured in #1
auto-tuning mode or #2 semi-auto tuning mode.
Explanation of auto-tuning mode:
The servo drive will continuously estimate the system inertia, save the measured load inertia
value automatically and memorized in P1-37 every 30 minutes by referring to the frequency
response settings of P2-31.
When switching mode #1 or #2 to #0, the servo drive will continuously estimate the system inertia,
save the measured load inertia value automatically and memorized in P1-37. Then, set the
corresponding parameters according to this measured load inertia value.
When switching mode#0 or #1 to #2, enter the appropriate load inertia value in P1-37.
When switching mode#1 to #0, the setting value of P2-00, P2-04 and P2-06 will change to the value
that measured in #1 auto-tuning mode.
Explanation of semi-auto tuning mode:
When switching mode #2 to #0, the setting value of P2-00, P2-04, P2-06, P2-25 and P2-26 will
change to the value that measured in #1 auto-tuning mode.
After the system inertia becomes stable (The displau of P2-33 will show 1), it will stop estimating
the system inertia, save the measured load inertia value automatically, and memorized in P1-37.
However, when P2-32 is set to mode#1 or #2, the servo drive will continuously perform the
adjustment for a period of time.
When the value of the system inertia becomes over high, the display of P2-33 will show 0 and the
servo drive will start to adjust the load inertia value continuously.

Manual Mode
When Tuning Mode Settings of P2-32 is set to 0, the users can define the proportional speed loop gain (P2-
04), speed integral gain (P2-06) feed forward gain (P2-07) and ratio of load inertia to servo motor Inertia (1-
37). Please refer to the following description:
Proportional gain: Adjust this gain can increase the position loop responsiveness.
Integral gain: Adjust this gain can enhance the low-frequency stiffness of speed loop and eliminate the
steady error. Also, reduce the value of phase margin. Over high integral gain will result in the
unstable servo system.
Feed forward gain: Adjust this gain can decrease the phase delay error

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Chapter 6 Control Modes of Operation

Relevant parameters:

P2-04 KVP Proportional Speed Loop Gain Address: 0208H, 0209H

Default: 500 Related Section:

Applicable Control Mode: ALL Section 6.3.6
Unit: rad/s
Range: 0 ~ 8191
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the speed loop gain. When the value of proportional speed loop gain is
increased, it can expedite speed loop response. However, if the setting value is over high, it may
generate vibration or noise.

P2-06 KVI Speed Integral Compensation Address: 020CH, 020DH

Default: 100 Related Section:

Applicable Control Mode: ALL Section 6.3.6
Unit: rad/s
Range: 0 ~ 1023
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the integral time of speed loop. When the value of speed integral
compensation is increased, it can improve the speed response ability and decrease the speed control
deviation. However, if the setting value is over high, it may generate vibration or noise.

P2-07 KVF Speed Feed Forward Gain Address: 020EH, 020FH

Default: 0 Related Section:

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Chapter 6 Control Modes of Operation

When using speed smooth command, increase gain can improve speed track deviation.
When not using speed smooth command, decrease gain can improve the resonance condition of
mechanical system.

In theory, stepping response can be used to explain proportional gain (KVP), integral gain (KVI) and feed
forward gain (KVF). Now we use frequency area and time area respectively to explain the logic.

Frequency Domain

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Chapter 6 Control Modes of Operation

Time Domain

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Chapter 6 Control Modes of Operation

In general, the equipment, such as spectrum analyzer is needed and used to analyze when using frequency
domain method and the users also should have this kind of analysis technology. However, when using time
domain method, the users only need to prepare an oscilloscope. Therefore, the general users usually use time
domain method with the analog DI/DO terminal provided by the servo drive to adjust what is called as PI
(Proportional and Integral) type controller. As for the performance of torque shaft load, input command
tracking and torque shaft load have the same responsiveness when using frequency domain method and time
domain method. The users can reduce the responsiveness of input command tracking by using input
command low-pass filter.

Auto Mode (Continuous adjustment))

This Auto Mode provides continuous adjustment of loop gains according to measured inertia automatically.
It is suitable when the load inertia is fixed or the load inertia change is small and is not suitable for wide
range of load inertia change. The period of adjustment time is different depending on the acceleration and
deceleration of servo motor. To change the stiffness and responsiveness, please use parameter P2-31.

Motor Speed

Inertia Measurement

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Low-pass Filter Time Constant

P2-25 NLP Address: 0232H, 0233H
(Resonance Suppression)
Default: 2 (1kW and below models) or Related Section:
5 (other models) Section 6.3.7
Applicable Control Mode: ALL
Unit: 0.1 msec
Range: 0 ~ 1000
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set low-pass filter time constant of resonance suppression.
If P2-25 is set to 0, this parameter is disabled.

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Chapter 6 Control Modes of Operation

There are two groups of notch filters provided by ASDA-A2 series. The first group of notch filter is P2-43 and
P2-44, and the second group of notch filter is P2-45 and P2-46. When there is resonance, please set P2-47 to 1 or
2 (Auto mode), and then the servo drive will find resonance frequency and suppress the resonance automatically.
After suppressing the resonance point, the system will memorize the notch filter frequency into P2-43 and P-45,
and memorize the notch filter attenuation rate into P2-44 and P2-46.
When P2-47 is set to 1, the resonance suppression will be enabled automatically. After the mechanical system
becomes stable (approximate 20 minutes), the setting value of P2-47 will return to 0 (Disable auto resonance
suppression function). When P2-47 is set to 2, the system will find the resonance point continuously even after the
mechanical system becomes stable.

When P2-47 is set to 1 or 2, if the resonance conditions can not be eliminated, we recommend the users to check
the settings of P2-44 and P2-46. If either of the setting value of P2-44 and P2-46 is set to 32, please decrease the
speed frequency response and estimate the resonance point again. If the resonance conditions can not be
eliminated when the setting values of P2-44 and P2-46 are both less than 32, please set P2-47 to 0 first, and
increase the setting value of P2-44 and P2-46 manually. If the resonance exists still after increasing the setting
value of P2-44 and P2-46, please decrease the value of speed frequency response again and then use the resonance
suppression function again.
When increasing the setting value of P2-44 and P2-46 manually, ensure to pay close attention on the setting value
of P2-44 and P2-46. If the value of P2-44 and P2-46 is greater than 0, it indicates that the corresponding
resonance frequency of P2-43 and P2-45 is found through auto resonance suppression function. If the value of P2-
44 and P2-46 is equal to 0, it indicates that the value of P2-43 and P2-45 will be the default value 1000 and this is
not the frequency found by auto resonance suppression function. At this time, if the users increase the value of
notch filter attenuation rate which does not exist, the performance of the current mechanical system may
deteriorate.

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Chapter 6 Control Modes of Operation

Settings of P2-47
Current Value Desired Value Function
Clear the setting value of P2-43 ~ P2-46 and enable
0 1
auto resonance suppression function.
Clear the setting value of P2-43 ~ P2-46 and enable
0 2
auto resonance suppression function.
Save the setting value of P2-43 ~ P2-46 and disable
1 0
auto resonance suppression function.
Clear the setting value of P2-43 ~ P2-46 and enable
1 1
auto resonance suppression function.
Do not clear the setting value of P2-43 ~ P2-46 and
1 2 enable auto resonance suppression function
continuously.
Save the setting value of P2-43 ~ P2-46 and disable
2 0
auto resonance suppression function.
Clear the setting value of P2-43 ~ P2-46 and enable
2 1
auto resonance suppression function.
Do not clear the setting value of P2-43 ~ P2-46 and
2 2 enable auto resonance suppression function
continuously.

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Chapter 6 Control Modes of Operation

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Chapter 6 Control Modes of Operation

Low-pass filter
Please use parameter P2-25. The figure below shows the resonant open-loop gain.
Gain

Frequency

When the low-pass filter (parameter P2-25) is adjusted from 0 to high value, the value of Low-pass
frequency (BW) will become smaller (see the figure below). The resonant condition is improved and the
frequency response and phase margin will also decrease.

Gain

0dB Frequency
BW

Notch Filter
Usually, if the users know the resonance frequency, we recommend the users can eliminate the resonance
conditions directly by using notch filter (parameter P2-23, P2-24). However, the range of frequency setting
is from 50 to 1000Hz only and the range of resonant attenuation is 0~32 dB only. Therefore, if the resonant
frequency is out of this range, we recommend the users to use low-pass filter (parameter P2-25) to improve
resonant condition.
Please refer to the following figures and explanation to know how to use notch filter and low-pass filter to
improve resonant condition.

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Chapter 6 Control Modes of Operation

Use Notch Filter to suppress resonance

Resonance
Resonance
conditions
Gain Point Gain Gain is suppressed
Notch Filter

Low-pass 0db Low-pass

Frequency Attenuation Frequency
Rate P2-24

Resonance Frequency Resonance Frequency Resonance Frequency

Frequency . Frequency Frequency .
P2-23

Use Low-pass Filter to suppress resonance

.
Resonance
Resonance conditions
Gain Low-pass Filter
Point Gain Attenuation Gain is suppressed
0db Rate -3db Cut-off Frequency
Low-pass of Low-pass Filter Low-pass
Frequency = 10000 / P2--25 Hz Frequency

Resonance Frequency Frequency Resonance Frequency

.
Frequency Frequency

When the low-pass filter (parameter P2-25) is adjusted from 0 to high value, the value of Low-pass
frequency will become smaller (see the figure on page 6-26). The resonant condition is improved but the
frequency response and phase margin will also decrease and the system may become unstable. Therefore, if
the users know the resonance frequency, the users can eliminate the resonance conditions directly by using
notch filter (parameter P2-23, P2-24). Usually, if the resonant frequency can be recognized, we recommend
the users can directly use notch filter (parameter P2-23, P2-24) to eliminate the resonance. However, if the
resonant frequency will drift or drift out of the notch filter range, we recommend the users not to use notch
filter and use low-pass filter to improve resonant conditions.

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Chapter 6 Control Modes of Operation

6.4 Torque Control Mode

The torque control mode (T or Tz) is usually used on the applications of torque control, such as printing machine,
spinning machine, twister, etc. Delta ASDA-A2 series servo drives support two kinds of command sources in
torque control mode. One is external analog signal and the other is internal parameter. The external analog signal
is from external voltage input and it can control the torque of servo motor. The internal parameters are from P1-
12 to P1-14 which are used to be the torque command in torque control mode.

6.4.1 Command Source of Torque Control Mode

Torque command Sources:
External analog signal: External analog voltage input, -10V to +10V
Internal parameter: P1-12 to P1-14
The command source selection is determined by the DI signal of CN1 connector.
DI signal of
Torque
CN1 Command Source Content Range
Command
TCM1 TCM0
T External analog Voltage between -10V ~ +10V
signal T-REF-GND
T1 0 0 Mode
Torque
Tz None 0
command is 0
T2 0 1 P1-12
-300% ~
T3 1 0 Internal parameter P1-13
300%
T4 1 1 P1-14
State of TCM0~1: 0: indicates OFF (Normally Open); 1: indicates ON (Normally Closed)
When TCM0 and TCM1 are both 0 (OFF), if the control mode of operation is Tz, then the command is 0.
Therefore, if the users do not use analog voltage as torque command, the users can choose Tz mode
to operation torque control to avoid the zero point drift problem of analog voltage. If the control
mode of operation is T, then the command is the analog voltage between T-REF and GND. The
setting range of the input voltage is from -10V to +10V and the corresponding torque is adjustable
(see parameter P1-41).
When at least one of TCM0 and TCM1 is not 0 (OFF), the torque command is internal parameter. The
command is valid (enabled) after either TCM0 or TCM1 is changed.

The torque command that is described in this section not only can be taken as torque command in torque
control mode (T or Tz mode) but also can be the torque limit input command in position mode (P mode)
and speed control mode (S or Sz mode).

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Chapter 6 Control Modes of Operation

6.4.2 Structure of Torque Control Mode

Basic Structure:

The toque command processing is used to select the command source of torque control according to
chapter 6.4.1, including max. analog torque command (parameter P1-41) and smoothing strategy of torque
control mode. The current control block diagram is used to manage the gain parameters of the servo drive
and calculate the current input provided to motor instantaneously. As the current control block diagram is
too complicated, setting the parameters of current control block diagram is not allowed. The function and
structure of torque command processing is shown as the figure below:

The command source is selected according to the state of TCM0, TCM1 and parameter P1-01 (T or Tz).
Whenever the command signal needs to be more smoothly, we recommend the users to use proportional gain
(scalar) and low-pass filter to adjust torque.

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Chapter 6 Control Modes of Operation

6.4.3 Smoothing Strategy of Torque Control Mode

Relevant parameters:
Smooth Constant of Analog Torque
P1-07 TFLT Address: 010EH, 010FH
Command (Low-pass Filter)
Default: 0 Related Section:
Applicable Control Mode: T Section 6.4.3
Unit: msec
Range: 0 ~ 1000 (0: Disabled)
Data Size: 16-bit
Display Format: Decimal

NOTE

If the setting value of parameter P1-07 is set to 0, it indicates the function of this parameter is
disabled and the command is just By-Pass.
Target Speed

TFLT

6.4.4 Analog Torque Input Scaling

The analog voltage between T_REF and GND controls the motor torque command. Using with parameter
P1-41 can adjust the torque control ramp and its range.

300%
The torque control ramp is
determined by parameter P1-41
100%

Torque command -10 -5

5 10 Analog Input Voltage (V)

-100%

-300%

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Chapter 6 Control Modes of Operation

Relevant parameters:

P1 - 41▲ TCM Max. Analog Torque Command or Limit Address: 0152H, 0153H

Default: 100 Related Section:

Applicable Control Mode: ALL Section 6.4.4
Unit: %
Range: 0 ~ 1000
Data Size: 16-bit
Display Format: Decimal
Settings:
In Torque mode, this parameter is used to set the maximum analog torque command based
on the maximum input voltage (10V).
In Position (PT, PR) and Speed mode, this parameter is used to set the maximum analog torque
limit based on the maximum input voltage (10V).
For example, in torque mode, if P1-41 is set to 100 and the input voltage is 10V, it indicates that the
torque command is 100% rated torque. If P1-41 is set to 100, but the input voltage is changed to 5V,
then the torque command is changed to 50% rated torque.
Torque Command / Limit = Input Voltage Value x Setting value of P1-41 / 10

6.4.5 Timing Chart of Torque Control Mode

T4 (P1-14)
Internal speed
T3 (P1-13)
command
T2 (P1-12)

External analog
voltage or zero (0) T1

TCM0 OFF ON OFF ON

OFF ON
External I/O signal TCM1

SON ON

NOTE

OFF indicates normally open and ON indicates normally closed.

When torque control mode is Tz, the torque command T1=0; when torque control mode is T, the speed command
T1 is external analog voltage input (Please refer to P1-01).

After Servo ON, the users can select command according to the state of TCM0~1.

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Chapter 6 Control Modes of Operation

6.5 Control Modes Selection

Except signal control mode operation, ASDA-A2 series servo drives also provide many dual and multiple
modes for the users to select.
1） Speed / Position mode selection: PT-S, PR-S, PT-PR

2） Speed / Torque mode selection: S-T

3） Torque / Position mode selection: PT-T, PR-T

4） Position / Speed multiple mode selection: PT-PR-S

5） Position / Torque multiple mode selection: PT-PR-T

Mode Name Code Description

Either PT or S control mode can be selected via the Digital
PT-S 06
Inputs (DI)
Either PT or T control mode can be selected via the Digital
PT-T 07
Inputs (DI)
Either PR or S control mode can be selected via the Digital
PR-S 08
Inputs (DI)
Dual Mode
Either PR or T control mode can be selected via the Digital
PR-T 09
Inputs (DI)
Either S or T control mode can be selected via the Digital
S-T 0A
Inputs (DI)
Either PT or PR control mode can be selected via the Digital
PT-PR 0D
Inputs (DI).
Either PT or PR or S control mode can be selected via the
PT-PR-S 0E
Digital Inputs (DI).
Multiple Mode
Either PT or PR or T control mode can be selected via the
PT-PR-T 0F
Digital Inputs (DI).
Sz and Tz mode selection is not provided. In order to avoid using too much DI inputs, we recommend that
the users can use external analog signal as input command in speed and torque mode to reduce the use of DI
inputs (SPD0~1 or TCM0~1). In position mode, we recommend that the users can use PT mode to input
pulse to reduce the use of DI inputs (POS0~5).
Please refer to table 3.B and table 3.C in section 3.3.2 to see the default pin number of DI/DO signal.

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Chapter 6 Control Modes of Operation

6.5.1 Speed / Position Control Mode Selection

PT-S Mode / PR-S Mode:
The command source of PT-S mode is from external input pulse. The command source of PR-S mode is from
internal parameters (P6-00 to P7-27). The speed command can be the external analog voltage or internal
parameters (P1-09 to P1-11). The speed and position mode switching is controlled by the S-P signal. The
selection will be more complicated when the position of PR-S mode and speed command are both selected
through DI signal.

The timing chart of speed / position control mode selection is shown as the figure below:

CTRG

S-P

POS0-2 NOT CARE POS0-2 VALID POS0-2 NOT CARE

SPD0-1 VALID SPD0~1 NOT CARE SPD0-1 VALID

Speed control mode Position control mode Speed control mode

Figure 1. : Speed / Position Control Mode Selection

In speed mode (when S-P is ON), speed command is selected by SPD0~1 and CTRG is disabled at this time.
When switching to the position mode (when S-P is OFF), the position command is not determined (it needs
to wait that CTRG is on the rising edge), so the motor stop running. Once CTRG is on the rising edge,
position command will be selected according to POS0~5 and the motor will immediately move to the
determined position. After S-P is ON, it will immediately return to speed mode.
For the relationship between DI signal and selected command in each mode, please refer to the introduction
of single mode.

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Chapter 6 Control Modes of Operation

6.5.2 Speed / Torque Control Mode Selection

S-T Mode:
The speed command can be the external analog voltage or internal parameters (P1-09 to P1-11) and SPD0~1 is
used to select speed command. The same as speed command, the torque command can be the external analog
voltage or internal parameters (P1-12 to P1-
and TCM0~1 is used to select torque command. The speed and torque mode switching is
controlled by the S-T signal.
The timing chart of speed / torque control mode selection is shown as the figure below:

S-T

NOT CARE SPD0-1 VALID NOT CARE

TCM0-1 VALID NOT CARE TCM0-1 VALID

Torque control mode Speed control mode Torque control mode

Figure 2. : Speed / Torque Control Mode Selection

In torque mode (when S-T is ON), torque command is selected by TCM0~1. When switching to the speed
mode (when S-T is OFF), the speed command is selected by SPD0~1, and then the motor will immediately
rotate following the command. After S-T is ON again, it will immediately return to torque mode.

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Chapter 6 Control Modes of Operation

6.5.3 Torque / Position Control Mode Selection

PT-T Mode / PR-T Mode:
The command source of PT-T mode is from external input pulse. The command source of PR-T mode is
from internal parameters (P6-00 to P7-27). The torque command can be the external input pulse or internal
parameters (P1-12 to P1-14). The torque and position mode switching is controlled by T-P signal. The
selection will be more complicated when the position of PR-T mode and torque command are both selected
through DI signal.
The timing chart of speed / position control mode selection is shown as the figure below:

In torque mode (when T-P is ON), torque command is selected by TCM0~1 and CTRG is disabled at this
time. When switching to the position mode (when T-P is OFF), the position command is not determined (it
needs to wait that CTRG is on the rising edge), so the motor stop running. Once CTRG is on the rising edge,
position command will be selected according to POS0~5 and the motor will immediately move to the
determined position. After T-P is ON, it will immediately return to torque mode.
For the relationship between DI signal and selected command in each mode, please refer to the introduction
of single mode.

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Chapter 6 Control Modes of Operation

6.6 Others

6.6.1 Speed Limit

The max. servo motor speed can be limited by using parameter P1-55 no matter in position, speed
or torque control mode.
The command source of speed limit command is the same as speed command. It can be the external analog
voltage but also can be internal parameters (P1-09 to P1-11). For more information of speed command
source, please refer to chapter 6.3.1.
The speed limit only can be used in torque mode (T mode) to limit the servo motor speed. When the torque
command is the external analog voltage, there should be surplus DI signal that can be treated as SPD0~1 and
be used to select speed limit command (internal parameter). If there is not enough DI signal, the external
voltage input can be used as speed limit command. When the Disable / Enable Speed Limit Function
Settings in parameter P1-02 is set to 1, the speed limit function is activated.
The timing chart of speed limit is shown as the figure below:
Disable / Enable Speed Limit Function
Settings in parameter P1-02 is set to 1
Disable / Enable Speed Limit Function
Settings in parameter P1-02 is set to 0

SPD0~1 INVALID SPD0~1 VALID

Command Source Selection of Speed Limit

6.6.2 Torque Limit

The command source of torque limit command is the same as torque command. It can be the external analog
voltage but also can be internal parameters (P1-12 to P1-14). For more information of torque command
source, please refer to chapter 6.4.1.
The torque limit only can be used in position mode (PT and PR mode) and speed mode (S mode) to limit the
output torque of servo motor. When the position command is the external pulse and speed command is the
external analog voltage, there should be surplus DI signal that can be treated as TCM0~1 used to select
torque limit command (internal parameter). If there is not enough DI signal, the external voltage input can
be used as torque limit command. When the Disable / Enable Torque Limit Function Settings in parameter
P1-02 is set to 1, the torque limit function is activated.
The timing chart of torque limit is shown as the figure below:
Disable / Enable Torque Limit Function
Disable / Enable Torque Limit Function Settings in parameter P1-02 is set to 1
Settings in parameter P1-02 is set to 0

TCM0~1 INVALID TCM0~1 VALID

Command Source Selection of Torque Limit

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Chapter 6 Control Modes of Operation

6.6.3 Analog Monitor

Users can use analog monitor to observe the required analog voltage signals. ASDA-A2 series servo
drives provide two analog channels, they are PIN No. 15 and 16 of CN1 connector. The parameters
relative to analog monitor are shown below.
Relevant parameters:

P0-03 MON Analog Monitor Output Address: 0006H, 0007H

Default: 01 Related Section:

Applicable Control Mode: ALL Section 4.3.5
Unit: N/A
Range: 00 ~ 77
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
This parameter determines the functions of the analog monitor outputs.

XY: (X: CH1; Y: CH2)

Motor speed (+/-8V / maximum motor speed)
Motor torque (+/-8V / maximum torque)
Pulse command frequency (+8Volts / 4.5Mpps)
Speed command (+/-8Volts / maximum speed command)
Torque command (+/-8Volts / maximum torque command)
V_BUS voltage (+/-8Volts / 450V)
Reserved
Reserved
Please note: For the setting of analog output voltage proportion, refer to the P1-04 and P1-05.
Example:
P0-03 = 01(CH1 is speed analog output)
Motor speed = (Max. motor speed × V1/8) × P1-04/100, when the output voltage value of CH1 is
V1.

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Chapter 6 Control Modes of Operation

P1-03 AOUT Pulse Output Polarity Setting Address: 0106H, 0107H

Default: 0 Related Section:

Applicable Control Mode: ALL Section 3.3.3
Unit: N/A
Range: 0 ~ 13
Data Size: 16-bit
Display Format: Hexadecimal
Settings:

A
B
not used
This parameter is used to determine the polarity of analog monitor outputs and position pulse
outputs. The analog monitor outputs can be configured with different polarity individually, but the
position pulse outputs have to be each with the same polarity.
Analog monitor outputs polarity
MON1(+), MON2(+)
MON1(+), MON2(-)
MON1(-), MON2(+)
MON1(-), MON2(-)
Position pulse outputs polarity
Forward output
Reverse output

P1-04 MON1 Analog Monitor Output Proportion 1 (CH1) Address: 0108H, 0109H

Default: 100 Related Section:

Applicable Control Mode: ALL Section 6.4.4
Unit: % (full scale)
Range: 0 ~ 100
Data Size: 16-bit
Display Format: Decimal

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Chapter 6 Control Modes of Operation

P1-05 MON2 Analog Monitor Output Proportion 2 (CH2) Address: 010AH, 010BH

Default: 100 Related Section:

Applicable Control Mode: ALL Section 6.4.4
Unit: % (full scale)
Range: 0 ~ 100
Data Size: 16-bit
Display Format: Decimal

Analog Monitor Output Drift Adjustment

P4-20 DOF1 Address: 0428H, 0429H
(CH1)
Default: Factory setting Related Section:
Applicable Control Mode: ALL Section 6.4.4
Unit: mV
Range: -800 ~ 800
Data Size: 16-bit
Display Format: Decimal
Settings:
Please note that when P2-08 is set to 10, the users cannot reset this parameter.

Analog Monitor Output Drift Adjustment

P4-21 DOF2 Address: 042AH, 042BH
(CH2)
Default: Factory setting Related Section:
Applicable Control Mode: ALL Section 6.4.4
Unit: mV
Range: -800 ~ 800
Data Size: 16-bit
Display Format: Decimal
Settings:
Please note that when P2-08 is set to 10, the users cannot reset this parameter.

For example, when the users want to observe the analog voltage signal of channel 1, if the monitor output
setting range is 8V per 325Kpps, then it is needed to change the setting value of parameter P1-04 (Analog
Monitor Output Proportion 1) to 50 (=325Kpps/Max. input frequency). Other related parameters setting
include parameter P0-03 (A=3) and P1-03 (A=0~3, output polarity setting). In general, when output voltage
value of Ch1 is V1, the pulse command frequency is equal to (Max. input frequency × V1/8) × P1-04/100.

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Chapter 6 Control Modes of Operation

Because there is an offset value of analog monitor output voltage, the zero voltage level of analog monitor
output does not match to the zero point of setting value. We recommend the users can use Analog Monitor
Output Drift Adjustment, DOF1 (parameter P4-20) and DOF2 (parameter P4-21) to improve this condition.
The maximum output voltage range of analog monitor output is ±8V. If the output voltage exceed its limit,
it is still limited within the range of ±8V. The revolution provided by ASDA-A2 series servo drives is 10bit,
approximated to 13mv/LSB.

DOF

-8V

6.6.4 Electromagnetic Brake

When the servo drive is operating, if the digital output BRKR is set to Off, it indicates the electromagnetic
brake is disabled and motor is stop running and locked. If the digital output BRKR is set to ON, it indicates
electromagnetic brake is enabled and motor can run freely.
There are two parameters that affect the electromagnetic brake. One is parameter P1-42 (MBT1) and the
other is parameter P1-43 (MBT2). The users can use these two parameters to set the On and Off delay time
of electromagnetic brake. The electromagnetic brake is usually used in perpendicular axis (Z-axis) direction
to reduce the large energy generated from servo motor. Using electromagnetic brake can avoid the load may
slip since there is no motor holding torque when power is off. Without using electromagnetic brake may
reduce the life of servo motor. To avoid malfunction, the electromagnetic brake should be activated after
servo system is off (Servo Off).
If the users desire to control electromagnetic brake via external controller, not by the servo drive, the users
must execute the function of electromagnetic brake during the period of time when servo motor is braking.
The braking strength of motor and electromagnetic brake must be in the same direction when servo motor is
braking. Then, the servo drive will operate normally. However, the servo drive may generate larger current
during acceleration or at constant speed and it may the cause of overload (servo fault).

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Chapter 6 Control Modes of Operation

Timing chart for using servo motor with electromagnetic brake:

ON
SON
(DI Input) OFF OFF
ON
BRKR OFF OFF
(DO Output)

MBT1(P1-42) MBT2(P1-43)

ZSPD(P1-38)
Motor Speed

BRKR output timing explanation:

When Servo Off (when DI SON is not activated), the BRKR output goes Off (electromagnetic brake is
locked) after the delay time set by P1-43 is reached and the motor speed is still higher than the
setting value of P1-38.
When Servo Off (when DI SON is not activated), the BRKR output goes Off (electromagnetic brake is
locked) if the delay time set by P1-43 is not reached and the motor speed is still lower than the
setting value of P1-38.

Electromagnetic Brake Wiring Diagram

NOTE

Please refer to Chapter 3 Connections and Wiring for more wiring information.
The BRKR signal is used to control the brake operation. The VDD DC24V power supply of the servo drive
can be used to power the relay coil (Relay). When BRKR signal is ON, the motor brake will be
activated.
Please note that the coil of brake has no polarity.
The power supply for brake is DC24V. Never use it for VDD, the +24V source voltage.

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Chapter 6 Control Modes of Operation

The timing charts of control circuit power and main circuit power:

L1, L2
Control Circuit
Power
1 sec
5V
Control Circuit
Power
> 0msec
R,S,T
Main Circuit
Power
800ms

BUS Voltage
READY
2 sec
SERVO
READY

SERVO ON
(DI Input) 1 msec (min)+ Response Filter Time of Digital Input (P2-09)

SERVO ON
(DO Output)

Position \ Speed \ Input available

Torque Command
Input

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Chapter 6 Control Modes of Operation

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Chapter 7 Motion Control Functions

7.1 Motion Control Functions

ASDA-A2 series provides the following motion control functions:

Innovative PR mode
Capture (Position Latch) / Compare (Position Detection) functions
Electronic Cam (E-Cam) function (ASDA-A2 series L type models does not provide this function.)

7.2 System Information

The system information of the servo drive includes:

System Parameters; 2. Monitor Parameters; 3. Data Array Please refer to
the following table below.

System Parameters Monitor Parameters

Applied to function settings or
commands, for example, For monitoring status of servo
Usage position/speed/torque control operating, for example, speed,
modes, position/speed loop gain position, torque and other settings.
and other settings.
Set P0-02 directly to enter into
LED Display: display PX-XX on the monitor mode and specify the monitor
display for example P1-01. Press status. The monitor status depends on
Display Method the SET key to display the setting the setting value of P0-02. Press MODE
value of parameters. For the key on the keypad is to enter into
operation of the digital keypad, monitor mode directly. For the
please refer to Chapter 4. operation of the digital keypad, please
refer to Chapter 4.
There are 16-bit and 32-bit
Access Method parameters which can be Read only
read/written via several ways.
16-bit or 32-bit (depends on the
Data Length 32-bit integer
settings of parameters)
 Monitoring is accomplished through
USB (upon PC software)
 Do not support MODBUS/CANopen
Support MODBUS/CANopen/USB
Communication Read & Write, each parameter Read & Write directly unless users
use mapping function to monitor
occupies two MODBUS addresses.
the specified monitor parameters
via the corresponding system
parameters.
Mapping P0-25 ~ P0-32, total 8 parameters P0-09 ~ P0-13, total 5 parameters
Parameters (Determined by P0-35 ~ P0-42) (Determined by P0-17 ~ P0-21)

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Chapter 7 Motion Control Functions

System Parameters Monitor Parameters

In monitor mode, users can press UP or
DOWN arrow key to change the
monitoring variables (monitor item
Remark - settings) in common use (code 0 ~ 26).
Please note that not all monitoring
variables can be displayed (total 150
kinds of monitor parameters).

7.2.1 Monitoring Variables

Please refer to the following table for the explanation of monitoring variables:

Item Explanation
Each monitoring variable has one corresponding code. Using the parameter P0-02 is able to
Code
set this code and perform status monitoring.
Format Each monitoring variable is saved in 32-bit (long integer) in the servo drive.
There are two types of monitoring variables, basic monitoring variables and extension
monitoring variables:
Basic monitoring variables: Enter into the monitor mode by pressing MODE key on the digital
keypad. In monitor mode, press UP/DOWN arrow keys to find the available basic
Type
monitoring variables (P0-02=0~26).
Extension monitoring variables: Other monitoring variables are called extension
monitoring variables except basic monitoring variables (P0-02=27~127).
There are two methods for status monitoring. One is through LED display of the digital
keypad and the other is via the mapping parameters:
LED display of digital keypad: Status monitoring through the LED display of the digital
keypad directly.
Monitor Mapping parameters: The settings of the monitoring variables will be reflected on the setting
Method value of the mapping parameters. Users can know the settings of the monitoring
variables through the corresponding parameters.
Press MODE key to switch the monitor mode and then press UP/DOWN arrow keys to
select the desired monitoring variables.
Set P0-02 directly and then display the settings of the desired monitoring variables.
Press SHIFT key to switch high/low byte display; Press SET key
to switch decimal/hexadecimal display.
Display
The parameters which support mapping function includes: P0-09 ~ P0-13. (Please refer to
section 8.3 “Detailed Parameter Listings” of Chapter 8.
Using mapping parameters and read & write monitor parameters through communication.
The setting values of P0-09 ~ P0-13 (Status Monitor 1 ~ 5) are the content of basic
monitoring variables (17h,18h,19h,1Ah). When users want to monitor P0-09, set P0-17
first to read the status value (see P0-02). When reading the drive status through Modbus
communication, the system will read the monitor status which specified by P0-17. When
reading the drive status through the keypad, if P0-02 is set to 23, VAR-1 will quickly
show for about two seconds and then the value of P0-09 will display on the display.
Mapping
Function

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Chapter 7 Motion Control Functions

Attribute of monitoring variables:

Attribute Explanation
Basic monitoring variable. Pressing UP/ DOWN keys can change the status
shown on LED display.
Dn Decimal place display.
D1 indicates one decimal place, D2 indicates two decimal places.
Dec Decimal display only. When pressing SET key on the keypad, the system
can not switch to hexadecimal display.
Hex Hexadecimal display only. When pressing SET key on the keypad, the
system can not switch to decimal display.
Explanation of monitoring variables:

Monitoring Variables /
Code Explanation
Attribute
000 Feedback position
Motor feedback – current position. Unit is user unit, PUU.
(00h) (PUU)
Position command – current position. Unit is user unit,
PUU.
PT mode: it indicates the pulse command received by
001 Position command the servo drive.
(01h) (PUU)
PR mode: it indicates the absolute position command.
It is equal to the pulse number sent by the host
(external) controller.
002 Position error counts between position command pulse
Position error (PUU)
(02h) and feedback pulse. Unit is user unit, PUU.
003 Feedback position Motor feedback – current position. Unit is encoder unit,
(03h) (pulse) pulse.
Position command – current position. Unit is encoder
004 Position command unit, pulse.
(04h) (pulse) It is also the position command after electronic gear
ratio is set.
005 Position error (pulse) Position error counts between position command pulse
(05h) and feedback pulse. Unit is encoder unit, pulse.
Input frequency of pulse command received by the servo
006 Input frequency of drive.
(06h) pulse command
Unit is Kpps. Applicable for PT and PR mode.
Actual motor speed. Unit is 0.1r/min.
007 Feedback speed
The low-pass filter function is used so the value is more
(07h) D1 Dec
stable.
Speed input command
008
(Analog) Analog speed input command. Unit is 0.01Volt.
(08h)
D2 Dec
Integrated speed input command. Unit is 1r/min.
009 Speed command
(09h) (Integrated) The command source may be from analog command /
internal parameter / position loop.

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Chapter 7 Motion Control Functions

Monitoring Variables /
Code Explanation
Attribute
Torque command
010
(Analog) Analog torque input command. Unit is 0.01Volt.
(0Ah)
D2 Dec
Integrated torque input command. Unit is Percent (%).
011 Torque command
(0Bh) (Integrated) The command source may be from analog command /
internal parameter / position loop.
012 Average load output by the servo drive. Unit is Percent
Average load
(0Ch) (%).
013
Peak load Peak load output by the servo drive. Unit is Percent (%)。
(0Dh)
014
DC Bus voltage Main circuit voltage after rectification. Unit is Volt.
(0Eh)
Ratio of load inertia to
015
motor inertia Ratio of load inertia to motor inertia. Unit is 0.1times.
(0Fh)
D1 Dec
016
IGBT temperature IGBT temperature. Unit is °C.
(10h)
Resonance frequency of the mechanical system.
There are two groups of resonance frequency: F1 and F2
When reading the drive status through the keypad,
pressing SHIFT key can switch the display of F1 and F2.
017 Resonance frequency
F2: no decimal point; F1: display one decimal point
(11h) Dec
When reading the drive status through the
communication,
Low 16-bit (Low Byte) will display frequency F2
High 16-bit (High Byte) will display frequency F1
Absolute pulse number relative to encoder (use Z phase
Absolute pulse
as home). The value of Z phase home point is 0, and it
018 number relative to
can be the value from -5000 to +5000 pulses. When the
(12h) encoder (use Z phase
value is higher, the deviation pulse number is higher
as home) Dec
too.
019 Mapping parameter Display the content of parameter P0-25 (mapping target
(13h) #1 is specified by parameter P0-35).
020 Mapping parameter Display the content of parameter P0-26 (mapping target
(14h) #2 is specified by parameter P0-36).
021 Mapping parameter Display the content of parameter P0-27 (mapping target
(15h) #3 is specified by parameter P0-37).
022 Mapping parameter Display the content of parameter P0-28 (mapping target
(16h) #4 is specified by parameter P0-38).
023 Display the content of parameter P0-09 (the monitor
Status monitor #1
(17h) status is specified by parameter P0-17).
024 Display the content of parameter P0-10 (the monitor
Status monitor #2
(18h) status is specified by parameter P0-18).
025 Display the content of parameter P0-11 (the monitor
Status monitor #3
(19h) status is specified by parameter P0-19).

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Chapter 7 Motion Control Functions

Monitoring Variables /
Code Explanation
Attribute
026 Display the content of parameter P0-12 (the monitor
Status monitor #4
(1Ah) status is specified by parameter P0-20).
Integrated DI status. Each bit corresponds to one
channel of digital input.
039 DI status (Integrated)
The command source may be from DI signal or
(27h) Hex
communication control (upon software). P3-06 can
determine how digital inputs accept commands.
040 DO status (Hardware) Actual DO output status. Each bit corresponds to one
(28h) Hex channel of digital output.
041 The drive status will display via P0-46. Please refer to P0-
Drive Status
(29h) 46 for explanation.
The latest captured data by using Capture function.
043
(2Bh) Capture data Note: Using Capture function is able to capture many
positions.
048
Auxiliary encoder CNT Pulse counts input by auxiliary encoder (CN5).
(30h)
049
Pulse command CNT Pulse counts input by pulse command (CN1).
(31h)
Speed command Integrated speed input command. Unit is 0.1r/min.
050
(32h) (Integrated) The command source may be from analog command /
D1 Dec internal parameter / position loop.
Feedback speed
051
(Instant) Actual motor speed. Unit is 0.1r/min.
(33h)
D1 Dec
Feedback speed
052 (Filter) Actual motor speed. Unit is 0.1r/min.
(34h) (The low-pass filter function is used.)
D1 Dec
Torque command Integrated torque command. Unit is 0.1Percent (%).
053
(35h) (Integrated) The command source may be from analog command /
D1 Dec internal parameter / speed loop.
054 Feedback Torque
Actual motor torque. Unit is 0.1Percent (%).
(36h) D1 Dec
055 Feedback current
Actual motor current. Unit is 0.01ampere (Amp).
(37h) D2 Dec
056 DC Bus voltage
Main circuit voltage after rectification. Unit is 0.1Volt.
(38h) D1 Dec
The accumulated pulse numbers of master axis of
Pulse number of
059 electronic cam. Please refer to P5-86.
E-Cam master axis
(3Bh) (Accumulated) (ASDA-A2 series L type models does not provide this
function.)
The incremental pulse numbers of master axis of
Pulse number of
060 electronic cam every 1msec.
E-Cam master axis
(3Ch) (Incremental) (ASDA-A2 series L type models does not provide this
function.)

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Chapter 7 Motion Control Functions

Monitoring Variables /
Code Explanation
Attribute
Lead pulse number of E-Cam master axis which is used
to decide the engage condition.
1. Before the electronic gear engaged:
Lead pulse number is determined by P5-87 or P5-92.
The electronic cam engaged when the setting value
Pulse number of
061 is 0.
E-Cam master axis
(3Dh) (Lead Pulse Number) 2. After the electronic gear engaged:
Lead pulse number is determined by P5-89. The
electronic cam disengaged when the setting value is
0.
(ASDA-A2 series L type models does not provide this
function.)
The position of E-Cam axis. The input of E-Cam curve.
Unit: It is the same as the pulse number of master axis.
After receiving the pulse number P of master axis, E-Cam
062
Position of E-Cam axis axis will operate M cycles. It indicates that there are M
(3Eh)
cycles of the E-Cam curve (P5-83=M, P5-84=P).
(ASDA-A2 series L type models does not provide this
function.)
The position of slave axis of E-Cam. The output of E-Cam
curve.
063 Position of E-Cam
Unit: It is the data unit of E-Cam curve.
(3Fh) slave axis
(ASDA-A2 series L type models does not provide this
function.)
064 End register of PR In PR mode, it is the end of the position command
(40h) command. (Cmd_E).
065 Output register of PR In PR mode, it is the accumulated outputs of position
(41h) command. command.
067 Target speed of PR It is target speed of PR path command. Unit is PPS (Pulse
(43h) command. Per Second).
Input data of S-curve filter which is used to create the
effect of S-curve filter. In PR mode, it is valid for both E-
068
S-curve filter (Input) Cam and internal speed command.
(44h)
(ASDA-A2 series L type models does not provide this
function.)
Output data of S-curve filter which is used to create the
effect of S-curve filter. In PR mode, it is valid for both E-
069
S-curve filter (Output) Cam and internal speed command.
(45h)
(ASDA-A2 series L type models does not provide this
function.)
In PR mode, it is the terraced speed curve drawn up
076 Speed command of PR according to target speed / accel & decel time / position
(4Ch) mode move (before using S-curve filter). Unit is PPS (Pulse Per
Second).
Synchronous Capture When Synchronous Capture Axis is enabled, it is the
081
Axis – Pulse input received pulses between two capture operation and it
(51h)
increment can be used to measure the actual mark distance.

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Chapter 7 Motion Control Functions

Monitoring Variables /
Code Explanation
Attribute
When Synchronous Capture Axis is enabled, it is the
Synchronous Capture
084 accumulated errors between actual output pulse and
Axis – Synchronous
(54h) target pulse. After the synchronization operation is
error pulse number
completed, this value will be near to zero (0).
Includes 2 versions: DSP and CPLD
When reading the firmware version through the keypad,
pressing SHIFT key can switch the version display of DSP
and CPLD.
DSP: no decimal place; CPLD: it will display one decimal
096 Firmware version of place.
(60h) servo drive Dec
When reading the firmware version through the
communication (using mapping parameters):
Low 16-bit (Low Word) will display DSP firmware version.
High 16-bit (High Word) will display CPLD firmware
version.
It is regarded as the refresh time of digital inputs and
098
PLC scan time outputs.
(62h)
Unit is 0.5msec.
109 Display the capacity of data array. Unit is DWORD (32-
Data array capacity
(6Dh) bit).
Display servo fault code. But it only displays the servo
111
Servo fault code drive fault code. The fault code for motion control will
(6Fh)
not be displayed.
CANopen Display the time when the servo drive receives
112 synchronous time synchronous signal (TimeStamp).
(70h) (Low-pass filter is not
used) Unit is usec.

CANopen Display the time when the servo drive receives

113 synchronous time synchronous signal and low-pass filter is used.
(71h) (Low-pass filter is
used) Unit is usec.

When CANopen communication is enabled, display the

114 CANopen timing correction value which is synchronized with the
synchronous timing
(72h) host (external) controller.
correction
Unit is usec.
When reading the monitor value through the keypad, it
123
Keypad monitor value is used to read the monitor value displayed on the
(7Bh)
keypad.

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Chapter 7 Motion Control Functions

7.2.2 Data Array

ASDA-A2 series provides many motion control functions, such as E-Cam (ASDA-A2 series L type models
does not provide this function.), Capture function, and Compare function. The data array can keep data for E-
Cam, Capture function, and Compare function with maximum to 800 records (all together to max. 800
records). Please refer to the following table for the introduction of data array.

Data Array
 Save Capture data.
 Save Compare data.
 Save E-Cam curve.
Note:
Usage 1. The data array is user-defined and the system will not partition
off the data array for Capture, Compare and E-Cam function
respectively. Therefore, the memory blocks of the data array
may be overlapped. Please pay close attention when defining
the data array.
2. ASDA-A2 series L type models does not provide this function.
 32-bit integer x 800 records (the data address when reading
and writing data array is determined by P5-10).
Array Size  Each data should have a corresponding address. This address
should be specified when reading and writing data array.
 The address is within the range of 0 ~ 799.
 Set P2-08 to 30 first and set to 35 next. Then, the content of
the data array will be saved in EEPROM when power is off.
Backup Data Into  Please save data when Servo Off.
EEPROM  After re-power the servo drive, the content of the data array
will be written automatically.
Read/Write Window  Perform read and write operation through P5-10 ~ P5-13.

The content of the data array can not be read and written via external commands. It only can be read and
written through the settings of P5-10 ~ P5-13. Please refer to the following table for explanation:

Relevant Parameters for Data Array

Parameter Name Explanation
This parameter is used to set the data amount of data
Data Amount
P5-10 array (N x 32 bits). N is the capacity of the data array
(N x 32 bits)
(Read only).
Read / Write This parameter is used to set the data address when
P5-11
Address reading and writing data array.

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Chapter 7 Motion Control Functions

Relevant Parameters for Data Array

Parameter Name Explanation
Panel Read: P5-11 unchanged
Panel Write: P5-11=P5-11+1
When reading data through the panel (keypad):
Read the content specified by P5-11. After read operation
is completed, the address of P5-11 will not change.
When writing data through the panel (keypad):
Write the content specified by P5-11. After write operation
is completed, the address of P5-11 will increase 1
automatically.
Read / Write
P5-12 Window #1 Communication Read: P5-11=P5-11+1
Communication Write: P5-11=P5-11+1
When reading data through the communication:
Read the content specified by P5-11. After read operation
is completed, the address of P5-11 will increase 1
automatically.
When writing data through the communication:
Write the content specified by P5-11. After write operation
is completed, the address of P5-11 will increase 1
automatically.
Panel Read: P5-11=P5-11+1
Panel Write: Inhibition
When reading data through the panel (keypad):
Read the content specified by P5-11. After read operation
is completed, the address of P5-11 will increase 1
automatically.
When writing data through the panel (keypad):
This parameter can not be written through the keypad.
Read / Write Communication Read: P5-11=P5-11+1
P5-13
Window #2 Communication Write: P5-11=P5-11+1
When reading data through the communication:
Read the content specified by P5-11. After read operation
is completed, the address of P5-11 will increase 1
automatically.
When writing data through the communication:
Write the content specified by P5-11. After write operation
is completed, the address of P5-11 will increase 1
automatically.
Access to Data Array
There is one index working along with two read/write windows for accessing data array. For some hosts
resending data several times while communication, it had better to put the index P5-11 every time before
read/write.
In brief, users need to set the desired read & write address by using P5-11 and then read and write the data
through P5-12 or P5-13.
For example, suppose that users want to write three consecutive numbers of data (100th, 200th, 300th), and
save them into the address 11, 12, 13 of data array, the operation steps are described as follows:

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1. When writing data through the keypad:

Use P5-12 because P5-13 does not provide this function.
1) Set first address:
Set P5-11=11 (the first address)
2) Write data:
Set P5-12=100. (This is the first written data, 100th data and it will be saved in address 11, i.e. P5-
11. After write operation is completed, the address of P5-11 will increase 1 automatically, i.e.
address 12.)
Set P5-12=200 (This is the secondary written data, 200th data and it will be saved in address 12, i.e.
P5-11. After write operation is completed, the address of P5-11 will increase 1 automatically, i.e.
address 13.)
Set P5-12=300 (This is the third written data, 300th data and it will be saved in address 13, i.e. P5-
11. After write operation is completed, the address of P5-11 will increase 1 automatically, i.e.
address 14.)
Then, users can read the address 11, 12, and 13 and check the written values.
When reading data through the keypad: Use P5-13
to read consecutive data.
Set first address:
Set P5-11=11 (the first address)
2) Read data:
When display shows P5-13:
Press SET key at the first time, the display will show the 100th data saved in address 11. Pressing
MODE key can exit P5-13.
Press SET key at the second time, the display will show the 200th data saved in address 12.
Pressing MODE key can exit P5-13.
Press SET key at the first time, the display will show the 300th data saved in address 13. Pressing
MODE key can exit P5-13.
Please note that when use P5-13 to read data every time, the address of P5-11 will increase 1
automatically so using P5-13 can read the consecutive data. However, if users use P5-12 to read the
data, the address of P5-11 will remain the same, so using P5-12 can not read the consecutive data.

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Chapter 7 Motion Control Functions

The operation steps for reading or writing data through the communication are similar to the steps when
using keypad. The functions of P5-12 and P5-13 are also the same. For example, suppose that users want to
write 6 consecutive data (100th, 200th, 300th, 400th, 500th, 600th data) through Modbus communication
continuously, set the communication command by referring to the table below.
Communication command: write data intro data array
Starting P5-11 P5-12 P5-13
Data
No. Command Data Low High Low High Low High
Amount
Address Word Word Word Word Word Word
11 0 100 0 200 0
1 0x10 P5-11 6 (Word)
First Address First Data Second Data
13 0 300 0 400 0
2 0x10 P5-11 6 (Word)
Third Address Third Data Fourth Data
15 0 500 0 600 0
3 0x10 P5-11 6 (Word)
Fifth Address Fifth Data Sixth Data
Please check if the above written data is correct when reading the data of data array. Users can use Modbus
communication command 0x06(write one data) to set P5-11 and write the desired read data. For the settings
of the communication command, please refer to the table below.

Starting Data
No. Command Written Data
Address
4 0x06 P5-11 11
Then, read the data of the specified address by using communication command 0x03.
Please refer to the table below to set communication command.
Communication command:
Response Data
Read data array
Starting P5-11 P5-12 P5-13
Data
No. Command Data Low High Low High Low High
Amount
Address Word Word Word Word Word Word
11 0 100 0 200 0
5 0x03 P5-11 6 (Word) Data of Data of
Read Address
address 11 address 12
13 0 300 0 400 0
6 0x03 P5-11 6 (Word) Data of Data of
Read Address
address 13 address 14
15 0 500 0 600 0
7 0x03 P5-11 6 (Word) Data of Data of
Read Address
address 15 address 16

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Chapter 7 Motion Control Functions

7.3 Motion Axes

Motion axis is a counter within the servo drive which is used to count the data of absolute position (32-bit
integer). The available motion axes are introduced in the following table.

Read (R) /
Axis Name Description Attribute
Write (W)
1. Motor Encoder It indicates the motor absolute feedback Physical
R
Axis (P5-16) position and the user unit is PUU. Axis
2. Auxiliary It is the pulse counts of the auxiliary encoder
Physical
Encoder Axis (linear scale) input by CN5. The pulse type is R/W
Axis
(P5-17) AB phase pulse only.
3. Pulse It is the pulse counts of the host (external)
Physical
Command Axis controller input from CN1. The pulse type can R/W
Axis
(P5-18) be defined by P1-00.
It is the motion axis which is used to enable
Capture function. The command source could
be from motor encoder axis, auxiliary encoder
4. Capture Axis Output
axis and pulse command axis. Position offset R/W
(P5-37) exists between output axis and physical axis. Axis
After the first point is captured, the axis
position can be defined again.
It is the motion axis which is used to enable
Compare function. The command source could
5. Compare Axis be from motor encoder axis, auxiliary encoder Output
R/W
(P5-57) axis, pulse command axis and Capture axis. Axis
Position offset exists between output axis and
physical axis.
It is the master axis of electronic cam. The
command source could be from auxiliary
encoder axis, pulse command axis, Capture
6. E-Cam Master axis and PR command axis. Position offset R/W Output
Axis (P5-86) exists between output axis and physical axis. Axis
(ASDA-A2 series L type models does not
provide this function.)
7. PR Command Virtual
Command position defined by PR. R
Axis Axis
8. Internal Time Internal timer. The value will increase 1 every Virtual
R
Axis 1msec. Axis
The function is similar to Capture axis (P5-37).
9. Synchronous But, it will correct the offset value of this
synchronous axis (P5-78) when capture Virtual
Capture Axis R/W
operation is activated every two times. Axis
(P5-77) (This function is available only in firmware
version V1.009 and later models).
Please note:
Physical axis: Position value is obtained from the actual terminal signal counts.
Output axis: It is the axis output by the physical axis. The value will not be the same as the source of physical
axis, but the increasing value will be the same as the increasing value of physical axis.

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Chapter 7 Motion Control Functions

Virtual axis: It is the axis generated by the servo firmware, e.g. PR command axis. It is unable to command in
real time so it could not be regarded as the command axis for Capture and Compare function. But it could
be regarded as the command source of the master axis of electronic cam.

7.4 PR Mode

PR mode could be composed of one position command or multiple position commands, and triggered by DI
signal, CTRG. DI signals, POS0 ~ POS5 are used to specify the desired trigger position.
In PR mode, electronic cam (E-Cam) is provided. Users can enable electronic cam function by PRs (Position
Registers). After the electronic cam is disengaged, the system can command the motor to return to the specified
position as well. The PR cannot be interpreted as “Point to Point” control. It does beyond that. The servo is
capable to change its working profile under PR mode instantaneously. There are 64 PRs available.

7.5 Comparison

Old PR mode PR Mode of ASDA-A2

Position
8 position settings 64 position registers (64PRs)
settings
Homing mode, constant speed mode,
Command Type Position command position control mode, jump mode,
write parameter mode are available.
 Either Absolute command  Absolute command / Incremental
Parameters for or Incremental command command can be set individually.
Position  Accel / Decel time x1  Accel / Decel time x 16
Commands  Motion speed x8  Motion speed x 16
 Delay time x8  Delay time x 16
It can be enabled at any time. Users can
specify the command connection
Command It is enabled when DO signal,
method (sequential command /
Trigger Timing ZSPD is On.
insertion command / overlap
command).
 DI signals: CTRG + POSn
(n: number)
Trigger Method  DI signals: CTRG + POSn  Event trigger function: DI signals
(n: number) EV1 ~ 4 + CAP_OK
 P5-07 (Trigger Position Command)
 Accel / Decel S-curve  Accel / Decel S-curve
Position (When S-curve function (P1-36) (When S-curve function (P1-36) is
Command is disabled, the acceleration disabled, the acceleration and
Profile and deceleration function are deceleration function can be enabled
also disable.) still.)
Format  Rotation or Pulse  32-bit data (user unit)

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Chapter 7 Motion Control Functions

Old PR mode PR Mode of ASDA-A2

 Execute homing function
automatically when power is
applied to the servo drive (Servo On
 Execute homing function at the first time)
automatically when power  DI signal, SHOM
Homing is applied to the servo  When PR path is set to 0, it is
Function drive (Servo On at the first homing mode. Users also can use
time) DI signal, CTRG to trigger PR path
 DI signal, SHOM 0.
 After homing operation is
completed, it can execute the
specified PR path.
Software Limit
This function is not provided. This function is provided.
Function

7.6 Pulse of User Unit

The position command unit of PR mode is presented by PUU (Pulse of User Unit). It also indicates the ratio of
position command unit of host (external) controller to internal position command unit of servo drive, i.e.
electronic gear ratio of servo drive.
The PUU is a unit which is scaled by the electronic gear. This will bring out an advantage, and that is “YOU SEE
WHAT YOU COMMAND”. For example, if you send 10000 PUU for command and you can read from the feedback
10000 PUU and ignore the electronic gear ratio.

1） Position command unit of servo drive (pulse): encoder unit, 1280000pulses per revolution
(pulse/rev).

2） User unit (PUU): unit of host (external) controller. If the pulse number per revolution is
P pulses (PUU/rev), then the electronic gear ratio should be set to:
GEAR_NUM(P1-44) / GEAR_DEN(P1-45) = 1280000 / P

7.7 Position Registers

1） The unit of position register of PR mode: They are indicates as user unit, PUU.

2） Cmd_E (Monitoring Variable 064): The target position of command.

3） Cmd_O (Monitoring Variable 001): The intermediate command

4） Fb_PUU (Monitoring Variable 000): The current (feedback) position of motor.

5） Err_PUU (Monitoring Variable 002): The position error = (Cmd_O – Fb_PUU).

6） In PR mode, at any time (no matter during operation or at stop):

Err_PUU = Cmd_O - Fb_PUU.

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Chapter 7 Motion Control Functions

Position Commands and Position Registers:

Five different types of position commands: Absolute, Incremental, Stop, Homing and Speed commands.

＝＞When position
After position command ＝＞ When position
Type command being
accepted ＝＞ command is completed
executed ＝＞

Cmd_E = command data

Cmd_E: unchanged Cmd_E: unchanged
(absolute)
Absolute
Cmd_O continuously Cmd_O = Cmd_E
position Cmd_O: unchanged
output
command DO signal: CMD_OK is
DO signal: CMD_OK is
... ON
OFF

Cmd_E+= command data

Cmd_E: unchanged Cmd_E: unchanged
(incremental)
Incremental
Cmd_O continuously Cmd_O = Cmd_E
position Cmd_O: unchanged
command output
DO signal: CMD_OK is
DO signal: CMD_OK is
... ON
OFF

Cmd_E: unchanged Cmd_E: unchanged

Stop Cmd_E: unchanged
command Cmd_O continuously Cmd_O = position at
output Cmd_O stop in stop
DI signal, accordance with
STP DO: CMD_OK output deceleration curve DO signal: CMD_OK is
unchanged ON

Cmd_E = Z pulse
Cmd_E continuously
Cmd_E: unchanged (absolute position)
output
Cmd_O: unchanged Cmd_O = position at
Homing Cmd_O continuously
stop
command DO signal: CMD_OK is output
OFF DO signal: CMD_OK is
...
ON
DO signal: HOME is OFF
...
DO signal: HOME is ON

Cmd_E continuously output

Speed Cmd_O continuously output. After speed command is completed, it indicates
command that the speed reaches the setting value and the motor will not stop.
DO signal: CMD_OK is OFF

Enter PR at the first time ( Servo Off-> Cmd_O = Cmd_E = current motor feedback
Servo On or other mode for entering PR position
mode)

Note: The incremental position command performs accumulation according to the end of the position command
(Cmd_E). It is irrelevant to current motor position and command timing as well.

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Chapter 7 Motion Control Functions

7.8 Homing Function

The homing function determines the homing characteristics of servo motors. The purpose of homing function is used
to connect the position of Z pulse of motor encoder to the internal coordinate of the servo drive. The coordinate value
corresponds to Z pulse can be specified.

After homing operation is completed, the stop position will not locate at the position of Z pulse. This is because
the motor must accelerate to stop when Z pulse is found. Generally, the motor stop position will be a little ahead
of the position of Z pulse. At this time, Z pulse is set correctly so it will not affect the position precision.
For example:
If the coordinate corresponds to Z pulse is set to 100, after homing operation is completed, Cmd=300. It
indicates that the acceleration distance is equal to 300-100=200(PUU). Since Cmd_E=100 (absolute position
of Z pulse), if users want to command the motor to return to the position of Z pulse, just set absolute position
command to 100 or incremental position command to 0.
In PR mode of ASDA-A2 series, after homing operation, it can execute the specified path and command the
motor to return to the position of Z pulse automatically.
When homing function is executed, the software limit function is disabled.

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Chapter 7 Motion Control Functions

7.9 Triggering PRs

There are several methods to call a PR.

Standard
CTRG: Trigger the PR selected by DIs (POS0 ~ POS5).
Special
STP: Terminate the running PR.
SHOM: Start to run homing procedure (PR0).
Event
EV1 ~ 4 (rising edge): Event can be used to call a PR.
EV1 ~ 4 (falling edge): Event can be used to call a PR.
Software
P5-07: Use PR identification to call a PR.
Others
PR#50 is called when Capture function finished, and a specific PR can be assigned after E-Cam
disengaging.

DI signals: CTRG, SHOM, STP, POS0 ~ POS5, ORG, PL(CCWL), NL(CWL), EV1~4

DO signals: CMD_OK, MC_OK, TPOS, ALRM, CAP_OK, CAM_AREA

Timing chart:

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Chapter 7 Motion Control Functions

The Ways to Call a PR

There are 64 position settings in PR mode. PR 0 is homing mode and the others (PR 1 ~ 63)
can be user-defined. For the ways to call a PR, please refer to the table below:

Command Source Explanation

Use DI signals, POS0 ~ 5 to specify the desired trigger
procedure number (PR), and then use the rising-edge of
DI signals:
Standard DI signal, CTRG to trigger a PR.
CTRG + POS0 ~ 5
Suitable application: PC or PLC commands the servo drive
by using DI signals
DI signal: Set STP from OFF to be ON, and the command
will stop.
Special DI signals: STP, SHM
DI signal: Set SHOM from OFF to be ON, and the servo
drive will start to perform homing operation.
There are 4 events with rising and falling edges can be
set to trigger a specific PR.
DI signals: Trigger the command by changing the status
Event DI signals: EV1 ~ 4 of EV1 ~ 4
P5-98: Event Rising-edge Trigger Command (OFF ON)
P5-99: Event Falling-edge Trigger Command (ON OFF)
Suitable application: sensor, preset trigger procedure
Set P5-07 to the desired trigger procedure number (PR)
and it will trigger the dedicated position command
immediately.
P5-07 can be set through the keypad / communication
(RS-232/485 and CANopen.
Software P5-07 Suitable application: PC or PLC commands the servo drive
by using the communication.
The number from 0 to 63 can be put into P5-07 to call a
PR respectively. PR#0 is defined as homing procedure.
The P5-07 will reply appropriate message about the result
of executing PR.
After Capture operation is completed, it will trigger PR 50.
Trigger the This function is enabled by the Bit3 setting of P5-39.
command after
After the electronic cam is disengaged, it will return to PR
Capture operation.
Others mode and trigger the specified PR designated by BA
Trigger the setting of P5-88.
command after E-
Cam is disengaged. (ASDA-A2 series L type models does not provide this
function.)

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Chapter 7 Motion Control Functions

7.10 Parameter Settings

1) Target speed: P5-60 ~ P5-75 (Moving Speed Setting of Position 0 ~ 15), total 16 groups

Bit 15~0
W0 TARGET_SPEED：0.1 ~ 6000.0(r/min)

2) Accel / Decel time: P5-20 ~ P5-35 (Accel / Decel Time 0 ~ 15), total 16 parameters

Bit 15~0
W0 T_ACC / T_DEC：1 ~ 65500(msec)

Note: The acceleration time is used for DO signals, STP/EMS/NL(CWL)/PL(CCWL) when users want to stop
the motor. The function of P5-07 will refer to this setting when perform stop positioning as well.

3) Delay time: P5-40 ~ P5-55 (Delay Time 0 ~ 15), total 16 groups.

Bit 15~0
W0 IDLE：0 ~ 32767(msec)

4) PR parameters: P5-00 ~ P5-09, P6-00 ~ P6-01, total 12 DWORD.

32 BIT
P5-00 Reserved
P5-01 Reserved (for internal testing, do not use it)
P5-02 Reserved (for internal testing, do not use it)
P5-03 Deceleration Time of Protection Function
P5-04 Homing Mode
P5-05 1st Speed Setting of High Speed Homing
P5-06 2nd Speed Setting of Low Speed Homing
P5-07 Trigger Position Command (PR mode only)
P5-08 Forward Software Limit
P5-09 Reverse Software Limit
P6-00 Homing Definition
P6-01 Homing Definition Value (Z pulse position)

5) PR Definition: P6-02 ~ P7-27, (64 BIT), total 63 groups (2N)

Bit 31~28 27~24 23~20 19~16 15~12 11~8 7~4 3~0

DW0 … … … … … … … TYPE
DW1 DATA (32 bit)

Each PR occupies two parameters. TYPE determines the PR type or function. DATA indicates PR data and the
others are auxiliary information.

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Chapter 7 Motion Control Functions

6) Constant Speed Control: TYPE = 1

Bit 31~28 27~24 23~20 19~16 15~12 11~8 7~4 3~0

DW0 - - DLY - DEC ACC OPT 1
DW1 DATA (32 bit): Target speed. Unit: Defined by OPT.UNIT

When executing this command, the motor will accelerate or decelerate from current speed (the value does not
necessarily have to be 0.). Once the motor reach the target speed, it indicates that this command is completed
and the motor will continue running in this target speed and will not stop.

OPT:
OPT
Bit 7 Bit 6 Bit 5 Bit 4
- UNIT AUTO INS

When the TYPE is set to 1 ~ 3, it can accept DO signals, STP (Motor Stop), SNL(SCWL, Reverse
Software Limit), SPL(SCCWL, Forward Software Limit).
INS: Insertion command on PR
AUTO: When current positioning is completed, the motor moves to the next dedicated PR automatically.
UNIT: 0 ~ 1. 0: Unit is 0.1r/min 1: Unit is PPS(Pulse Per Second)

ACC / DEC: 0 ~ F. Accel / Decel time number (4 bits)

ACC / DEC (4) Index P5-20 ~ P5-35

SPD: 0 ~ F. Target speed (4 bits)

SPD (4) Index P5-60 ~ P5-75

DLY: 0 ~ F. Delay time number (4 bits). The digital output of this PR activates after the delay time. External INS
is not valid. The delay time number settings correspond with the parameter P5-40 ~ P5-55.

DLY (4) Index P5-40 ~ P5-55

Position Control: (TYPE = 2, Single positioning control. Motor stops when positioning is
completed. TYPE = 3: Auto positioning control. Motor goes to next dedicated PR when positioning is
completed.)

Bit 31~28 27~24 23~20 19~16 15~12 11~8 7~4 3~0

DW0 - - DLY SPD DEC ACC OPT 2 or 3
DW1 DATA (32 bit): Target position, Unit: Pulse of User Unit

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Chapter 7 Motion Control Functions

OPT:

OPT
Bit 7 Bit 6 Bit 5 Bit 4
Explanation
CMD OVLP INS
0 0 Absolute position command: Cmd_E = DATA (Note 1)
1 0 Incremental position command: Cmd_E = Cmd_E + DATA
(Note 2)
0 1 - - Relative position command: Cmd_E = Current feedback
position + DATA (Note 3)
1 1 Capture position command: Cmd_E = Capture position +
DATA (Note 4)

When the TYPE is set to 1 ~ 3, it can accept DO signals, STP (Motor Stop), SNL(SCWL, Reverse
Software Limit), SPL(SCCWL, Forward Software Limit).
INS: Insertion command on PR.
OVLP: Overlap the next PR. This function is not available in speed mode. In position mode, DLY becomes
disabled.
CMD: The calculation method for Cmd_E (End of position command) is described in the notes below:
Note 1: The end of position command is an absolute position command which is equal to DATA directly.
Note 2: The end of the position command is an incremental position command which is equal to the end
of the position command (Cmd_E, monitor variable 40h) plus a designated DATA.
Note 3: The end of the position command is a relative position command which is equal to current feedback
position (monitor variable 00h) plus a designated DATA.
Note 4: The end of the position command is a capture position command which is equal to capture position
(monitor variable 2Bh) plus a designated DATA.

8) Special Function: TYPE = 7. Jump to the dedicated PR.

Bit 31~28 27~24 23~20 19~16 15~12 11~8 7~4 3~0

DW0 - - DLY - FUNC_CODE OPT 7 -
DW1 PR Number ( 0 ~ 63 )

OPT:

OPT
Bit 7 Bit 6 Bit 5 Bit 4
- - - INS

PR Number: Dedicated jump PR

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Chapter 7 Motion Control Functions

FUN_CODE: Reserved
DLY: Delay time after jump

9) Special Function: TYPE = 8，Write the specified parameter to the dedicated PR.

Bit 31~28 27~24 23~20 19~16 15~12 11~8 7~4 3~0

DW0 - - DLY P_Grp P_Idx OPT 8 -
DW1 Para_Data

P_Grp, P_Idx: Parameter group and number

DLY: Delay time after writing the parameters

OPT：

OPT
Bit 7 Bit 6 Bit 5 Bit 4
- - AUTO INS

Para_Data: Write data

Please note:
1. For the firmware version V1.013 and earlier models:
If the values of the parameters can be retained when power is off, the new setting values will be written into
EEPROM. Please note that do not frequently write data into EEPROM as doing this may damage
EEPROM.
2. For the firmware version V1.013 and later models:
Even if the values of the parameters can be retained when power is off, the new setting values will not be
written into EEPROM. Do not worry that EEPROM may be damaged. Note:
Writing the specified parameter to the dedicated PR is used for the applications which need On/Off operation
or tuning function. For example, it can be used when using P2-00 for different position commands). Usually,
On/Off operation or tuning function will not be executed for one time only. They are usually executed for
many times repeatedly during the operation of the mechanical system. If users write all the data into
EEPROM too frequently, it may damage EEPROM. When setting P2-30 to 5, the data will not retained when
power is off. But this is not convenient for users to use. In order to solve this problem, ASDA-A2 series adds
this function.
If the operation of writing parameter to the dedicated PR is failed, the fault AL213 ~ AL219 will occur (see
Chapter 11 Troubleshooting). If any fault occurs, the motor will not move to the next dedicated PR
automatically when current positioning is completed.

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Chapter 7 Motion Control Functions

10) Homing Definition: P6-00 ~ P6-01, (64 bits), total 1 group.

Bit 31~28 27~24 23~20 19~16 15~12 11~8 7~4 3~0

DW0 BOOT - DLY DEC2 DEC1 ACC PR BOOT
DW1 ORG_DEF (32 bit)

PR: 0 ~ 3F. PR style (4 bits)

0: Stop mode. Motor stops after homing is completed.
1~63 (01 ~ 3F): Auto mode. Motor goes the dedicated PR 1 ~ 63 after homing is completed.
ACC: Acceleration time
DEC1 / DEC2: 1st deceleration time / 2nd deceleration time..
DLY: Delay time
BOOT: Boot mode. Disable or enable homing function when the servo drive is applied to power (power
on).
Disable homing function
Enable homing function (when the servo drive is applied to power, first time Servo On)
ORG_DEF: Homing definition value which is determined by the parameter P6-01. The homing definition value
does not necessarily have to be 0.

ASDA-A2 series does not provide the functions that find Z pulse and regard Z pulse as “Home”. Therefore, it
needs to decide if the motor return to Z pulse position when homing operation is completed.
After home sensor or Z pulse is found, the motor must accelerate to stop. Generally, the motor stop
position will be a little ahead of the position of Z pulse.

Do not return to Z pulse: Set PR=0

Return to Z pulse: Set PR=a non-zero value and set absolute position command= ORG_DEF.

CMD_O：Command Output Position

CMD_E：Command End Position

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Chapter 7 Motion Control Functions

Position offset values are not defined when performing homing operation. After homing operation, the
position offset values can be set as a dedicated PR.
For example, if users want the motor to move a distance S (relative to home senor or Z pulse), and
defined the position coordinate as P, set PR as a non-zero value and set ORG_DEF=P - S.
(P is the absolute position command and S is the incremental position command)

7.10.1 Motion Commands

1) Each motion command can be inserted (INS) or overlapped (OVLP).

IN OVLP INS OVLP

S
P_Command 1 P_Command 2

2) The priority of INS is higher than OVLP.

P_Command 1 P_Command 2 Sequence Output Note

P_Command 1 and P_Command 2
Sequential
OVLP=0 INS=0 DLY 1 can be speed or position
Command
command.
When P_Command 2 is a speed
Overlap
OVLP=1 INS=0 Command NO DLY command, OVLP function is
disabled.
OVLP=0 P_Command 1 and P_Command 2
Insertion
INS=1 N/A can be speed or position
Command
OVLP=1 command.

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Chapter 7 Motion Control Functions

7.10.2 Sequence
1) Sequential Command on PR

A command will be executed only when the previous command completed.

P_Command 1: DLY is set

P_Command 2: INS is not set
(DLY: Delay time is calculated from the time when the position command is completed)

V_Command 1: Speed command. DLY is set

P_Command 2: Position command.
(DLY: Delay time is calculated from the time when the position command is completed)

2) Overlap Command

The second command will be executed after delay time or during deceleration period. A long delay time
at the first command will affect the timing of second command. Zero delay is recommended for overlap
application.

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Chapter 7 Motion Control Functions

P_Command 1: OVLP is set, DLY can not be set.

P_Command 2: INS is not set

3) Internal Insertion Command

The second command will insert the first command to be a new command. The final result depends
on the types of commands. The delay time gets function.

V_Command 1: Speed Command. DLY is set

P_Command 2: Position Command. INS is set
(DLY is valid for internal insertion command)
This procedure can be used to create complicated position profile.

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Chapter 7 Motion Control Functions

4) External Insertion Command

The external insertion will change the command being executed at the moment it inserted. The
delay time is not a matter for external insertion.

INS INS
OVLP OVLP
DLY DLY
SPEED
The final destination :
Absolute : Cmd_E = command
P_Command 1 Relative : Cmd_E = Fb_PUU + command
Incremental : Cmd_E = last Cmd_E + command
DLY
Cap. Relative : Data captured + command
P_Command 2 TIME

AUTO
INS INS
SPEED OVLP OVLP
The final destination :
DLY DLY
Absolute : Cmd_E = command
V_Command 1 Relative : Cmd_E = Fb_PUU + command
Incremental : Cmd_E = last Cmd_E + command
Cap. Relative : Data captured + command
P_Command 2
DLY TIME

V_Command 1: Speed Command. The delay time is not a matter for external insertion.
P_Command 2: Position Command. INS is set
(DLY is not valid for external insertion command)
This procedure can be used to change position profile freely.

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Chapter 7 Motion Control Functions

7.11 Electronic Cam (E-Cam) (ASDA-A2 series L type models does not provide this function)

From Machine Cam to Electronic Cam

The concept of electronic cam (E-Cam) is to use the software settings to determine the position relationship
between master axis (Master) and slave axis (Slave), almost like a virtual electronic cam exists between both of
them. Please refer to the figure below.

In PT mode, the external input pulse number (from master axis) is the reference of the position command (from
slave axis). It indicates the slave axis follows the master axis. The relationship between master axis and slave axis
is a linear relationship (The ratio is electronic gear ratio). When the electronic cam function is enabled, the
relationship between master axis and slave axis is no longer a linear relationship only. It will become a cyclic
curve relationship, just like the profile of the electronic cam. In the traditional mechanical system, a machine cam
(physical cam) can convert the simple constant speed motion to variable speed motion, reciprocating motion and
intermittent motion, etc. a wide range of motion control operation. The electronic cam can provide the same
function and make the system to be used for a variety of motion control applications as well.

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Chapter 7 Motion Control Functions

Please refer to the table below to know the differences between a machine cam (physical cam) and an electronic cam
(virtual cam).

Machine Cam (Physical Cam) Electronic Cam

After E-Cam rotates 360 degrees (one
Return to the original position revolution), it can return to the original
Structure
after one rotation. position and also can display by spiral
form like mosquito coil incense.
Smooth Determined by actual process Three curves can be interpolated
Performance precision between two positions upon software.
The position accuracy is very The position accuracy is very precise,
Position
precise (under the condition of but the actual motor position will be a
Accuracy
no vibration) little deviated due to the delay time.
When the motion distance is
Only need to change the values of E-
Long Distance longer, the system needs bigger
Cam curve. It is applicable for the
Motion machine cam. Making a big
application of long motion distance.
machine cam is not easy.
Master axis can be eliminated for
If master axis
Master axis can not be constant speed motion application.
can be
eliminated Users can use the signals that
eliminated
generated by the servo drive.
No need of replacement or repair. Users
Need of replacement or repair.
Replacement only need to reset the parameter
It will cost money.
settings.
Machine will wear. Maintenance
Maintenance Maintenance is not necessary.
is necessary.
Mater axis will occupy the space Space and energy saving. Good for
Other
and consume the power. environmental protection.

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Chapter 7 Motion Control Functions

Characteristics of E-Cam:

Characteristics of E-Cam
Control Mode E-Cam function is available only in PR mode.
X=0: Disable E-Cam function (Default). If E-Cam has been engaged
Enable E-Cam Function already, setting X=0 will force E-Cam to be disengaged.
(P5-88 X Settings) X=1：Enable E-Cam function.

States of E-Cam There are three statuses: Stop / Lead Pulse / Engaged
 Physical axes:
 P5-88 Y=1. Linear Encoder (CN5)
 P5-88 Y=2. Pulse Command (CN1)
 Output axis:
Sources of Master Axis  P5-88 Y=0. Capture source setting. (Defined by Capture
function, P5-39 B settings)
(P5-88 Y Settings)
 Virtual axes:
 P5-88 Y=3. PR command (Internal signal)
 P5-88 Y=4. 1ms clock (Internal signal)
 P5-88 Y=5. Synchronous Capture Axis (P5-39 B, Mark
tracking)
Servo drive command = E-Cam command + PR command
 The command will be sent only when E-Cam is engaged.
 No matter E-Cam is engaged or not, PR command is valid.
Servo Drive Command Only when E-Cam is engaged, the source of master axis is PR
command and PR command is set to 0.
When E-Cam operates, users can adjust E-Cam position through PR
command still (usually using incremental position command).
 Data array. The E-Cam curve is stored in the data array. P5-81
notes its start point where P5-82 +1 (720+1, maximum items
Data Storage Location
of one E-Cam curve) is for its length. P5-85 is the initial point
where the E-Cam engaged.
E-Cam Curve Division  It is set by P5-82. Range: 5 ~ 720
Data Format  32-bit data with polarity
Data Content  Save the position of slave axis (user unit: PUU)
 Pulses of E-Cam master axis output incrementally E-Cam
Axis
 Pulses of E-Cam slave axis output incrementally Position
Command
Calculation Method of  After E -Cam rotates one revolution, the slave axis may not
return to the original position definitely. The position of the
E-Cam Position
slave axis is determined by the content of E-Cam curve.
 Three curves can be interpolated between two positions upon
software. The adjacent curves at the ends continue quadratic
differential equation and make the torque of the ends to be
smooth.
DO signal: CAM_AREA  DO signal：CAM_AREA. When CAM_AREA is activated, it
indicates that the servo drive has detected the E-Cam master
(DO=0x18)
position is within the setting area.

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Chapter 7 Motion Control Functions

The function block diagram of E-Cam is shown as the figure below:

Master Master E-Gear:

Clutch Gear
Axis The scaling of command pulse
Box
P5-83, P5-84
#1
Master Axis: Clutch:
Sources of Control the timing
main axis that slave starts to E-Cam Axis
P5-88 Y Settings follow master.
P5-88 U&Z Settings,
P5-87, P5-89
Slave Pulse
Axis Gear Command Position
Data Array Box Controller
….. E-Cam (PUU) #2 (Pulse)
POS 0
POS 1 Slave E-Gear: E-Cam is activated
~ E-Cam Curve: The scaling of E-Cam P5-88 X Settings
curve to output
POS N The E-Cam function
defines the P1-44, P1-45, P5-19
relationship of
master and slave.
P5-81, P5-82, P5-85

Function of Master Axis

The movement of the master axis is the signal which enables E-
Descriptions
Cam operation of the servo drive.
The command source of the master axis is determined by P5-88 Y
settings.
 Physical axes:
 P5-88 Y=1. Linear Encoder (CN5)
 P5-88 Y=2. Pulse Command (CN1)
Source of Master Axis  Output axis:
(P5-88 Y Settings)  P5-88 Y=0. Capture source setting. (Defined by Capture
function, P5-39 B settings)
 Virtual axes:
 P5-88 Y=3. PR command (Internal signal)
 P5-88 Y=4. 1ms clock (Internal signal)
 P5-88 Y=5. Synchronous Capture Axis (P5-39 B, Mark
tracking)
Using P5-86 can monitor the position of the master axis. Before E-
Cam is engaged, P5-86 can be set and changed still. Doing this
will not affect the position of the slave axis because the
Position of Master Axis
movement of the master axis does not change as well.
(P5-86)
When the E-Cam is activated (P5-88 X=1), the pulse will be
counted in P5-86. The P5-86 should be an increasing number.
If not, reverse the pulse direction (not motor direction).

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Chapter 7 Motion Control Functions

 Function of Clutch

Function of Clutch
This function is used to determine the engaging and disengaging
state of the master axis and gear box # 1.
Descriptions
After E-Cam is engaged, then the movement of the master axis is
able to rotate E-Cam of the servo drive.
X=0: Disable E-Cam function (Default). If E-Cam has been engaged
Enable E-Cam Function
already, setting X=0 will force E-Cam to be disengaged.
(P5-88 X Settings)
X=1: Enable E-Cam function.
There are three statuses: Stop / Lead Pulse / Engaged
5
P5-88 X=0
P5-88 U=1, 2, 6
S1 S0
Engaged Stop

4 2
P5-88 U=4 P5-88 X=0
3 The lead pulse
The lead pulse number number is set 1
set in P5-87 or P5-92 The condition set in P5-88
in P5-92
reached Z setting is satisfied
Can be read from The lead pulse number is
monitoring variable 061 set in P5-87
S2
Lead
Pulse

States of E-Cam
There are 3 states to indicate the status of the E-Cam system.
States of E-Cam  Stop
This is the default status of E-Cam. E-Cam will not operate in
accordance with the pulses of the master axis. When E-Cam
function is disabled (P5-88 X=0), E-Cam will return to this
state.
 Lead Pulse
When the engaging conditions are satisfied (Path 1), the
status of E-Cam will change to Lead Pulse. At this time,
E-Cam will not operate in accordance with the pulses of the
master axis.
 Engaged
When the lead pulse number set in P5-87 or P5-92 reached
(Path 3), E-Cam will enter into Engaged state and start to
operate in accordance with the pulses of the master axis.

Path Explanation
Path 1
When the engaging conditions are satisfied (P5-88 Z setting), the status of
E-Cam will change from Stop to Lead Pulse. The lead pulse number is set
in P5-87.

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Chapter 7 Motion Control Functions

Function of Clutch
Path 2
When E-Cam function is disabled (P5-88 X=0), the status of E-
Cam will return to Stop.
 Path 3
When the lead pulse number set in P5-87 or P5-92 reached, ,
the status of E-Cam will change from Lead Pulse to Engaged.
 Path 4
When disengaging conditions are satisfied (P5-88 U=4), the
States of E-Cam status of E-Cam will change from Engaged to Lead Pulse.
When the electronic gear is disengaged, the status of E-Cam
will not change to Stop. It will change to Lead Pulse and the
lead pulse number at this time is set in P5-92 (this function is
only available for the firmware version V1.006sub04 and later
models).
 Path 5
When disengaging conditions are satisfied (P5-88 U=1, 2, 6),
or when E-Cam function is disabled (P5-88 X=0), the status of
E-Cam will change from Engaged to Stop.
When E-Cam is in the status of Stop, this function is used to
determine the engaging timing (Path 1).
Three conditions to engage the clutch:
Z=0: Engage immediately when E-Cam function is enabled (When
P5-88 X=1)
Z=1: Engage when DI signal, CAM (DI=0x36) is ON.
Engaging Conditions Z=2: Any action of Capture function. E-Cam engaged after the
(P5-88 Z Settings) next position is captured.
The Capture function is designed to activate E-Cam because of its
high speed input. When the Capture function fetches the position,
it will bring the E-Cam function enforcement simultaneously.
Because the Capture operation is controlled by external control
command (hardware), and no delay occurs, this setting is suitable
for the application requires real time such as the master axis is
already operating before E-Cam is engaged.
 When E-Cam is in the status of Lead Pulse, the master axis
needs to move for a certain distance and then E-Cam is able
to be engaged (Path 3). This movement is called as Lead
Pulse Number and it can be monitored by the monitoring
variable 061. The value of lead pulse number will descend
according to the input pulses of the master axis. When the
value of lead pulse number becomes 0, the status of E-Cam
will change to Engaged.
Lead Pulse Number  When the status of E-Cam changes to Lead Pulse by Path 1,
(Monitoring Variable the lead pulse number is set in P5-87.
 When the status of E-Cam changes to Lead Pulse by Path 4, the lead pulse number is set in P5-92.
If the setting value of P5-87 and P-92 is 0, it indicates that there is no lead
pulse number and the status of E-Cam will change to Engaged
immediately.
/ - signs indicates the direction of lead pulse. Please note that if the polarity of
the direction of lead pulse is set incorrectly, E-Cam will not be engaged.

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Chapter 7 Motion Control Functions

Function of Clutch
When the direction of lead pulse is not set correctly, it will cause
Lead Pulse Number that the value of the monitoring variable 061 becomes higher
(Monitoring Variable and higher and finally lead to overflow. At this time, E-Cam
function will be disabled (P5-88 X=0) and the status of E-Cam will be forced to be changed to
Stop.
This option is used to determine the disengaging timing when the status of E-
Cam is Engaged.
Please note that the condition 2, 4, and 6 are mutually exclusive; that is, only
one of them can be selected.
States of E-Cam
U Disengaging Conditions
when disengaging
(Path 5)
Do not disengage. When P5-88 X=0,
0 E-Cam disengaged. Change to the
status of Stop
(Path 5)
Disengage when DI signal, CAM
1 (DI=0x36) is OFF. Change to the
status of Stop
Fixed number of master pulses (P5- (Path 5)
2 89) to disengage. (The polarity sign Change to the
indicates the direction) status of Stop
(This setting is only available in
Disengaging Timing firmware V1.009 and later models)
(P5-88 U Settings) Fixed number of master pulses (P5-
89) to disengage for smooth speed.
The function is the same as the
setting of U=2. The difference is that (Path 5)
6 the speed will not change when Change to the
disengaging and the engaging length status of Stop
will exceed the setting value of P5-89
a little. This setting is suitable for
the application which needs to use
PR command immediately when
disengaging.

(This setting is only available in (Path 4)

firmware V1.009 and later models) Return to the status
Fixed number of master pulses (P5- of Lead Pulse
4 89) to disengage with cycle function. (before engaging)
(The lead pulse
(The polarity sign indicates the number is set in P5-
direction) 92).
8 Shut down E-Cam when disengaging. P5-88 X=0

Auxiliary Function Call PR defined in P5-88 BA settings when disengaging (only when
(P5-88 BA Settings) P5 -88 U=2, 4, or 6 is selected). When E-Cam returns to the status
of Stop, the designated PR defined in P5-88 BA settings will be
executed immediately.

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Chapter 7 Motion Control Functions

Function of Gear Box #1 (Master E-Gear)

 This function defines the relationship of the master axis and
E-Cam axis. When the master axis rotates one revolution, it
does not mean that E-Cam must rotate one revolution as well.
Function The master E-Gear can be set.
 The master E-Gear (electronic gear) will change the resolution
of master pulse command.
 E-Cam axis is a virtual axis.
 When E-Cam axis rotates 360 degrees, it indicates that E-Cam
rotates one revolution also and the slave axis operates one
Explanation
cycle as well.
 The moving unit of the master axis is pulse number. The
resolution is determined by the command source.

Setting Method
 P5-83 and P5-84 is used to set the scaling of command pulse.
After receiving the pulse number P of master axis, the axis of
P5-83 : M E-Cam will rotate M cycles. P5-83=M, P5-84=P
P5-84 : P
 P5-83 can be adjusted while engaging.
Function of E-Cam Curve

Function of E-Cam Curve

 The E-Cam function defines the relationship of master and
slave axes. The related settings are saved in E-Cam curve.
Function
When E-Cam rotates one revolution, the slave axis operates
one cycle.
 Data array. The E-Cam curve is stored in the data array. P5-81
notes its start point where P5-82 +1 (720+1, maximum items
Data Storage Location
of one E-Cam curve) is for its length. P5-85 is the initial point
where the E-Cam engaged.
Data Format  32-bit data with polarity (user unit is PUU)
 It is used to magnify or minify E-Cam curve without changing
the setting value of the E-Cam curve.
 Each data in E-Cam curve can be multiplied by this
parameter.
E-Cam Curve Scaling  Range of P5-19 is:-2147.000000 ~ 2147.000000 with
P5-19 minimum scale of 0.000001. The change or P5-19 will be put
(-2147.000000 ~ into enforcement when the E-Cam re-engaged.
2147.000000)  E-Cam curve can be a negative scaling. If P5-19 is set to
negative, the result will have a upside down curve compared
to P5-19 is a positive value.
 When it is set to 0, E-Cam command will not output (always
be 0).
 E-Cam curve can be divided into certain equal N parts (set by
P5-82, N>=5). For example, if N=5, there will be 6 points
E-Cam Curve Division N recorded in the data array. Each division has 360/N degrees.
 720 divisions are maximum number for one curve.

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Chapter 7 Motion Control Functions

Function of E-Cam Curve

E-Cam curve saves the position data of slave axis (user unit is PUU).
If E-Cam is divided into N parts, it means that total N+1 points are
recorded in the data array. This is because the position of the first
point (0°) and the position of the last point (360°) are not the same.
1. When the positions of 0° and 360° are the same:

When the positions of 0° and 360° are not the same:

Suppose that:
When the positions of 0° and 360° are the same:
E-Cam Curve Content It indicates that the position of slave axis will return to home after
E-Cam rotates 360° (one revolution).
After E-Cam rotates
360 degrees
Slave Axis

E-Cam Axis

2. When the positions of 0° and 360° are not the same:

It indicates that the position of slave axis will not return to home after
E-Cam rotates 360° (one revolution).

After E-Cam rotates

360 degrees
Slave Axis

E-Cam Axis

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Chapter 7 Motion Control Functions

Function of E-Cam Curve

 Slave axis is a virtual axis (user unit is PUU).
 P5-85 is the first point where the E-Cam engaged. When E-
Cam engaged, the position of E-Cam axis will move to the
point set by P5-85. The position of slave axis will move to the
position which corresponds to P5-85.
 After E-Cam engaged, if E-Cam axis does not move, the slave
axis will not move either. After E-Cam engaged, if E-Cam
moves, the position changes of E-Cam axis represent the
output pulses of the slave axis.
Operation
 When E-Cam rotates 360 degrees (one revolution), the slave
axis operates one cycle.
 E-Cam axis can rotate in either forward or reverse direction.
 If the position of E-Cam axis is between two points of E-Cam
curve, the position of the slave axis can be interpolated by
cubic curves and the adjacent curves at the ends will
continue quadratic differential equation and make the torque
of the ends to be smooth. The point number of E-Cam curve
will not affect the smooth operation of E-Cam either.

 Function of Gear Box #2 (Slave E-Gear)

Function of Gear Box #2 (Slave E-Gear)

 This function defines the relationship of slave axes and pulse
command.
Function  When the slave axis rotates one revolution, it does not mean
that pulse command must rotate one revolution as well. The
slave E-Gear can be set.
 Slave axis is a virtual axis (user unit is PUU).
 The unit of pulse command is encoder unit, pulse (1280000
Explanation pulse/rev)
 When E-Cam axis rotates one revolution, the slave axis
operates one cycle as well.
Setting Method  When the pulse command of slave axis is L and motor runs R
P1-44: Numerator of rotation, the electronic gear ratio will be equal to
Electronic Gear Ratio P1-44/P1-45 = 1280000 x R/L
P1-45: Denominator of  The function is the same as the electronic gear ratio in PT
Electronic Gear Ratio and PR mode.

Digital Outputs for E-Cam Function

Digital Outputs  DO signal: CAM_AREA (DO=0x18)
 When DO signal, CAM_AREA is ON, it indicates that the
Function
position of E-Cam axis is within the specified angle range.
 Degree when P5-90 and P5-91 is set to ON
When E-Cam engaged
 See Table 1 & 2 below.
When E-Cam
 DO signal: CAM_AREA are OFF
disengaged

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Chapter 7 Motion Control Functions

Table 1 P5-90 <= P5-91:

E-Cam Degree 0° ~ P5-90 ~ P5-91 ~ 360°

DO:CAM_AREA OFF OFF ON ON ON OFF OFF

Table 2 P5-90 > P5-91:

E-Cam Angle 0° ~ P5-91 ~ P5-90 ~ 360°

DO:CAM_AREA ON ON OFF OFF OFF ON ON

7.11.1 Capture Function

The Capture function can be applied to latch a reference position which could be the signal of main
encoder, linear encoder, or pulse train. It is possible to record 800 items with max. length of data array.
The DI7 is the only one high speed digital input in ASDA-A2. The Capture function needs DI7 to
admit the signal changed in real time. The signal to DI7 for Capture function is a physical signal and
cannot be simulated from software. It can complete precise Capture function for high-speed motion
axis.
The characteristics of Capture function is described as follows:

Characteristics of Capture function

Three sources of Capture function:
 Main encoder: Motor encoder
 Auxiliary encoder: Linear scale
 Pulse command: Pulse train
Sources The selected source axis will be displayed by P5-37. Before
executing Capture function, please set P5-37 first.
Please note:
The capture source setting can not be changed when the compare
source is the capture axis.
 It is triggered by DI7 and the response time is 1 usec.
Please note:
DI7 signal is a physical signal used to control Capture function
directly. No matter what the setting value of P2-16 is, when DI7 is
triggered, Capture function will be enabled always. After Capture
Trigger Signal function is enabled, in order to avoid the malfunction of the other
DI signals, the system will force the other DI signals to be disabled,
i.e. set P2-16=0x0100 automatically. Please note that the setting
value of P2-16 will not be written into EEPROM when power is off.
After re-power the servo drive, the setting value of P2-16 will be
restored to its default setting automatically.
 By edge triggered. A or B contact can be selectable.
Trigger Method  It is able to capture multiple positions continuously.
 The interval time can be set also. (It can determine how long it
will take when accepting the next trigger command)

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Chapter 7 Motion Control Functions

Characteristics of Capture function

Data Storage
 Data array. The starting point is set in P5-36.
Location
 The amount is determined by P5-38. But, the total amount can
Amount
not exceed the limit of data array.
Data Format  32-bit pulse number (with polarity)
 If Bit 1 of P5-39 X setting is set, P5-37=P5-76 after the first
point is captured.
 If Bit 2 of P5-39 X setting is set, the servo system will initiate
Auxiliary Compare function automatically after the first point is
Function captured.
 If Bit 3 of P5-39 X setting is set, the servo system will call
PR#50 automatically when all data in P5-38 captured
completely.
 The default setting is OFF.
DO Signal:  It will be ON when the last position is captured.
CAP_OK  When Bit0 of P5-39 is set to 1 (P5-39 X0=1), it will be OFF after
the capture function is enabled.
 If P5-38=0 and Bit0 of P5-39 is set to 1 (P5-39 X0=1), Capture
function will be disabled. At this time, Bit0 of P5-39 will be
reset to 0 (P5-39 X0=0) and the DO signal, CAP_OK will be
Remark inactivated (OFF) as well.
 The data format of Capture axis is 32-bit data. Do not calculate
the capture data repeatedly; otherwise the overflow may occur
and result in error or invalid result.
The data captured by Capture function are all stored in data array. The first captured point is stored in
data array (P5-36), the capture amount is determined by P5-38 and the last captured point is stored in data
array (P5-36+P5-38-1). When Bit0=1 (P5-39 X setting value), the Capture function is enabled. Once DI7
is triggered every time, one position data will be captured and stored into data array. At this time, the
setting value of P5-38 will decrease 1 automatically until the capture amount is reached, i.e. the setting
value of P5-38 becomes 0. When capture function has finished, the value of Bit0 (P5-39 X setting value)
will be reset to 0 automatically, and DO signal, CAP_OK will be activated.
When the first point is captured, users can choose to reset the position of Capture axis. Then, the value of
the first capture point must be the value of P5-76 and the captured value after the second captured point
will be the movement relative to the first captured point. This kind of Capture is called “Relative Capture”.
However, if users choose not to reset the fist captured point, the capture method is called “Absolute
Capture”.
When capturing the first point, users can select to enable Compare function as well

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Chapter 7 Motion Control Functions

Capture Operation:

Data Array
First point captured
Enable Compare function …..
P5-76
POS 1
The first point is saved in P5-36
POS 2
The second point is saved in P5-36+1 POS 3
~
The third point is saved in P5-36+2 POS N

Capture axis
(P5-37)

Capture signal
(DI7)
1 2 3 N P5-38 Amount (Data Length)

DO signal:
CAP_OK

 P5-39 X0=0 after Capture operation is

completed.
 Call PR#50 when all in P5-38 captured completed.
 P5-39 X0=1DO signal is reset when Capture
function is enabled next time.

7.11.2 Compare Function

The Compare function is a reverse process of the Capture function. The items stored in data array will be
compared to the signal of a physical axis (main encoder, linear encoder, or pulse train).
The Compare function uses the instant position of motion axis to compare with the value which store in
data array. When the compare conditions are satisfied, DO4 signal will output immediately for motion
control.
The signal to DO4 for Compare function is a physical signal and cannot be simulated from software. It
can complete precise Compare function for high-speed motion axis. The characteristics of Compare
function is described as follows:
Characteristics of Compare function
Three sources of Compare function:
Main encoder: Motor encoder
Auxiliary encoder: Linear scale
Pulse command: Pulse train
Sources
Capture axis (When the source is the capture axis, the capture source setting can
not be changed.)
The selected source axis will be displayed by P5-57. Before executing
Capture function, please set P5-57 first.

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Chapter 7 Motion Control Functions

Characteristics of Compare function

 It is output by DO4 and the response time is 1 usec.
Please note:
DO4 signal is a physical signal used to control Compare function
directly. No matter what the setting value of P2-21 is, when DO4 is
triggered, Compare function will be enabled always. After Compare
Trigger Signal function is enabled, in order to avoid the malfunction of the other
DO signals, the system will force the other DO signals to be
disabled, i.e. set P2-21=0x0100 automatically. Please note that the
setting value of P2-21 will not be written into EEPROM when power
is off. After re-power the servo drive, the setting value of P2-21 will
be restored to its default setting automatically.
 Pulse output. A or B contact can be selectable.
Output Method  It is able to compare multiple positions continuously.
 The output pulse width can be set also.
Data Storage
 Data array. The starting point is set in P5-56.
Location
 The amount is determined by P5-58. But, the total amount can
Amount
not exceed the limit of data array.
Data Format  32-bit pulse number (with polarity)
Compare  It is triggered when the position of source axis pass through
Condition the compare value.
 Continuous Mode: When the last point is compared, the servo
system will return to the fist point and start Compare operation
Auxiliary
again.
Function
 After the last point is compared, the servo system will enable
Capture function automatically.
 If P5-58=0 and Bit0 of P5-59 is set to 1 (P5-59 X0=1), Compare
function will be disabled. At this time, Bit0 of P5-59 will be
reset to 0 (P5-59 X0=0).
Remark
 The data format of Compare axis is 32-bit data. Do not
calculate the compare data repeatedly; otherwise the overflow
may occur and result in error or invalid result.
The data compared by Compare function are all stored in data array. The first compared point is stored in
data array (P5-56), the compare amount is determined by P5-58 and the last compared point is stored in
data array (P5-56+P5-58-1). When Bit0=1 (P5-59 X setting value), the Compare function is enabled and
start to compare the data of the first point. Every time when one position is compared, the pulse signal will
output one time. At this time, the setting value of P5-58 will decrease 1 automatically until the compare
amount is reached, i.e. the setting value of P5-58 becomes 0. When compare function has finished, the
value of Bit0 (P5-59 X setting value) will be reset to 0 automatically.
When the last point is compared, users can choose to compare from the first point again and again,
and it is called “Continuous Mode”. Or users can choose to enable Capture function automatically
after the last point is compared.

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Chapter 7 Motion Control Functions

Compare Operation:

Data Array
…..
POS 1
The first point is saved in P5-56
POS 2
The second point is saved in P5-56+1 POS 3
~
The third point is saved in P5-56+2 POS N

Compare axis
(P5-57)

Compare signal
(DO4)
1 2 3 N
P5-58 Amount (Data Length)
Output pulse width can be set in P5-59.CBA

Enable Capture function

(It is invalid if Capture function
is enabled already.)
After the last pulse outputs completely:
Non-continuous mode: P5-59 X0=0 after Compare operation is
completed.
Continuous mode: The servo system keeps repeating the Compare
function, P5-59 X0=1

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Chapter 8 Servo Parameters

8.1 Definition

There are following eight groups for drive parameters:

Group 0: Monitor parameters (example: P0-xx)

Group 1: Basic parameters (example: P1-xx)

Group 2: Extension parameters (example: P2-xx)

Group 3: Communication parameters (example: P3-xx)
Group 4: Diagnosis parameters (example: P4-xx)

Group 5: Motion control parameters (example: P5-xx)

Group 6: PR path definition parameters (example: P6-xx)

Group 7: PR path definition parameters (example: P7-xx)

Abbreviation of control modes:

PT : Position control mode (command from external signal)
P : Position control mode (command from internal signal)
R
:Speed control mode
:Torque control mode

Explanation of symbols (marked after parameter)

(★) Read-only register, such as P0-00, P0-01, P4-00.
(▲) Parameter cannot be set when Servo On (when the servo drive is enabled), such as P1-
00, P1-46 and P2-33.
( Parameter is effective only after the servo drive is restarted (after switching power off
) and on), such as P1-01 and P3-00.
Parameter setting values are not retained when power is off, such as P2-31 and P3-06.
()

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Chapter 8 Servo Parameters

8.2 Parameters Summary

8.2.1 Parameters List by Group

Group 0: P0-xx

Monitor Parameters
Control
Parameter Name Function Default Unit Mode
PT PR S T
2
01.347    
P0-00★ VER Firmware Version N/A

P0-01 ALE Drive Fault Code 0011 N/A    

P0-02 STS Drive Status (Front Panel Display) 00001 N/A    
P0-03 MON Analog Monitor Output 0000 N/A    
P0-04 ~
Reserved (Do Not Use) L0000
P0-07
P0-08★ TSON Servo Startup Time 18587 Hour    
P0-09★ CM1 Status Monitor 1 00000 N/A    
P0-10★ CM2 Status Monitor 2 00000 N/A    
P0-11★ CM3 Status Monitor 3 00000 N/A    
P0-12★ CM4 Status Monitor 4 00000 N/A    
P0-13★ CM5 Status Monitor 5 00000 N/A    
P0-14 ~
Reserved (Do Not Use) 00000
P0-16
P0-17 CM1A Status Monitor Selection 1 0 N/A    
P0-18 CM2A Status Monitor Selection 2 0 N/A    
P0-19 CM3A Status Monitor Selection 3 0 N/A    
P0-20 CM4A Status Monitor Selection 4 0 N/A    
P0-21 CM5A Status Monitor Selection 5 0 N/A    
P0-22 ~
Reserved (Do Not Use) 0
P0-24
P0-25 MAP0 Mapping Parameter 1 L0543 N/A    
P0-26 MAP1 Mapping Parameter 2 L0543 N/A    
P0-27 MAP2 Mapping Parameter 3 L0543 N/A    
P0-28 MAP3 Mapping Parameter 4 L0543 N/A    
P0-29 MAP4 Mapping Parameter 5 L0543 N/A    
P0-30 MAP5 Mapping Parameter 6 L0543 N/A    
P0-31 MAP6 Mapping Parameter 7 L0543 N/A    
P0-32 MAP7 Mapping Parameter 8 L0543 N/A    
P0-33 ~
Reserved (Do Not Use) 00000
P0-34

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Chapter 8 Servo Parameters

Monitor Parameters
Control
Parameter Name Function Default Unit Mode
PT PR S T
Block Data Read / Write Register 1
P0-35 MAP1A 0x0 N/A    
(for P0-25)
Block Data Read / Write Register 2
P0-36 MAP2A 0x0 N/A    
(for P0-26)
Block Data Read / Write Register 3
P0-37 MAP3A 0x0 N/A    
(for P0-27)
Block Data Read / Write Register 4
P0-38 MAP4A 0x0 N/A    
(for P0-28)
Block Data Read / Write Register 5
P0-39 MAP5A 0x0 N/A    
(for P0-29)
Block Data Read / Write Register 6
P0-40 MAP6A 0x0 N/A    
(for P0-30)
Block Data Read / Write Register 7
P0-41 MAP7A 0x0 N/A    
(for P0-31)
Block Data Read / Write Register 8
P0-42 MAP8A 0x0 N/A    
(for P0-32)
P0-43 Reserved (Do Not Use) 00000
Status Monitor Register (PC
P0-44 PCMN 0x0 N/A    
Software Setting)
Status Monitor Register Selection
P0-45 PCMNA 0x0 N/A    
(PC Software Setting)

P0-46★ SVSTS Servo Output Status Display 44 N/A    

Explanation of symbols (marked after parameter)

( ★) Read-only register.
( ▲) Parameter cannot be set when Servo On (when the servo drive is enabled).
() Parameter is effective only after the servo drive is restarted (after switching power off
and on).
() Parameter setting values are not retained when power is off.

P0-47~P0-48= L0000
P0-49= 0000
P0-50= 0003
P0-51~P0-63= 0000

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Chapter 8 Servo Parameters

Group 1: P1-xx

Basic Parameters
Control
Parameter Name Function Default Unit Mode
PT PR S T
P1-00▲ PTT External Pulse Input Type 2 N/A 
pulse
P1-01 CTL Control Mode and Output Direction 100 r/min    
N-m
P1-02▲ PSTL Speed and Torque Limit 0 N/A    
P1-03 AOUT Pulse Output Polarity Setting 0 N/A    
P1-04 MON1 Analog Monitor Output Proportion 1 100 % (full    
(CH1) scale)
P1-05 MON2 Analog Monitor Output Proportion 2 100 % (full    
(CH2) scale)
Accel / Decel Smooth Constant of
P1-06 SFLT Analog Speed Command (Low-pass 0 Msec 
Filter)
Smooth Constant of Analog Torque
P1-07 TFLT 0 Msec 
Command (Low-pass Filter)
Smooth Constant of Position
P1-08 PFLT 0 msec 
Command (Low-pass Filter)
P1-09 SP1~ 3 1st ~ 3rd Speed Command 1000 ~ r/min
~ P1-11 1st ~ 3rd Speed Limit +60000  

P1-12 1st ~ 3rd Torque Command 100

  
~ P1-14 TQ1~3 1st ~ 3rd Torque Limit %
P1-15 ~
Reserved (Do Not Use) 0000
P1-24
Low-frequency Vibration
P1-25 VSF1 1000 Hz  
Suppression (1)
Low-frequency Vibration
P1-26 VSG1 0 N/A  
Suppression Gain (1)
Low-frequency Vibration
P1-27 VSF2 1000 Hz  
Suppression (2)
Low-frequency Vibration
P1-28 VSG2 0 N/A  
Suppression Gain (2)
Auto Low-frequency Vibration
P1-29 AVSM 0 N/A  
Suppression Mode Selection
Low-frequency Vibration Detection
P1-30 VCL 500 pulse  
Level
P1-31 Reserved (Do Not Use) 0000
P1-32 LSTP Motor Stop Mode Selection 0 N/A    
P1-33 Reserved (Do Not Use) 0000

P1-34 TACC Acceleration Time 200 msec 

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P2-67 JSL Stable Inertia Estimating Time 1.5 0.1    

times

Explanation of symbols (marked after parameter)

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Chapter 8 Servo Parameters

Group 3: P3-xx

Communication Parameters
Control
Parameter Name Function Default Unit Mode
PT PR S T
P3-00 ADR Communication Address Setting 7F N/A    
P3-01 BRT Transmission Speed 0203 bps    
P3-02 PTL Communication Protocol 6 N/A    
P3-03 FLT Transmission Fault Treatment 0 N/A    
P3-04 CWD Communication Time Out Detection 0 sec    
P3-05 CMM Communication Selection 0 N/A    
Digital Input Communication
P3-06 SDI 0 N/A    
Function
P3-07 CDT Communication Response Delay 0 1 ms    
Time
P3-08 MNS Monitor Mode 0000 N/A    
CANopen
P3-09 SYC CANopen Synchronization Setting 5055 N/A
mode
P3-10 ~
Reserved (Do Not Use) 0
P3-13

Explanation of symbols (marked after parameter)

(★) Read-only register.
(▲) Parameter cannot be set when Servo On (when the servo drive is enabled).
() Parameter is effective only after the servo drive is restarted (after switching power off
and on).
() Parameter setting values are not retained when power is off.

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Chapter 8 Servo Parameters

Group 4: P4-xx

Diagnosis Parameters
Control
Parameter Name Function Default Unit Mode
PT PR S T
H7305
P4-00★ ASH1 Fault Record (N) L0011 N/A    
H7305
P4-01★ ASH2 Fault Record (N-1) L0011 N/A    
H7305
P4-02★ ASH3 Fault Record (N-2) L0011 N/A    
H7305
P4-03★ ASH4 Fault Record (N-3) L0011 N/A    
H7305
P4-04★ ASH5 Fault Record (N-4) L0011 N/A    
P4-05 JOG JOG Operation 20 r/min    
P4-06▲ FOT Force Output Contact Control 0 N/A    
P4-07 ITST Input Status E0 N/A    
P4-08★ PKEY Digital Keypad Input of Servo Drive 8 N/A    
H0000
P4-09★ MOT Output Status L0012 N/A    
P4-10 CEN Adjustment Function 0 N/A    
Analog Speed Input Drift 16434
P4-11 SOF1 N/A    
Adjustment 1
Analog Speed Input Drift 17134
P4-12 SOF2 N/A    
Adjustment 2
17115
P4-13 TOF1 Analog Torque Drift Adjustment 1 N/A    

17115
P4-14 TOF2 Analog Torque Drift Adjustment 2 N/A    

Current Detector Drift Adjustment 16820

P4-15 COF1 N/A    
(V1 phase)
Current Detector Drift Adjustment 17008
P4-16 COF2 N/A    
(V2 phase)
Current Detector Drift Adjustment 17228
P4-17 COF3 N/A    
(W1 phase)
Current Detector Drift Adjustment 17093
P4-18 COF4 N/A    
(W2 phase)
4
P4-19 TIGB IGBT NTC Calibration N/A    

Analog Monitor Output Drift

P4-20 DOF1 0 mV    
Adjustment (CH1)
Analog Monitor Output Drift
P4-21 DOF2 0 mV    
Adjustment (CH2)
P4-22 SAO Analog Speed Input Offset 0 mV 
P4-23 TAO Analog Torque Input Offset 0 mV 
P4-24 LVL Undervoltage Error Level 160 V(rms)    
Revi
sion
Janu
ary
2011
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Chapter 8 Servo Parameters

Group 5: P5-xx

Motion Control Parameters

Control
Parameter Name Function Default Unit Mode
PT PR S T
P5-00=
0011.300008
P5-01= 1
P5-02=0
Deceleration Time of Protectin HEEEF
P5-03 PDEC LEEFF N/A    
Function
P5-04 HMOV Homing Mode 0 N/A 
1st Speed Setting of High Speed 0.1
P5-05 HSPD1 Homing 100.0 r/min    
2nd Speed Setting of Low Speed 0.1
P5-06 HSPD2 Homing 20.0 r/min    
Trigger Position Command (PR
P5-07 PRCM 0 N/A 
mode only)
P5-08 SWLP Forward Software Limit 2147483647 PUU 
P5-09 SWLN Reverse Software Limit -2147483648 PUU 
Data Array: Data Amount (N x 32
P5-10★ AYSZ 800 N/A    
bits)
P5-11 AYID Data Array: Read / Write Address 0 N/A    
Data Array: Read / Write Data
P5-12 AYD0 0 N/A    
Block 1
Data Array: Read / Write Data
P5-13 AYD1 0 N/A    
Block 2
P5-14 Reserved (Do Not Use) 0
PATH 1 ~ PATH 2 Data Not
P5-15 PMEM 0 N/A    
Retained Setting
P5-16 AXEN Axis Position: Motor Encoder 0 PUU    
Axis Position: Auxiliary Encoder
P5-17 AXAU 0 pulse    
(Pulse Command Feedback)
P5-18 AXPC Axis Position: Pulse Command 0 pulse    
1/(10^
P5-19 TBS E-Cam Curve Scaling 1.000000 6)

P5-20= 200
P5-21= 300
P5-22= 500
P5-23= 600
P5-24= 800
P5-25= 900
P5-26= 1000
P5-27= 1200
P5-28= 1500
P5-29= 2000
P5-30= 2500
P5-31= 3000
P5-32= 5000
P5-33= 8000
P5-34 AC14 Accel / Decel Time 14 50 msec 
P5-35 AC15 Accel / Decel Time 15 30 msec 
CAPTURE: Start Address of Data
P5-36 CAST 0 N/A    
Array
P5-37 CAAX CAPTURE: Axis Position CNT 1 N/A    
P5-38 CANO CAPTURE: Capture Amount 1 N/A    

P5-39 CACT CAPTURE: Capture Source Setting 2010 N/A    

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Chapter 8 Servo Parameters

Motion Control Parameters

Control
Parameter Name Function Default Unit Mode
PT PR S T
P5-40= 0
P5-41= 100
P5-42= 200
P5-43= 400
P5-44= 500
P5-45= 800
P5-46= 1000
P5-47= 1500
P5-48= 2000
P5-49= 2500
P5-50= 3000
P5-51= 3500
P5-52= 4000
P5-53= 4500
P5-54= 5000 DLY0 ~ Delay Time 0 ~ 15 msec 
P5-55=5500 DLY15
COMPARE: Start Address of Data
P5-56 CMST 50 N/A    
Array
P5-57 CMAX COMPARE: Axis Position 2 N/A    
P5-58 CMNO COMPARE: Compare Amount 1 N/A    
COMPARE: Compare Source H0064
P5-59 CMCT L0010 N/A    
Setting
P5-60= 200
P5-61= 500
P5-62= 1000
P5-63= 2000
P5-64= 3000
P5-65= 5000
P5-66= 6000
P5-67= 8000
P5-68=10000
P5-69=13000
P5-70=15000
P5-71=18000
P5-72=20000
P5-73=23000
P5-74=25000 POV0 ~ Moving Speed Setting of Position 0.1

P5-75=
30000 POV15 0~15 r/min
P5-76★ CPRS Capture 1st Position Reset Data 0 N/A    
P5-77 CSAX Position of CAPTURE SYNC AXIS 0 N/A    
Interval Pulse Number of
P5-78 CSDS 100 pulse    
CAPTURE SYNC AXIS
Error Pulse Number of CAPTURE
P5-79 CSDS 0 pulse    
SYNC AXIS
Max. Correction Rate of CAPTURE
P5-80 CSDS 10 %    
SYNC AXIS
E-Cam: Start Address of Data
P5-81 ECHD 100 N/A    
Array
E-Cam: E-Cam Area Number N (at
P5-82 ECMN 5 N/A 
least >=5)
P5-83 ECMM E-Cam: E-Cam Cycle Number (M) 1 N/A 
E-Cam: Pulse Number of Master
P5-84 ECMP 3600 N/A 
Axis (P)
P5-85 ECME E-Cam: Engage Area Number 0 N/A 
P5-86 ECAX E-Cam: Position of Master Axis 0 N/A 
P5-87 PLED E-Cam: Lead Command Length 0 N/A 
P5-88 ECON E-Cam: E-Cam Setting 00000000h N/A 
P5-89 ECRD E-Cam: Disengage Timing Data 0 N/A 
E-Cam: Area Number + (Polarity is
P5-90 CMAP 270 N/A 
Positive)
E-Cam: Area Number - (Polarity is
P5-91 CMAN 360 N/A 
Negative)
E-Cam: Cyclic Lead Command
P5-92 PLED 0 N/A 
Length
Motion Control: Macro Parameter
P5-93 CSDS 0 N/A 
4
Motion Control: Macro Parameter
P5-94 CSDS 0 N/A 
3

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Chapter 8 Servo Parameters

Motion Control Parameters

Control
Parameter Name Function Default Unit Mode
PT PR S T
Motion Control: Macro Parameter
P5-95 CSDS 0 N/A 
2
Motion Control: Macro Parameter
P5-96 CSDS 0 N/A 
1
P5-97 CSDS Motion Control: Macro Command 0 pulse    
Event Rising-edge Trigger
P5-98 EVON Command 0 N/A 
(OFF  ON)
Event Falling-edge Trigger
P5-99 EVOF Command 0 N/A 
(ON  OFF)

Explanation of symbols (marked after parameter)

(★) Read-only register.
(▲) Parameter cannot be set when Servo On (when the servo drive is enabled).
() Parameter is effective only after the servo drive is restarted (after switching power off
and on).
() Parameter setting values are not retained when power is off.

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Chapter 8 Servo Parameters

Group 6: P6-xx

PR Path Definition Parameters

Control
Parameter Name Function Default Unit Mode
PT PR S T
P6-00 PDEC Homing Definition 00000000 N/A 
P6-01 ODAT Homing Definition Value 0 N/A 
P6-02 ~ PDEF1 ~ Definition of Path 1 ~ 49 00000000 N/A
P6-98 PDEF49 

P6-03 ~ PDAT1 ~ Data of Path 1 ~ 49 0 N/A

P6-99 PDEF49 

Explanation of symbols (marked after parameter)

P6-04~P6-99= 0

Revision January 2011

8-15

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Chapter 8 Servo Parameters

Group 7: P7-xx

PR Path Definition Parameters

Control
Parameter Name Function Default Unit Mode
PT PR S T
PDEF50
P7-00 ~
~ Definition of Path 50 ~ 63 0 N/A 
P7-26
PDEF63
PDAT50
P7-01 ~
~ Data of Path 50 ~ 49 0 N/A 
P7-27
PDEF63

Explanation of symbols (marked after parameter)

(★) Read-only register.
(▲) Parameter cannot be set when Servo On (when the servo drive is enabled).
() Parameter is effective only after the servo drive is restarted (after switching power off
and on).
() Parameter setting values are not retained when power is off.

8-16 Revision January 2011

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Chapter 8 Servo Parameters

8.2.2 Parameters List by Function

Monitor and General Use

Control Mode Related

Parameter Name Function Default Unit
Section
PT PR S T
Factory
P0-00★ VER Firmware Version N/A O O O O -
Setting
2

11.1
P0-01 ALE Drive Fault Code N/A N/A O O O O 11.2
11.3
Drive Status (Front Panel
P0-02 STS 00 N/A O O O O 7.2
Display)
P0-03 MON Analog Monitor Output 01 N/A O O O O 4.3.5
P0-08★ TSON Servo Startup Time 0 Hour -
P0-09★ CM1 Status Monitor 1 N/A N/A O O O O 4.3.5
P0-10★ CM2 Status Monitor 2 N/A N/A O O O O 4.3.5
P0-11★ CM3 Status Monitor 3 N/A N/A O O O O 4.3.5
P0-12★ CM4 Status Monitor 4 N/A N/A O O O O 4.3.5
P0-13★ CM5 Status Monitor 5 N/A N/A O O O O 4.3.5
P0-17 CM1A Status Monitor Selection 1 0 N/A -
P0-18 CM2A Status Monitor Selection 2 0 N/A -
P0-19 CM3A Status Monitor Selection 3 0 N/A -
P0-20 CM4A Status Monitor Selection 4 0 N/A -
P0-21 CM5A Status Monitor Selection 5 0 N/A -
P0-25 MAP1 Mapping Parameter 1 N/A N/A O O O O 4.3.5
P0-26 MAP2 Mapping Parameter 2 N/A N/A O O O O 4.3.5
P0-27 MAP3 Mapping Parameter 3 N/A N/A O O O O 4.3.5
P0-28 MAP4 Mapping Parameter 4 N/A N/A O O O O 4.3.5
P0-29 MAP5 Mapping Parameter 5 N/A N/A O O O O 4.3.5
P0-30 MAP6 Mapping Parameter 6 N/A N/A O O O O 4.3.5
P0-31 MAP7 Mapping Parameter 7 N/A N/A O O O O 4.3.5
P0-32 MAP8 Mapping Parameter 8 N/A N/A O O O O 4.3.5
Block Data Read / Write
P0-35 MAP1A 0x0 N/A O O O O 4.3.5
Register 1 (for P0-25)
Block Data Read / Write
P0-36 MAP2A 0x0 N/A O O O O 4.3.5
Register 2 (for P0-26)
Block Data Read / Write
P0-37 MAP3A 0x0 N/A O O O O 4.3.5
Register 3 (for P0-27)
Block Data Read / Write
P0-38 MAP4A 0x0 N/A O O O O 4.3.5
Register 4 (for P0-28)

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Explanation of symbols (marked after parameter)

( ★) Read-only register.
(▲) Parameter cannot be set when Servo On (when the servo drive is enabled).
() Parameter is effective only after the servo drive is restarted (after switching power off and
on).
() Parameter setting values are not retained when power is off.

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Chapter 8 Servo Parameters

Gain and Switch

Control Mode Related

Parameter Name Function Default Unit
Section
PT PR S T

P2-00 KPP Proportional Position Loop Gain 35 rad/s O O 6.2.8

Position Loop Gain Switching
P2-01 PPR 100 % O O 6.2.8
Rate
P2-02 PFG Position Feed Forward Gain 50 % O O 6.2.8
Smooth Constant of Position
P2-03 PFF 5 msec O O -
Feed Forward Gain
P2-04 KVP Proportional Speed Loop Gain 500 rad/s O O O O 6.3.6
Speed Loop Gain Switching
P2-05 SPR 100 % O O O O -
Rate
P2-06 KVI Speed Integral Compensation 100 rad/s O O O O 6.3.6
P2-07 KVF Speed Feed Forward Gain 0 % O O O O 6.3.6
P2-26 DST External Anti-Interference Gain 0 0.001 O O O O -
Gain Switching Control
P2-27 GCC 0 N/A O O O O -
Selection
10
P2-28 GUT Gain Switching Time Constant 10 msec O O O O -
pulse
P2-29 GPE Gain Switching Condition 1280000 Kpps O O O O -
r/min
Speed Frequency Response 5.6
P2-31 AUT1 Level in Auto and Semi-Auto 80 Hz O O O O
Mode 6.3.6
Speed Frequency Response 5.6
P2-32▲ AUT2 Level in Auto and Semi-Auto 0 N/A O O O O
Mode 6.3.6

Explanation of symbols (marked after parameter)

( ★) Read-only register.
(▲) Parameter cannot be set when Servo On (when the servo drive is enabled).
() Parameter is effective only after the servo drive is restarted (after switching power off and
on).
() Parameter setting values are not retained when power is off.

Revision January 2011 8-21

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Chapter 8 Servo Parameters

Position Control

Control Mode Related

Parameter Name Function Default Unit
Section
PT PR S T
pulse
Control Mode and Output
P1-01 CTL 0 r/min O O O O 6.1
Direction
N-M
P1-02▲ PSTL Speed and Torque Limit 0 N/A O O O O 6.6
P1-12 ~
TQ1~3 1st ~ 3rd Torque Limit 100 % O O O O 6.4.1
P1-14
P1-46▲ GR3 Encoder Output Pulse Number 2500 pulse O O O O -
P1-55 MSPD Maximum Speed Limit rated r/min O O O O -

P1-72 FRES Full-closed Loop Resolution 5000 Pulse/ O O -

rev
Full-closed Loop Excessive
P1-73 FERR 30000 pulse O O -
Position Error Range
Full-closed Loop Control
P1-74 FCON 000h - O O -
Function Selection
P2-50 DCLR Pulse Deviation Clear Mode 0 N/A O O -
External Pulse Control Command (PT mode)

P1-00▲ PTT External Pulse Input Type 0x2 N/A O 6.2.1

Electronic Gear Ratio (1st
P1-44▲ GR1 1 pulse O O 6.2.5
Numerator) (N1)
Electronic Gear Ratio
P1-45▲ GR2 1 pulse O O 6.3.6
(Denominator) (M)
Electronic Gear Ratio (2nd
P2-60▲ GR4 1 pulse O O -
Numerator) (N2)
Electronic Gear Ratio (3rd
P2-61▲ GR5 1 pulse O O -
Numerator) (N3)
Electronic Gear Ratio (4th
P2-62▲ GR6 1 pulse O O -
Numerator) (N4)
Internal Pulse Control Command (PR mode)
P6-02 ~ PO1 ~ Definition of Path 1 ~ 63
0 N/A O 7.10
P7-27 PO63 Data of Path 1 ~ 63
P5-60 ~ POV1 ~ Moving Speed Setting of 20 ~ 0.1
O 7.10
P5-75 POV15 Position 0 ~ 15 3000 r/min
P5-03 PDEC Deceleration Time of Protectin 0XF00F N/A O O O O -
Function FFFF
P5-04 HMOV Homing Mode 0 N/A O O -
1st Speed Setting of High 0.1
P5-05 HSPD1 Speed Homing 100 r/min O O O O -
2nd Speed Setting of Low 0.1
P5-06 HSPD2 Speed Homing 20 r/min O O O O -
Trigger Position Command (PR
P5-07 PRCM 0 N/A O -
mode only)

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Chapter 8 Servo Parameters

Position Control
Control Mode Related PT
Parameter Name Function Default Unit
PR S T Section
P5-20 ~ AC0 ~ 200 ~
Accel / Decel Time 0 ~ 13 ms O 7.10
P5-35 AC15 30
P5-40 ~ DLY0 ~ 0~
Delay Time 0 ~ 15 ms O 7.10
P5-55 DLY15 5500
Event Rising-edge Trigger
P5-98 EVON Command 0 N/A O -
(OFF  ON)
Event Falling-edge Trigger
P5-99 EVOF Command 0 N/A O -
(ON  OFF)
PATH 1 ~ PATH 2 Data Not
P5-15 PMEM 0x0 N/A O O O O -
Retained Setting
P5-16 AXEN Axis Position: Motor Encoder N/A N/A O O O O 7.3
Axis Position: Auxiliary Encoder
P5-17 AXAU N/A N/A O O O O 7.3
(Pulse Command Feedback)
P5-18 AXPC Axis Position: Pulse Command N/A N/A O O O O 7.3
P5-08 SWLP Forward Software Limit +231 PUU O -

P5-09 SWLN Reverse Software Limit -2 31 PUU O -

Explanation of symbols (marked after parameter)

( ★) Read-only register.
(▲) Parameter cannot be set when Servo On (when the servo drive is enabled).
() Parameter is effective only after the servo drive is restarted (after switching power off and
on).
() Parameter setting values are not retained when power is off.

Revision January 2011 8-23

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Chapter 8 Servo Parameters

Speed Control

Control Mode Related

Parameter Name Function Default Unit
Section
PT PR S T
pulse
Control Mode and Output
P1-01 CTL 0 r/min O O O O 6.1
Direction
N-M
P1-02▲ PSTL Speed and Torque Limit 0 N/A O O O O 6.6
P1-46▲ GR3 Encoder Output Pulse Number 1 pulse O O O O -
P1-55 MSPD Maximum Speed Limit rated r/min O O O O -
1000
P1-09 ~ 0.1
SP1~3 1st ~ 3rd Speed Command ~ O O 6.3.1
P1-11 3000 r/min
P1-12 ~
TQ1~3 1st ~ 3rd Torque Limit 100 % O O O O 6.6.2
P1-14
Max. Analog Speed Command
P1-40▲ VCM rated r/min O O 6.3.4
or Limit
Max. Analog Torque Command
P1-41▲ TCM 100 % O O O O -
or Limit
Max. Rotation Speed of Encoder
P1-76 AMSPD Output 5500 r/min O O O O -

Explanation of symbols (marked after parameter)

( ★) Read-only register.
(▲) Parameter cannot be set when Servo On (when the servo drive is enabled).
() Parameter is effective only after the servo drive is restarted (after switching power off and
on).
() Parameter setting values are not retained when power is off.

8-24 Revision January 2011

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Chapter 8 Servo Parameters

Torque Control

Control Mode Related

Parameter Name Function Default Unit
PT PR S T Section

pulse
Control Mode and Output
P1-01 CTL 0 r/min O O O O 6.1
Direction
N-M
P1-02▲ PSTL Speed and Torque Limit 0 N/A O O O O 6.6

P1-46▲ GR3 Encoder Output Pulse Number 1 pulse O O O O -

P1-55 MSPD Maximum Speed Limit rated r/min O O O O -
P1-09 100
~ SP1~3 1st ~ 3rd Speed Limit ~ r/min O O 6.6.1
P1-11 300
P1-12
~ TQ1~3 1st ~ 3rd Torque Command 100 % O O O O 6.4.1
P1-14
Max. Analog Speed Command
P1-40▲ VCM rated r/min O O -
or Limit
Max. Analog Torque Command
P1-41▲ TCM 100 % O O O O 6.4.4
or Limit

Explanation of symbols (marked after parameter)

( ★) Read-only register.
(▲) Parameter cannot be set when Servo On (when the servo drive is enabled).
() Parameter is effective only after the servo drive is restarted (after switching power off and
on).
() Parameter setting values are not retained when power is off.

Revision January 2011 8-25

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Chapter 8 Servo Parameters

Digital I/O and Relative Input Output Setting

Control Mode Related

Parameter Name Function Default Unit
PT PR S T Section

P2-09 DRT Bounce Filter 2 2msec O O O O -

Digital Input Terminal 1 (DI1) Table
P2-10 DI1 101 N/A O O O O
8.A
Digital Input Terminal 2 (DI2) Table
P2-11 DI2 104 N/A O O O O
8.A
Digital Input Terminal 3 (DI3) Table
P2-12 DI3 116 N/A O O O O
8.A
Digital Input Terminal 4 (DI4) Table
P2-13 DI4 117 N/A O O O O
8.A
Digital Input Terminal 5 (DI5) Table
P2-14 DI5 102 N/A O O O O
8.A
Digital Input Terminal 6 (DI6) Table
P2-15 DI6 22 N/A O O O O
8.A
Digital Input Terminal 7 (DI7) Table
P2-16 DI7 23 N/A O O O O
8.A
Digital Input Terminal 8 (DI8) Table
P2-17 DI8 21 N/A O O O O
8.A
External Digital Input Terminal Table
P2-36 EDI9 0 N/A O O O O
9 (EDI9) 8.A
External Digital Input Terminal Table
P2-37 EDI10 0 N/A O O O O
10 (EDI10) 8.A
External Digital Input Terminal Table
P2-38 EDI11 0 N/A O O O O
11 (EDI11) 8.A
External Digital Input Terminal Table
P2-39 EDI12 0 N/A O O O O
12 (EDI12) 8.A
External Digital Input Terminal Table
P2-40 EDI13 0 N/A O O O O
13 (EDI13) 8.A
External Digital Input Terminal Table
P2-41 EDI14 0 N/A O O O O
14 (EDI14) 8.A
Digital Output Terminal 1 Table
P2-18 DO1 101 N/A O O O O
(DO1) 8.B
Digital Output Terminal 2 Table
P2-19 DO2 103 N/A O O O O
(DO2) 8.B
Digital Output Terminal 3 Table
P2-20 DO3 109 N/A O O O O
(DO3) 8.B
Digital Output Terminal 4 Table
P2-21 DO4 105 N/A O O O O
(DO4) 8.B
Digital Output Terminal 5 Table
P2-22 DO5 7 N/A O O O O
(DO5) 8.B
0.1 Table
P1-38 ZSPD Zero Speed Range Setting 100 r/min O O O O 8.B
Table
P1-39 SSPD Target Motor Speed 3000 r/min O O O O
8.B
On Delay Time of
P1-42 MBT1 0 ms O O O O 6.5.5
Electromagnetic Brake

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Chapter 8 Servo Parameters

Digital I/O and Relative Input Output Setting

Control Mode Related
Parameter Name Function Default Unit
PT PR S T Section

OFF Delay Time of

P1-43 MBT2 0 ms O O O O 6.5.5
Electromagnetic Brake
Table
P1-47 SCPD Speed Reached Output Range 10 r/min O
8.B
Table
P1-54 PER Positioning Completed Width 12800 pulse O O
8.B
Table
P1-56 OVW Output Overload Warning Time 120 % O O O O
8.B

00h
P5-89 ECRD E-Cam: Disengage Timing Data 0 N/A O 7.10
E-Cam: Area Number + (Polarity
P5-90 CMAP 0 N/A O 7.10
is Positive)
E-Cam: Area Number - (Polarity
P5-91 CMAN 0 N/A O 7.10
is Negative)
E-Cam: Cyclic Lead Command
P5-92 PLED 0 N/A O 7.10
Length

Explanation of symbols (marked after parameter)

( ★) Read-only register.
(▲) Parameter cannot be set when Servo On (when the servo drive is enabled).
() Parameter is effective only after the servo drive is restarted (after switching power off and
on).
() Parameter setting values are not retained when power is off.

Revision January 2011 8-29

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Chapter 8 Servo Parameters

8.3 Detailed Parameter Listings

Group 0: P0-xx Monitor Parameters

P0 - 00★ VER Firmware Version Address: 0000H, 0001H

Default: Factory setting Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: N/A
Data Size: 16-bit
Display Format: Decimal

P0 - 01 AL Drive Fault Code Address: 0002H, 0003H

Default: N/A Related Section: Chapter 11

Applicable Control Mode: ALL
Unit: N/A
Range: 001 ~ 380
Data Size: 16-bit
Display Format: BCD
Settings:
This parameter shows the current servo drive fault if the servo drive is currently faulted.
The fault code is hexadecimal data but displayed in BCD format (Binary coded decimal).
Servo Drive Fault Codes:
Overcurrent
Overvoltage
Undervoltage (This fault code shows when main circuit voltage is below its minimum specified value
while Servo On, and it will not show while Servo Off. This fault code can’t be cleared
automatically after the voltage has returned within its specification. Please refer to parameter P2-
66.)
Motor error (The drive and motor are not correctly matched for size (power rating).
Regeneration error
Overload
Overspeed
Abnormal pulse control command
Excessive deviation
Reserved
Encoder error (The wiring of the encoder is in error and this causes the communication error
between the servo drive and the encoder.)
012: Adjustment error

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Chapter 8 Servo Parameters

Emergency stop activated

Reverse limit switch error
Forward limit switch error
IGBT temperature error
Memory error
Encoder output error
Serial communication error
Serial communication time out
Reserved
Input power phase loss
Pre-overload warning
Encoder initial magnetic field error
Encoder internal error
Encoder data error
Motor protection error
U, V, W wiring error
Full-closed loop excessive deviation
DSP firmware upgrade CANopen
Communication Fault Codes
CANbus error
CANopen SDO receive buffer overrun
CANopen PDO receive buffer overrun
Index error occurs when accessing CANopen PDO object.
Sub-index error occurs when accessing CANopen PDO object.
Data type (size) error occurs when accessing CANopen PDO object.
Data range error occurs when accessing CANopen PDO object.
CANopen PDO object is read-only and write-protected.
CANopen PDO object does not support PDO.
CANopen PDO object is write-protected when Servo On.
Error occurs when reading CANopen PDO object from EE-PROM.
Error occurs when writing CANopen PDO object into EE-PROM.
EE-PROM invalid address range
EE-PROM checksum error
Password error Motion Control
Fault Codes:
CANopen data initial error
Write parameter error: exceeds the limit of normal range
Write parameter error: read only

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Chapter 8 Servo Parameters

Write parameter error: parameter lock

Write parameter error: parameter lock
PR command overflow
PR positioning time out
Invalid PR path number
Index error occurs when accessing CANopen object.
Sub-index error occurs when accessing CANopen object.
Data type (size) error occurs when accessing CANopen object.
Data range error occurs when accessing CANopen object.
CANopen object is read-only and write-protected. 26b: CANopen
object does not support PDO.

26d: CANopen object is write-protected when Servo On.

26F: Error occurs when reading CANopen object from EE-PROM.
Error occurs when writing CANopen object into EE-PROM.
EE-PROM invalid address range
EE-PROM checksum error
Password error
Forward software limit
Reverse software limit
Position counter overflow
Servo Off error
CANopen SYNC failed
CANopen SYNC signal error
CANopen SYNC time out
CANopen IP command failed
SYNC period error
Position deviation alarm for digital output, MC_OK (Please refer to P1-48.)

P0-02 STS Drive Status (Front Panel Display) Address: 0004H, 0005H

Default: 00 Related Section:

Applicable Control Mode: ALL Section 4.3.5, Section 7.2
Unit: N/A
Range: 00 ~ 127
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter shows the servo drive status.
00: Motor feedback pulse number (after electronic gear ratio is set) [user unit]

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Chapter 8 Servo Parameters

01: Input pulse number of pulse command (after electronic gear ratio is set) [user unit]
Position error counts between control command pulse and feedback pulse [user unit]
Motor feedback pulse number (encoder unit, 1280000 pulse/rev) [pulse]
Input pulse number of pulse command (before electronic gear ratio is set) [pulse]
Position error counts [pulse]
Input frequency of pulse command [Kpps]
Motor rotation speed [r/min]
Speed input command [Volt]
Speed input command [r/min]
Torque input command [Volt]
Torque input command [%]
Average load [%]
Peak load [%]
Main circuit voltage [Volt]
Ratio of load inertia to Motor inertia [0.1times]
IGBT temperature
Resonance frequency [Hz]
Absolute pulse number relative to encoder (use Z phase as home). The value of Z phase home point is
0, and it can be the value from -5000 to +5000 pulses.

Mapping Parameter 1: Display the content of parameter P0-25 (mapping target is specified by
parameter P0-35)
Mapping Parameter 2: Display the content of parameter P0-26 (mapping target is specified by
parameter P0-36)
Mapping Parameter 3: Display the content of parameter P0-27 (mapping target is specified by
parameter P0-37)
Mapping Parameter 4: Display the content of parameter P0-28 (mapping target is specified by
parameter P0-38)
Status Monitor 1: Display the content of parameter P0-09 (the monitor status is specified by
parameter P0-17)
Status Monitor 2: Display the content of parameter P0-10 (the monitor status is specified by
parameter P0-18)
Status Monitor 3: Display the content of parameter P0-11 (the monitor status is specified by
parameter P0-19)
Status Monitor 4: Display the content of parameter P0-12 (the monitor status is specified by
parameter P0-20)

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Chapter 8 Servo Parameters

P0-03 MON Analog Monitor Output Address: 0006H, 0007H

Default: 01 Related Section:

Applicable Control Mode: ALL Section 4.3.5
Unit: N/A
Range: 00 ~ 77
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
This parameter determines the functions of the analog monitor outputs.

XY: (X: CH1; Y: CH2)

Reserved (Do Not Use)

P0 - 04
Reserved (Do Not Use)
P0 - 05
Reserved (Do Not Use)
P0 - 06

P0 - 07

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Chapter 8 Servo Parameters

P0 - 08★ TSON Servo Startup Time Address: 0010H, 0011H

Default: 0 Related Section: N/A

Applicable Control Mode: ALL
Unit: Hour
Range: 0 ~ 65535
Data Size: 16-bit
Display Format: Decimal

P0 - 09★ CM1 Status Monitor 1 Address: 0012H, 0013H

Default: N/A Related Section:

Applicable Control Mode: ALL Section 4.3.5
Unit: N/A
Range: N/A
Data Size: 32-bit
Display Format: Decimal
Settings:
This parameter is used to provide the value of one of the status monitoring functions found in P0-02.
The value of P0-09 is determined by P0-17 (desired drive status) through communication setting or the
keypad. The drive status can be read from the communication address of this parameter via
communication port.
For example:
Set P0-17 to 3, then all consequent reads of P0-09 will return the motor feedback pulse number in pulse.
When reading the drive status through Modbus communication, the system should read two 16-bit data
stored in the addresses of 0012H and 0013H to form a 32-bit data. (0013H : 0012H) = (High Word : Low
Word)
When reading the drive ststus through the keypad, if P0-02 is set to 23, VAR-1 will quickly show
for about two seconds and then the value of P0-09 will display on the display.

P0 - 10★ CM2 Status Monitor 2 Address: 0014H, 0015H

Default: N/A Related Section:

Applicable Control Mode: ALL Section 4.3.5
Unit: N/A
Range: N/A
Data Size: 32-bit
Display Format: Decimal

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Chapter 8 Servo Parameters

Settings:
This parameter is used to provide the value of one of the status monitoring functions found in P0-02.
The value of P0-10 is determined by P0-18 (desired drive status) through communication setting or the
keypad. The drive status can be read from the communication address of this parameter via
communication port.
When reading the drive status through the keypad, if P0-02 is set to 24, VAR-2 will quickly show
for about two seconds and then the value of P0-10 will display on the display.

P0 - 11★ CM3 Status Monitor 3 Address: 0016H, 0017H

Default: N/A Related Section:

P0 - 12★ CM4 Status Monitor 4 Address: 0018H, 0019H

Default: N/A Related Section:

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Chapter 8 Servo Parameters

P0 - 13★ CM5 Status Monitor 5 Address: 001AH, 001BH

Default: N/A Related Section:

P0-14 Reserved (Do Not Use)

P0-15 Reserved (Do Not Use)

P0-16 Reserved (Do Not Use)

P0-17 CM1A Status Monitor Selection 1 Address: 0022H, 0023H

Default: 0 Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 127
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to determine the drive status found in P0-02. The selected drive status will be
displayed by P0-09.
For example:
Set P0-17 to 7, then all consequent reads of P0-09 will return the motor rotation speed in r/min.

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Chapter 8 Servo Parameters

P0-18 CM2A Status Monitor Selection 2 Address: 0024H, 0025H

Default: 0 Related Section: N/A

P0-19 CM3A Status Monitor Selection 3 Address: 0026H, 0027H

Default: 0 Related Section: N/A

P0-20 CM4A Status Monitor Selection 4 Address: 0028H, 0029H

Default: 0 Related Section: N/A

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Chapter 8 Servo Parameters

P0-21 CM5A Status Monitor Selection 5 Address: 002AH, 002BH

Default: 0 Related Section: N/A

P0-22 Reserved (Do Not Use)

P0-23 Reserved (Do Not Use)

P0-24 Reserved (Do Not Use)

P0-25 MAP1 Mapping Parameter 1 Address: 0032H, 0033H

Default: N/A Related Section:

Applicable Control Mode: ALL Section 4.3.5
Unit: N/A
Range: determined by the parameter specified by P0-35
Data Size: 32-bit
Display Format: Hexadecimal
Settings:
The parameters from P0-25 to P0-32 are used to read and write the values of the parameters those
communication addresses are not consecutive. The users can set P0-35 ~ P0-42 as the desired read and
write mapping parameter numbers through communication setting or the keypad. When reading or
writing P0-25 ~ P0-32, the read or write values are equivalent to the values of the parameters specified
by P0-35 ~ P0-42, and vise versa. Refer to P0-35 for explanation.

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Chapter 8 Servo Parameters

Default: 0x0 Related Section:

Applicable Control Mode: ALL Section 4.3.5
Unit: N/A
Range: determined by the communication address of the designated parameter
Data Size: 32-bit
Display Format: Hexadecimal
Settings:
The parameters from P0-35 to P0-42 are used to designate the desired read and write parameter numbers
for P0-25 to P0-32, and read and write the values of the parameters those communication addresses are
not consecutive through communication setting or the keypad more efficiently.
The read / write parameter could be one 32-bit parameter or two 16-bit parameters.
The operation of parameter P0-35 is described as follows:

When PH PL, it indicates that P0-25 includes two 16-bit parameters.

VH = *(PH) VL = *(PL)

When PH = PL = P, it indicates that the content of P0-25 is one 32-bit parameter.

V32 = *(P). If P = 060Ah (parameter P6-10), the value of V32 is the value of P6-10.

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Chapter 8 Servo Parameters

Parameter group code in hexadecimal format

Parameter number in hexadecimal format
For example:
If the desired read and write parameter number is P2-06, please set P0-35 to 0206. If the desired read
and write parameter number is P5-42, please set P0-35 to 052A, and vise versa.
When the users want to read and write the value of the parameter P1-44 (32-bit parameter) via P0-25, please
set P0-35 to 0x012C012C through communication setting or the keypad. The the value of the parameter P1-44
will be displayed by P0-25.
When the users want to read and write the values of the parameters P2-02 (Position Feed Forward Gain,
16-bit parameter) and P2-04 (Proportional Speed Loop Gain, 16-bit parameter) via P0-25, please set P0-
35 to 0x02040202 through communication setting or the keypad. The the values of the parameters P2-02
and P2-04 will be displayed by P0-25.

P0-36 MAP2A Block Data Read / Write Register 2 (for P0-26) Address: 0048H, 0049H

Default: 0x0 Related Section:

Applicable Control Mode: ALL Section 4.3.5
Unit: N/A
Range: determined by the communication address of the designated parameter
Data Size: 32-bit
Display Format: Hexadecimal
Settings:

Refer to P0-35 for explanation.

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Chapter 8 Servo Parameters

P0-37 MAP3A Block Data Read / Write Register 3 (for P0-27) Address: 004AH, 004BH

Default: 0x0 Related Section:

Applicable Control Mode: ALL Section 4.3.5
Unit: N/A
Range: determined by the communication address of the designated parameter

Data Size: 32-bit

Display Format: Hexadecimal
Settings:

Refer to P0-35 for explanation.

P0-38 MAP4A Block Data Read / Write Register 4 (for P0-28) Address: 004CH, 004DH

Default: 0x0 Related Section:

Applicable Control Mode: ALL Section 4.3.5
Unit: N/A
Range: determined by the communication address of the designated parameter
Data Size: 32-bit
Display Format: Hexadecimal
Settings:

Refer to P0-35 for explanation.

P0-39 MAP5A Block Data Read / Write Register 5 (for P0-29) Address: 004EH, 004FH

Default: 0x0 Related Section:

Applicable Control Mode: ALL Section 4.3.5
Unit: N/A
Range: determined by the communication address of the designated parameter
Data Size: 32-bit
Display Format: Hexadecimal
Settings:

Refer to P0-35 for explanation.

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Refer to P0-35 for explanation.

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Chapter 8 Servo Parameters

P0-43 Reserved (Do Not Use)

P0-44 PCMN Status Monitor Register (PC Software Setting) Address: 0058H, 0059H

Default: 0x0 Related Section:

Applicable Control Mode: ALL Section 4.3.5
Unit: N/A
Range: determined by the communication address of the designated parameter
Data Size: 32-bit
Display Format: Decimal
Settings:
The function of this parameter is the same as P0-09 (Please refer to P0-09). Please note that this
pamameter can be set through communication setting only.

Status Monitor Register Selection (PC

P0 - 45
PCMNA Software Setting) Address: 005AH, 005BH

Default: 0x0 Related Section:

Applicable Control Mode: ALL Section 4.3.5
Unit: N/A
Range: 0 ~ 127
Data Size: 16-bit
Display Format: Decimal
Settings:
The function of this parameter is the same as P0-17 (Please refer to P0-17). Please note that this
pamameter can be set through communication setting only.

P0 - 46★ SVSTS Servo Output Status Display Address: 005CH, 005DH

Default: 0 Related Section: -

Applicable Control Mode: ALL
Unit: N/A
Range: 0x00 ~ 0xFF
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
This parameter is used to display the digital output signal of the servo drive. The servo output status
display will show in hexadecimal format.
Bit0: SRDY (Servo ready)
Bit1: SON (Servo On)
Bit2: ZSPD (At Zero speed)

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Chapter 8 Servo Parameters

Bit3: TSPD (At Speed reached)

Bit4: TPOS (At Positioning completed)
Bit5: TQL (At Torque limit)
Bit6: ALRM (Servo alarm activated)
Bit7: BRKR (Electromagnetic brake control)
Bit8: HOME (Homing completed)
Bit9: OLW (Output overload warning)
Bit10: WARN (Servo warning activated. WARN is activated when the drive has detected reverse limit
error; forward limit error, emergency stop, serial communication error, and undervoltage these
fault conditions.)
Bit11: Reserved
Bit12: Reserved
Bit13: Reserved
Bit14: Reserved
Bit15: Reserved
The servo output status display can be monitored through communication also.

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Chapter 8 Servo Parameters

Group 1: P1-xx Basic Parameters

P1 - 00▲ PTT External Pulse Input Type Address: 0100H, 0101H

Default: 0x2 Related Section:

Applicable Control Mode: PT Section 6.2.1
Unit: N/A
Range: 0 ~ 1132
Data Size: 16-bit
Display Format: Hexadecimal
Settings:

A: Input pulse type

0: AB phase pulse (4x) (Quadrature Input)
A 1: Clockwise (CW) + Counterclockwise(CCW) pulse
B 2: Pulse + Direction
C
3: Other settings:
D
not used

B: Input pulse filter

This setting is used to suppress or reduce the chatter caused by the noise, etc. However, if the instant input pulse
filter frequency is over high, the frequency that exceeds the setting value will be regarded as noise and filtered.

B Low Filter Setting Value High Filter

0 1.66Mpps 0 6.66Mpps
1 416Kpps 1 1.66Mpps
2 208Kpps 2 833Kpps
3 104Kpps 3 416Kpps
4 No Filter Function 4 No Filter Function

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Chapter 8 Servo Parameters

C: Input polarity

Logic Pulse Type Forward Reverse

AB phase
pulse

Positive CW + CCW
0
Logic pulse

Pulse +
Direction

AB phase
pulse

Negative CW + CCW
1 Logic pulse

Pulse +
Direction

Max. input Min. time width

Pulse specification pulse
frequency T1 T2 T3 T4 T5 T6
High-speed Line
4Mpps 62.5ns 125ns 250ns 200ns 125ns 125ns
pulse receiver
Line
500Kpps 0.5μs 1μs 2μs 2μs 1μs 1μs
Low-speed driver
pulse Open
200Kpps 1.25μs 2.5μs 5μs 5μs 2.5μs 2.5μs
collector

Max. input pulse Voltage

Pulse specification Forward specification
frequency specification
High-speed Line
4Mpps 5V < 25mA
pulse receiver
Line
500Kpps 2.8V ~ 3.7V < 25mA
Low-speed driver
pulse Open
200Kpps 24V (Max.) < 25mA
collector
D: Source of pulse command
Setting
Input pulse interface Remark
value
Open collector for CN1 Terminal Identification:
0
low-speed pulse PULSE, SIGN
Line driver for CN1 Terminal Identification:
1
high-speed pulse PULSE_D, SIGN_D

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Chapter 8 Servo Parameters

P1 - 01 CTL Control Mode and Output Direction Address: 0102H, 0103H

Default: 0 Related Section: Section 6.1,

Applicable Control Mode: ALL Table 8.A
Unit: pulse (P mode), r/min (S mode), N-m (T mode)
Range: 00 ~ 110F
Data Size: 16-bit
Display Format: Hexadecimal
Settings:

A: Control mode settings

PT PR S T Sz Tz PT PR S T Sz Tz
Single Mode Dual Mode
▲ 06 ▲ ▲
▲ 07 ▲ ▲
▲ 08 ▲ ▲
03 ▲ 09 ▲ ▲
04 ▲ 0A ▲ ▲
05 ▲ 0B CANopen Mode
Multiple Mode 0C Reserved
0E ▲ ▲ ▲ 0D ▲ ▲
0F ▲ ▲ ▲

PT: Position control mode. The command is from external pulse or analog voltage (external analog
voltage will be available soon).
PR: Position control mode. The command is from internal signal. Execution of 64 positions is via
DI signals (POS0 ~ POS5). A variety of homing control is also provided.
Speed control mode. The command is from external signal or internal signal. Execution of the
command selection is via DI signals, SPD0 and SPD1.
Torque control mode. The command is from external signal or internal signal. Execution of the
command selection is via DI signals, TCM0 and TCM1.
Sz: Zero speed / internal speed command
Tz: Zero torque / internal torque command

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Chapter 8 Servo Parameters

Dual Mode: Control of the mode selection is via DI signals. For example, either PT or S
control mode can be selected via DI signal, S-P (see Table 8.A).
Multiple Mode: Control of the mode selection is via DI signals. For example, either PT or PR or S
control mode can be selected via DI signals, S-P and PT-PR (see Table 8.A).

B: Torque output direction settings

Direction 0 1

Forward

Reverse

Discrete I/O Setting

When switching to different mode, digital inputs/outputs (P2-10 ~ P2-22) can be reset to be the
default value of the mode you switch to.
When switching to different mode, the setting value of digital inputs/outputs (P2-10 ~ P2-22) will
remain the same and will not be changed.

P1 - 02▲ PSTL Speed and Torque Limit Address: 0104H, 0105H

Default: 00 Related Section: Section 6.6,

Applicable Control Mode: ALL Table 8.A
Unit: N/A
Range: 00 ~ 11
Data Size: 16-bit
Display Format: Hexadecimal
Settings:

A
B
not used

Disable or Enable speed limit function

Disable speed limit function
Enable speed limit function (It is available in torque mode)

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Chapter 8 Servo Parameters

Disable or Enable torque limit function

Disable torque limit function
Enable torque limit function (It is available in position and speed mode)

This parameter is used to determine that the speed and torque limit functions are enabled or disabled. If P1-02
is set to 11, it indicates that the speed and torque limit functions are enabled always. The users can also use DI
signals, SPDLM and TRQLM to enable the speed and torque limit functions. Please note that DI signals, SPD0,
SPD1, TCM0, and TCM1 are used to select the command source of the speed and torque limit.

P1-03 AOUT Pulse Output Polarity Setting Address: 0106H, 0107H

Default: 0 Related Section:

Applicable Control Mode: ALL Section 3.3.3
Unit: N/A
Range: 0 ~ 13
Data Size: 16-bit
Display Format: Hexadecimal
Settings:

A
B
not used
This parameter is used to determine the polarity of analog monitor outputs and position pulse outputs.
The analog monitor outputs can be configured with different polarity individually, but the position
pulse outputs have to be each with the same polarity.
Analog monitor outputs polarity
MON1(+), MON2(+)
MON1(+), MON2(-)
MON1(-), MON2(+)
MON1(-), MON2(-)
Position pulse outputs polarity
Forward output
Reverse output

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Chapter 8 Servo Parameters

P1-04 MON1 Analog Monitor Output Proportion 1 (CH1) Address: 0108H, 0109H

Default: 100 Related Section:

Applicable Control Mode: ALL Section 6.4.4
Unit: % (full scale)
Range: 0 ~ 100
Data Size: 16-bit
Display Format: Decimal

P1-05 MON2 Analog Monitor Output Proportion 2 (CH2) Address: 010AH, 010BH

Default: 100 Related Section:

Applicable Control Mode: ALL Section 6.4.4
Unit: % (full scale)
Range: 0 ~ 100
Data Size: 16-bit
Display Format: Decimal

Accel / Decel Smooth Constant of Analog

P1-06 SFLT Address: 010CH, 010DH
Speed Command (Low-pass Filter)
Default: 0 Related Section:
Applicable Control Mode: S Section 6.3.3
Unit: msec
Range: 0 ~ 1000 (0: Disabled)
Data Size: 16-bit
Display Format: Decimal

Smooth Constant of Analog Torque

P1-07 TFLT Address: 010EH, 010FH
Command (Low-pass Filter)
Default: 0 Related Section:
Applicable Control Mode: T Section 6.4.3
Unit: msec
Range: 0 ~ 1000 (0: Disabled)
Data Size: 16-bit
Display Format: Decimal

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P1-15 Reserved (Do Not Use)

P1-16 Reserved (Do Not Use)

P1-17 Reserved (Do Not Use)

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Chapter 8 Servo Parameters

P1 - 18 Reserved (Do Not Use)

P1 - 19 Reserved (Do Not Use)

P1 - 20 Reserved (Do Not Use)

P1 - 21 Reserved (Do Not Use)

P1 - 22 Reserved (Do Not Use)

P1 - 23 Reserved (Do Not Use)

P1 - 24 Reserved (Do Not Use)

P1 - 25 VSF1 Low-frequency Vibration Suppression (1) Address: 0132H, 0133H

Default: 100.0 Related Section:

Applicable Control Mode: PT/PR Section 6.2.9
Unit: Hz
Range: 1.0 ~ 100.0
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the first group of the low-frequency of mechanical system. It can be used to
suppress the low-frequency vibration of mechanical system. If P1-26 is set to 0, this parameter is disabled.

Low-frequency Vibration Suppression Gain (1)

P1 - 26 VSG1 Address: 0134H, 0135H

Default: 0 Related Section:

Applicable Control Mode: PT/PR Section 6.2.9
Unit: -
Range: 0 ~ 9 (0: Disable the function of P1-25)
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the vibration suppression gain for P1-25. When the setting value is higher,
the position response is quicker. However, if the setting value is over high, it may addect the normal
operation of servo motor. It is recommended to set P1-26 as 1.

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Chapter 8 Servo Parameters

P1-27 VSF2 Low-frequency Vibration Suppression (2) Address: 0136H, 0137H

Default: 100.0 Related Section:

Applicable Control Mode: PT/PR Section 6.2.9
Unit: Hz
Range: 1.0 ~ 100.0
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the second group of the low-frequency of mechanical system. It can be used
to suppress the low-frequency vibration of mechanical system. If P1-28 is set to 0, this parameter is
disabled.

Low-frequency Vibration Suppression Gain

P1-28 VSG2 Address: 0138H, 0139H
(2)
Default: 0 Related Section:
Applicable Control Mode: PT/PR Section 6.2.9
Unit: -
Range: 0 ~ 9 (0: Disable the function of P1-27)
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the vibration suppression gain for P1-27. When the setting value is higher,
the position response is quicker. However, if the setting value is over high, it may addect the normal
operation of servo motor. It is recommended to set P1-28 as 1.

Auto Low-frequency Vibration Suppression

P1-29 AVSM Address: 013AH, 013BH
Mode Selection
Default: 0 Related Section:
Applicable Control Mode: PT/PR Section 6.2.9
Unit: -
Range: 0 ~ 1
Data Size: 16-bit
Display Format: Decimal
Settings:
Normal mode (Disable Auto Low-frequency Vibration Suppression Mode).
Auto mode (Enable Auto Low-frequency Vibration Suppression Mode).

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Chapter 8 Servo Parameters

Explanation:
If P1-29 is set to 0, the setting of low-frequency vibration suppression is fixed and will not change
automatically.
If P1-29 is set to 1, when there is no low-frequency vibration or the low-frequency vibration becomes
less and stable, the system will set P1-29 to 0, save the measured low-frequency value automatically
and memorize it in P1-25.

P1-30 VCL Low-frequency Vibration Detection Level Address: 013CH, 013DH

Default: 500 Related Section:

Applicable Control Mode: PT/PR Section 6.2.9
Unit: pulse
Range: 1 ~ 8000
Data Size: 16-bit
Display Format: Decimal
Settings:
When P1-29 is set to 1, the system will find this detection level automatically. If the setting value of P1-
30 is too low, the dectection of frequency will become sensitive and result in erroneous measurement. If
the setting value of P1-30 is too high, although the probability of erroneous measurement will decrease,
the frequency will become difficult to be found especially when the vibration of mechanical system is
less.

P1-31 Reserved (Do Not Use)

P1-32 LSTP Motor Stop Mode Selection Address: 0140H, 0141H

Default: 0 Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 20
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
This parameter is used to select servo motor stop mode when Servo Off or a fault (servo alarm,
includes EMGS (Emergency stop)) occurs.

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Chapter 8 Servo Parameters

Fault Stop Mode

Use dynamic brake
Allow servo motor to coast to stop
Use dynamic brake first, after the motor speed is below than P1-38, allow servo motor to coast to
stop
When the fault NL(CWL) or PL(CCWL) occurs, please refer to the settings of parameter P5-03 to
determine the deceleration time. If the deceleration time is set to 1msec, the motor will stop instantly.

P1-33 Reserved (Do Not Use)

P1-34 TACC Acceleration Time Address: 0144H, 0145H

Default: 200 Related Section:

Applicable Control Mode: S Section 6.3.3,
Unit: msec
Range: 1 ~ 65500
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to determine the acceleration time to accelerate from 0 to its rated motor speed.
The functions of parameters P1-34, P1-35 and P1-36 are each individual. When P1-36 is set to 0
(Disabled), the settings of P1-34, P1-35 are still effective. It indicates that the parameters P1-34 and
P1-35 will not become disabled even when P1-36 is disabled.
Please note:
When the source of speed command is analog command, the maximum setting value of P1-36 is set to 0,
the acceleration and deceleration function will be disabled.
When the source of speed command is analog command, the maximum setting value of P1-34 is
limited to 20000 automatically.

P1-35 TDEC Deceleration Time Address: 0146H, 0147H

Default: 200 Related Section:

Applicable Control Mode: S Section 6.3.3,
Unit: msec
Range: 1 ~ 65500
Data Size: 16-bit
Display Format: Decimal

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Chapter 8 Servo Parameters

Settings:
This parameter is used to determine the acceleration time to accelerate from 0 to its rated motor speed.
The functions of parameters P1-34, P1-35 and P1-36 are each individual. When P1-36 is set to 0
(Disabled), the settings of P1-34, P1-35 are still effective. It indicates that the parameters P1-34 and
P1-35 will not become disabled even when P1-36 is disabled.
Please note:
When the source of speed command is analog command, the maximum setting value of P1-36 is set to 0,
the acceleration and deceleration function will be disabled.
When the source of speed command is analog command, the maximum setting value of P1-35 is
limited to 20000 automatically.

P1-36 TSL Accel /Decel S-curve Address: 0148H, 0149H

Default: 0 Related Section:

Unit: msec Section 6.3.3,
Applicable Control Mode: S, PR
Unit: msec
Range: 0 ~ 65500 (0: Disabled)
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to make the motor run more smoothly when startup and windup.
Using this parameter can improve the motor running stability.

TACC: P1-34, Acceleration time

TDEC: P1-35, Deceleration time
TSL: P1-36, Accel /Decel S-curve
Total acceleration time = TACC + TSL
Total deceleration time = TDEC + TSL
The functions of parameters P1-34, P1-35 and P1-36 are each individual. When P1-36 is set to 0
(Disabled), the settings of P1-34, P1-35 are still effective. It indicates that the parameters P1-34 and P1-
35 will not become disabled even when P1-36 is disabled. Please note:
When the source of speed command is analog command, the maximum setting value of P1-36 is set to 0,
the acceleration and deceleration function will be disabled.

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Chapter 8 Servo Parameters

When the source of speed command is analog command, the maximum setting value of P1-36 is
limited to 10000 automatically.

P1-37 GDR Ratio of Load Inertia to Servo Motor Inertia Address: 014AH, 014BH

Default: 10 Related Section: N/A

Applicable Control Mode: ALL
Unit: 0.1 times
Range: 0 ~ 2000
Data Size: 16-bit
Display Format: Decimal

Settings:
Ratio of load inertia to servo motor inertia (for Rotation Motor): (J_load /J_motor)
J_load: Total equivalent moment of inertia of external mechanical load
J_motor: Moment of inertia of servo motor
Ratio of load weight to servo motor weight (for Linear Motor): (M_load /M_motor)(not
available now but will be available soon)
M_load: Total equivalent weight of external mechanical load
M_motor: Weight of servo motor

P1-38 ZSPD Zero Speed Range Setting Address: 014CH, 014DH

Default: 100 Related Section: Table 8.A

Applicable Control Mode: ALL
Unit: 0.1 r/min
Range: 0 ~ 2000
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set output range of zero speed signal (ZSPD) and determine whrn zero speed
signal (ZSPD) becomes activated. ZSPD is activated when the drive senses the motor is equal to or
below the Zero Speed Range setting as defined in parameter P1-38.
For Example, at default ZSPD will be activated when the drive detects the motor rotating at speed at or
below 100 r/min. ZSPD will remain activated until the motor speed increases above 100 r/min.

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Chapter 8 Servo Parameters

P1-39 SSPD Target Motor Speed Address: 014EH, 014FH

Default: 3000 Related Section: Table 8.A

Applicable Control Mode: ALL
Unit: r/min
Range: 0 ~ 5000
Data Size: 16-bit
Display Format: Decimal
Settings:
When target motor speed reaches its preset value, digital output (TSPD) is enabled. When the forward
and reverse speed of servo motor is equal and higher than the setting value, the motor will reach the
target motor speed, and then TSPD signal will output.
TSPD is activated once the drive has detected the motor has reached the Target Motor Speed setting as
defined in parameter P1-39. TSPD will remain activated until the motor speed drops below the Target
Motor Speed.

P1 - 40▲ VCM Max. Analog Speed Command or Limit Address: 0150H, 0151H

Default: rated speed Related Section:

Applicable Control Mode: S, T Section 6.3.4
Unit: r/min
Range: 0 ~ 10000
Data Size: 16-bit
Display Format: Decimal
Settings:
In Speed mode, this parameter is used to set the maximum analog speed command based on the
maximum input voltage (10V).
In Torque mode, this parameter is used to set the maximum analog speed limit based on the maximum
input voltage (10V).
For example, in speed mode, if P1-40 is set to 3000 and the input voltage is 10V, it indicates that the
speed command is 3000 r/min. If P1-40 is set to 3000, but the input voltage is changed to 5V, then the
speed command is changed to 1500 r/min.
Speed Command / Limit = Input Voltage Value x Setting value of P1-40 / 10

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Chapter 8 Servo Parameters

P1 - 41▲ TCM Max. Analog Torque Command or Limit Address: 0152H, 0153H

Default: 100 Related Section:

Applicable Control Mode: ALL Section 6.4.4
Unit: %
Range: 0 ~ 1000
Data Size: 16-bit
Display Format: Decimal
Settings:
In Torque mode, this parameter is used to set the maximum analog torque command based on the
maximum input voltage (10V).
In Position (PT, PR) and Speed mode, this parameter is used to set the maximum analog torque
limit based on the maximum input voltage (10V).
For example, in torque mode, if P1-41 is set to 100 and the input voltage is 10V, it indicates that the
torque command is 100% rated torque. If P1-41 is set to 100, but the input voltage is changed to 5V, then
the torque command is changed to 50% rated torque.
Torque Command / Limit = Input Voltage Value x Setting value of P1-41 / 10

P1-42 MBT1 On Delay Time of Electromagnetic Brake Address: 0154H, 0155H

Default: 0 Related Section:

Applicable Control Mode: ALL Section 6.5.5, Table 8.B
Unit: msec
Range: 0 ~ 1000
Data Size: 16-bit
Display Format: Decimal
Settings:
Used to set the period of time between when the servo drive is On (Servo On) and when electromagnetic
brake output signal (BRKR) is activated.

P1-43 MBT2 OFF Delay Time of Electromagnetic Brake Address: 0156H, 0157H

Default: 0 Related Section:

Applicable Control Mode: ALL Section 6.5.5, Table 8.B
Unit: msec
Range: -1000 ~ +1000
Data Size: 16-bit
Display Format: Decimal

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Chapter 8 Servo Parameters

Settings:
Used to set the period of time between when the servo drive is Off (Servo Off) and when electromagnetic
brake output signal (BRKR) is inactivated.

Please note:
When servo is commanded off and the off delay time set by P1-43 has not elapsed, if the motor speed is lower
than the setting value of P1-38, the electromagnetic brake will be engaged regardless of the off delay
time set by P1-43.
When servo is commanded off and the off delay time set by P1-43 has elapsed, if the motor speed is
higher than the setting value of P1-38, electromagnetic brake will be engaged regardless of the
current motor speed.
When the servo drive is disabled (Servo Off) due to a fault (except AL022) or by EMGS (Emergency
stop)) being activated, if the off delay time set by P1-43 is a negative value, it will not affect the
operation of the motor. A negative value of the off delay time is equivalent to one with a zero value.

P1 - 44▲ GR1 Electronic Gear Ratio (1st Numerator) (N1) Address: 0158H, 0159H

Default: 128 Related Section:

Applicable Control Mode: PT, PR Section 6.2.5
Unit: pulse
Range: 1 ~ (229-1)
Data Size: 32-bit
Display Format: Decimal
Settings:
This parameter is used to set the numerator of the electronic gear ratio. The denominator of the
electronic gear ratio is set by P1-45. P2-60 ~ P2-62 are used to set the additional numberators.
Please note:
In PT mode, the setting value of P1-44 can be changed only when the servo drive is enabled (Servo On).
In PR mode, the setting value of P1-44 can be changed only when the servo drive is disabled (Servo
Off).

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Chapter 8 Servo Parameters

P1 - 45▲ GR2 Electronic Gear Ratio (Denominator) (M) Address: 015AH, 015BH

Default: 10 Related Section:

Applicable Control Mode: PT, PR Section 6.3.6
Unit: pulse
Range: 1 ~ (231-1)
Data Size: 32-bit
Display Format: Decimal
Settings:
This parameter is used to set the denominator of the electronic gear ratio. The numerator of the electronic
gear ratio is set by P1-44. P2-60 ~ P2-62 are used to set the additional numberators.
As the wrong setting may cause motor to run chaotically (out of control) and it may lead to personnel
injury, therefore, ensure to observe the following rule when setting P1-44, P1-45.
The electronic gear ratio setting (Please also see P1-44, P2-60 ~ P2-62):
Position f1: Pulse input f2: Position command
Pulse input N command
f1 M N N: Numerator, the setting value of P1-44 or P2-60 ~
f2 = f1 x M P2-62
Denominator, the setting value of P1-45
The electronic gear ratio setting range must be within: 1/50<N/M<25600. Please note:
In PT and PR mode, the setting value of P1-45 can not be changed when the servo drive is enabled
(Servo On).

P1 - 46▲ GR3 Encoder Output Pulse Number Address: 015CH, 015DH

Default: 2500 Related Section: N/A

Applicable Control Mode: ALL
Unit: pulse
Range: 20 ~ 320000
Data Size: 32-bit
Display Format: Decimal
Settings:
This parameter is used to set the pulse numbers of encoder outputs per motor revolution.
Please note:
When the following conditions occur, the output frequency for pulse output may exceed the specification
and cause that the servo drive fault AL018 (Encoder Output Error) is activated.

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Chapter 8 Servo Parameters

Condition 1: Encoder error.

Condition 2: Motor speed is above the value set by parameter P1-76.
Motor Speed
Condition 3: P1 46 4 19.8 106
60

P1-47 SPOK Speed Reached Output Range Address: 015EH, 015FH

Default: 10 Related Section: N/A

Applicable Control Mode: S, Sz
Unit: r/min
Range: 0 ~ 300
Data Size: 32-bit
Display Format: Decimal
Settings:
This parameter is used to set the speed reached output range. The DO signal, SP_OK will be activated when
the speed error is equal and below the setting value of P1-47.

Speed Command: It is the speed command input by the users (no Accel/Decel), not the frond-end
command of speed control loop. The source of this command includes analog voltage and registers.
Feedback Speed: It is the actual motor speed which is filtered.
Get Absolute Value
Judge if the speed error is equal and below the setting value of P1-47: When P1-47 is set to 0, this digital
output will be always off.
ON or OFF: When the speed error is equal and below the setting value of P1-47,
SP_OK will be ON; otherwise, SP_OK will be OFF.

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Chapter 8 Servo Parameters

P1-48 MCOK Motion Control Completed Output Selection Address: 0160H, 0161H

Default: 0x0000 Related Section: N/A

Applicable Control Mode: PR
Unit: N/A
Range: 0x0000 ~ 0x0011
Data Size: 16-bit
Display Format: Hexadecimal
Settings: (for firmware version V1.003 sub08 and later models only)
This parameter is used to determine the operation after digital output signal, MC_OK (DO code is
0x17) is activated.

Display 0 0 Y X
Range - - 0~ 1 0~ 1
X=0: MC_OK will not be always ON after it is activated.
X=1: MC_OK will be always ON after it is activated.
Y=0: Servo fault AL380 will not be activated.
Y=1: Servo fault AL380 will be activated.

PR command is triggerred: It indicates that the new PR command becomes effective. When the signal 3
starts to output the command, the signals 2, 4 and 5 will be clear simetaneously.
CMD_OK: CMD_OK is used to detect if the internal position command, signal 3 has been completed.
DLY delay time can also be set.
Output Command: Output the internal position command according to desired acceleration and
deceleration.
TPOS: It is activated when the position error is equal and below the setting value of
P1-54.

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Chapter 8 Servo Parameters

MC_OK (P1-48 X=0): It is activated when the position command has output and the positioning is
completed also, i.e. CMD_OK and TPOS are both ON. However, once TPOS becomes OFF, it will
become OFF as well.
6 MC_OK (P1-48 X=1): It is activated when the position command has output and the positioning is
completed also, i.e. CMD_OK and TPOS are both ON. However, when TPOS becomes OFF, it will
not become OFF. It will be always ON
The signal 5 and signal 6 cannot be selected simetaneously. This function is determined by X
setting of P1-48.
Position deviation alarm (AL380): After signal 7 occurs, if signal 4 or 5 becomes off, it indicates a
position deviation alarm is detected and AL380 can be activated to provide a alarm signal. This function
is determined by Y setting of P1-48.

P1-49 Reserved (Do Not Use)

P1-50 Reserved (Do Not Use)

P1-51 Reserved (Do Not Use)

P1-52 RES1 Regenerative Resistor Value Address: 0168H, 0169H

Default: - Related Section:

Applicable Control Mode: ALL Section 6.6.3
Unit: Ohm
Range: 10 ~ 750
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the resistance of the applicable regenerative resistor.
Model Default
For 1.5kW and below
40Ω
models
For 2kW to 4.5kW models 20Ω

For 5.5kW 15Ω

RES2 Regenerative Resistor Capacity Address: 016AH, 016BH

P1-53
Default: - Related Section:
Applicable Control Mode: ALL Section 6.6.3
Unit: Watt
Range: 30 ~ 3000
Data Size: 16-bit

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Chapter 8 Servo Parameters

Display Format: Decimal

Settings:
This parameter is used to set the capacity of the applicable regenerative resistor.
Model Default
For 1.5kW and below
60W
models
For 2kW to 4.5kW models 100W
5.5kW 0W

P1-54 PER Positioning Completed Width Address: 016CH, 016DH

Default: 12800 Related Section: Table 8.A

Applicable Control Mode: PT , PR
Unit:pulse
Range: 0 ~ 1280000
Data Size: 32-bit
Display Format: Decimal
Settings:
In PT mode, when the error pulse numbers is less than the setting value of parameter P1-54, TPOS (At
positioning completed signal) will be activated.
In PR mode, when the difference in pulse number between the target position and the actual position is
less than the setting value of parameter P1-54, TPOS (At positioning completed signal) will be
activated.

P1-55 MSPD Maximum Speed Limit Address: 016EH, 016FH

Default: rated speed Related Section: N/A

Applicable Control Mode: ALL
Unit: r/min
Range: 0 ~ Max. speed
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set maximum motor speed. The default setting is rated speed.

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Chapter 8 Servo Parameters

P1-56 OVW Output Overload Warning Time Address: 0170H, 0171H

Default: 120 Related Section: N/A

Applicable Control Mode: ALL
Unit: %
Range: 0 ~ 120
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set output overload time. If the setting value of parameter P1-56 is set to 0 ~
100, the function of parameter P1-56 is enabled. When the motor has reached the output overload time set
by parameter P1-56, the motor will send a warning to the drive. After the drive has detected the warning,
the DO signal OLW will be activated. If the setting value of parameter P1-56 exceeds 100, the function of
parameter P1-56 is disabled.
tOL = Permissible Time for Overload x the setting value of parameter P1-56
When overload accumulated time (continuously overload time) exceeds the value of tOL, the overload
warning signal will output, i.e. DO signal, OLW will be ON. However, if the accumulated overload time
(continuous overload time) exceeds the permissible time for overload, the overload alarm (AL006) will
occur.
For example:
If the setting value of parameter P1-56 (Output Overload Warning Time) is 60%, when the permissible
time for overload exceeds 8 seconds at 200% rated output, the overload fault (AL006) will be detected
and shown on the LED display.
At this time, tOL = 8 x 60% = 4.8 seconds
Result:
When the drive output is at 200% rated output and the drive is continuously overloaded for 4.8 seconds,
the overload warning signal will be ON, i.e. DO signal OLW will be activated. If the drive is
continuously overloaded for 8 seconds, the overload alarm will be detected and shown on the LED
display (AL006). Then, Servo Fault signal will be ON (DO signal ALRM will be activated).

P1-57 CRSHA Motor Protection Percentage Address: 0172H, 0173H

Default: 0 Related Section: -

Applicable Control Mode: ALL
Unit: %
Range: 0 ~ 300
Data Size: 16-bit
Display Format: Decimal

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Chapter 8 Servo Parameters

Settings:
This parameter is used to protect the motor in case the motor touchs the mechanical equipment. If P1-57
is set to 0, the function of P1-57 is disabled. The function of P1-57 is enabled when the setting value of
P1-57 is set to 1 or more. The fault AL030 will be activated when the setting value of P1-57 is reached
after a period of time set by P1-58.

P1-58 CRSHT Motor Protection Time Address: 0174H, 0175H

Default: 1 Related Section: P1-57

Applicable Control Mode: ALL
Unit: msec
Range: 0 ~ 1000
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to protect the motor in case the motor touchs the mechanical equipment. The
fault AL030 will be activated when the setting value of P1-57 is reached after a period of time set by
P1-58.
Please note that this function is applicable for non-contact applications, such as electric discharge
machines only (P1-37 must be set correctly).

P1-59 MFLT Analog Speed Linear Filter (Moving Filter) Address: 0176H, 0177H

Default: 0 Related Section: N/A

Applicable Control Mode: S
Unit: 0.1msec
Range: 0 ~ 40 (0: Disabled)
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to eliminate the noise generated during the operation when the host (external)
controller sends the step analog voltage speed command. The parameter P1-06 is Low-pass Filter and
parameter P1-59 is Moving Filter. The differences are that Low-pass Filter is usually used to smooth the
end of the command but Moving Filter can be used to smooth the start and the end of step analog voltage
speed command. Using Moving Filter can facilitate the smooth operation of the motor very effectively.
Therefore, it is recommended to use P1-06 Low-pass Filter when the speed command from the external
controller is applied for position control loop. If the command is for speed control only, using Moving Filter
P1-59 can achieve better (smooth) performance.

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Chapter 8 Servo Parameters

P1 - 60 Reserved (Do Not Use)

P1 - 61 Reserved (Do Not Use)

P1 - 62 FRCL Friction Compensation Percentage Address: 017CH, 017DH

Default: 0 Related Section: N/A

Applicable Control Mode: PT, PR, S
Unit: %
Range: 0 ~ 100
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the torque percentage for friction compensation. If P1-62 is set to 0, the
function of P1-62 is disabled. The function of P1-62 is enabled when the setting value of P1-62 is set to 1
or more.

P1 - 63 FRCT Friction Compensation Smooth Constant Address: 017EH, 017FH

Default: 0 Related Section: N/A

Applicable Control Mode: ALL
Unit: msec
Range: 0 ~ 1000
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the smooth constant of friction compensation.

P1-64 Reserved (Do Not Use)

P1-65 Reserved (Do Not Use)

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Chapter 8 Servo Parameters

Max. Rotation Number of Analog Position

P1-66 PCM Address: 0184H, 0185H
Command (will be available soon)
Default: 30 Related Section: N/A
Applicable Control Mode: PT
Unit: 0.1 rotation
Range: 0 ~ 10000
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the maximum rotation number of analog position command based
on the maximum input voltage (10V).
For example, if P1-66 is set to 30 and the input voltage is 10V, it indicates that the position
command is +3 rotations. If P1-66 is set to 30, but the input voltage is changed to 5V, then the
position command is +1.5 rotations.
Position Command = Input Voltage Value x Setting value of P1-66 / 10

P1-67 Reserved (Do Not Use)

P1-68 PFLT2 Position Command Moving Filter Address: 0188H, 0189H

Default: 4 Related Section: N/A

Applicable Control Mode: PT, PR
Unit: msec
Range: 0 ~ 100
Data Size: 16-bit
Display Format: Decimal

P1-69 Reserved (Do Not Use)

P1-70 Reserved (Do Not Use)

P1-71 Reserved (Do Not Use)

P1-72 FRES Full-closed Loop Resolution Address: 0190H, 0191H

Default: 5000 Related Section: N/A

Applicable Control Mode: PT, PR
Unit: pulse (PT mode), rev (PR mode)
Range: 200 ~ 80000
Data Size: 32-bit

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Chapter 8 Servo Parameters

Display Format: Decimal

Settings:
This parameter is used to set the corresponding AB (Quadrature) phase pulses (4x) for full-closed loop
per motor revolution.

Full-closed Loop Excessive Position Error

P1-73 FERR Address: 0192H, 0193H
Range
Default: 30000 Related Section: P2-34
Applicable Control Mode: PT, PR
Unit: pulse (based on full-closed loop)
Range: 1 ~ (231-1)
Data Size: 32-bit
Display Format: Decimal
Settings:
When the position of A/B counter feedbacked by full-closed loop is too far from the position
feedbacked by the encoder of the servo motor, it indicates that the encoder connector may loose or
there is some problem occurred on connected mechanical system.

P1 - 74▲ FCON Full-closed Loop Control Function Selection Address: 0194H, 0195H

Default: 0000h Related Section: P1-46

Applicable Control Mode: PT, PR
Unit: N/A
Range: 0000h ~ 0121h
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
This parameter is used to determine the function of full-closed loop control.

Full-closed loop function selection

Disable full-closed loop function.
Enable full-closed loop function.
Source of OA/OB/OZ outputs
The source of OA/OB/OZ outputs is the encoder of the motor.
The source of OA/OB/OZ outputs is the encoder of the linear scale full-closed loop.

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Chapter 8 Servo Parameters

The source of OA/OB/OZ outputs is the pulse command of CN1 (only provided by the firmware DSP
V1.016 + CPLD 0.07 and later models.).
Polarity setting of linear scale

C=0 C=1
Forward Reverse Forward Reverse

Full-closed Loop Low-pass Filter Time

P1-75 FELP Address: 0196H, 0197H
Constant
Default: 100 Related Section: N/A
Applicable Control Mode: PT, PR
Unit: msec
Range: 0 ~ 1000
Data Size: 16-bit
Display Format: Decimal
Settings:
When the stiffness of the mechanical system between full-closed loop and half-closed loop is
insufficient, the users can use this parameter to enhance the stability of the mechanical system.
When P1-75 is set to 0, the low-pass filter function is disabled.
The stiffness of the mechanical system ↑, the setting value of P1-75 ↓.
The stiffness of the mechanical system ↓, the setting value of P1-75 ↑.

P1-76 AMSPD Max. Rotation Speed of Encoder Output Address: 0198H, 0199H

Default: 5500 Related Section: P1-46

Applicable Control Mode: ALL
Unit: r/min
Range: 0 ~ 6000 (0: Disabled)
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to optimize the encoder outputs (OA, OB). When the users set the actual
reached maximum motor speed, the servo drive will equalize the encoder outputs automatically. When
P1-76 is set to 0, it indicates that equalizing function is not available.

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Chapter 8 Servo Parameters

Group 2: P2-xx Extension Parameters

P2-00 KPP Proportional Position Loop Gain Address: 0200H, 0201H

Default: 35 Related Section:

P2-01 PPR Position Loop Gain Switching Rate Address: 0202H, 0203H

Default: 100 Related Section:

Applicable Control Mode: PT, PR Section 6.2.8
Unit: %
Range: 10 ~ 500
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the position gain switching rate when the gain switching condition is
satisfied. Please refer to P2-27 for gain switching control selection settings and refer to P2-29 for gain
switching condition settings.

P2-02 PFG Position Feed Forward Gain Address: 0204H, 0205H

Default: 50 Related Section:

Applicable Control Mode: PT, PR Section 6.2.8
Unit: %
Range: 0 ~ 100
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the feed forward gain when executing position control command. When
using position smooth command, increase gain can improve position track deviation. When not using
position smooth command, decrease gain can improve the resonance condition of mechanical system.

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Chapter 8 Servo Parameters

Smooth Constant of Position Feed Forward

P2-03 PFF Address: 0206H, 0207H
Gain
Default: 5 Related Section: N/A
Applicable Control Mode: PT, PR
Unit: msec
Range: 2 ~ 100
Data Size: 16-bit
Display Format: Decimal
Settings:
When using position smooth command, increase gain can improve position track deviation. When not
using position smooth command, decrease gain can improve the resonance condition of mechanical
system.

P2-04 KVP Proportional Speed Loop Gain Address: 0208H, 0209H

Default: 500 Related Section:

P2-05 SPR Speed Loop Gain Switching Rate Address: 020AH, 020BH

Default: 100 Related Section: N/A

Applicable Control Mode: ALL
Unit: %
Range: 10 ~ 500
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the speed gain switching rate when the gain switching condition is satisfied.
Please refer to P2-27 for gain switching control selection settings and refer to P2-29 for gain switching
condition settings.

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Chapter 8 Servo Parameters

P2-06 KVI Speed Integral Compensation Address: 020CH, 020DH

Default: 100 Related Section:

P2-07 KVF Speed Feed Forward Gain Address: 020EH, 020FH

Default: 0 Related Section:

Applicable Control Mode: ALL Section 6.3.6
Unit: %
Range: 0 ~ 100
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the feed forward gain when executing speed control command. When using
speed smooth command, increase gain can improve speed track deviation. When not using speed smooth
command, decrease gain can improve the resonance condition of mechanical system.

P2 - 08 PCTL Special Factory Setting Address: 0210H, 0211H

Default: 0 Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 65535
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter can be used to reset all parameters to their original factory settings and enable some
parameters functions.
Reset parameters settings:
10: Users can reset all parameter values to factory defaults. All parameter values

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Chapter 8 Servo Parameters

will be reset after re-power the servo drive. (Before perform this settings, ensure that the status of
the servo drive is “Servo Off”.)
Enable parameters functions:
20: If P2-08 is set to 20, then the parameter P4-10 is enabled.
22: If P2-08 is set to 22, then the parameters P4-11~P4-19 are enabled.
30, 35: If P2-08 is set to 30 first, and then set to 35, the value of E-Cam (Electronic Cam) can be
recorded.
If P2-08 is set to 406, then the Digital Output (DO) signal can be forced to be activated and the
drive will enter into Force Output Control operation mode.
If P2-08 is set to 400, it can switch the Force Output Control operation mode to normal Digital
Output (DO) Control operation mode.
Please note:
ASDA-A2 series L type models does not provide Electronic Cam (E-Cam) function.

P2-09 DRT Bounce Filter Address: 0212H, 0213H

Default: 2 Related Section:

Applicable Control Mode: ALL Section 6.3.6
Unit: 2msec
Range: 0 ~ 20
Data Size: 16-bit
Display Format: Decimal
Settings:
For example, if P2-09 is set to 5, the bounce filter time is 5 x 2msec = 10msec. When there are too much
vibration or noises around environment, increasing this setting value (bounce filter time) can improve
reliability. However, if the time is too long, it may affect the response time.

P2-10 DI1 Digital Input Terminal 1 (DI1) Address: 0214H, 0215H

Default: 101 Related Section: Table 8.A

Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 015Fh
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
The parameters from P2-10 to P2-17 are used to determine the functions and statuses of DI1 ~ DI8.

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Display Format: Hexadecimal

Settings:
Refer to P2-10 for explanation.

P2-17 DI8 Digital Input Terminal 8 (DI8) Address: 0222H, 0223H

Default: 21 Related Section: Table 8.A

Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 015Fh
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
Refer to P2-10 for explanation.

P2-18 DO1 Digital Output Terminal 1 (DO1) Address: 0224H, 0225H

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7: (available in firmware version V1.013 and later models)

After setting P2-30 to 7, high-speed oscilloscope and time out function will be disabled (PC software
setting).
8: (available in firmware version V1.013 and later models)
After setting P2-30 to 8, the system will backup all parameters (current value) and save them to
EEPROM. The current value of the backup parameters will not lost after re-start the servo drive. When
backup function is executed, ”to.rom “ is displayed (backup function can be executed when Servo On).
-1, -5, -6, -7: (available in firmware version V1.013 and later models)
Disable the function of setting value 1, 5, 6 and 7.
-2, -3, -4, -8: Reserved
Please note:
Please set P2-30 to 0 during normal operation.
When the communication control function is used, ensure that P2-30 is set to 5.
The setting value of P2-30 will return to 0 automatically after re-power the servo drive.

Speed Frequency Response Level in Auto and

P2-31 AUT1 Address: 023EH, 023FH
Semi-Auto Mode
Default: 80 Related Section: Section 5.6,
Applicable Control Mode: ALL Section 6.3.6
Unit: Hz
Range: 1 ~ 1000
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
This parameter allows the users to set the speed frequency response level of auto-tuning and semi-
auto tuning mode. The speed frequency response settings are as follows:
1 ~ 50Hz : Low stiffness and low frequency response
51 ~ 250Hz : Medium stiffness and medium frequency response
251 ~ 850Hz : High stiffness and high frequency response
851 ~ 1000Hz : Extremely high stiffness and extremely high frequency response
Please note:
The servo drive will set the position frequency response according to the setting value of P2-31.
This parameter is activated by P2-32. Please refer to Section 5.6 for the tuning procedure and the
related settings.

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Chapter 8 Servo Parameters

P2 - 32▲ AUT2 Tuning Mode Selection Address: 0240H, 0241H

Default: 0 Related Section: Section 5.6,

Applicable Control Mode: ALL Section 6.3.6
Unit: N/A
Range: 0 ~ 2
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
Manual mode
Auto Mode [Continuous adjustment]
Semi-Auto Mode [Non-continuous adjustment]
Explanation of manual mode:
When P2-32 is set to mode#0, the setting value of P2-00, P2-02, P2-04, P2-06, P2-07, P2-25 and P2-26 can
be user-defined. When switching mode #1 or #2 to #0, the setting value of P2-00, P2-02, P2-04, P2-06,
P2-07, P2-25 and P2-26 will change to the value that measured in #1 auto-tuning mode or #2 semi-
auto tuning mode.
Explanation of auto-tuning mode:
The servo drive will continuously estimate the system inertia, save the measured load inertia value
automatically and memorized in P1-37 every 30 minutes by referring to the frequency response settings
of P2-31.
When switching mode #1 or #2 to #0, the servo drive will continuously estimate the system inertia, save
the measured load inertia value automatically and memorized in P1-37. Then, set the corresponding
parameters according to this measured load inertia value.
When switching mode#0 or #1 to #2, enter the appropriate load inertia value in P1-37.
When switching mode#1 to #0, the setting value of P2-00, P2-04 and P2-06 will change to the value
that measured in #1 auto-tuning mode.
Explanation of semi-auto tuning mode:
When switching mode #2 to #0, the setting value of P2-00, P2-04, P2-06, P2-25 and P2-26 will change to
the value that measured in #1 auto-tuning mode.
After the system inertia becomes stable (The displau of P2-33 will show 1), it will stop estimating the system
inertia, save the measured load inertia value automatically, and memorized in P1-37. However, when
P2-32 is set to mode#1 or #2, the servo drive will continuously perform the adjustment for a period of
time.
When the value of the system inertia becomes over high, the display of P2-33 will show 0 and the servo
drive will start to adjust the load inertia value continuously.

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Chapter 8 Servo Parameters

P2 - 33▲ AUT3 Semi-Auto Mode Inertia Adjustment Selection Address: 0242H, 0243H

Default: 0 Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 1
Data Size: 16-bit
Display Format: Decimal
Settings:

When the setting value of A is set to 0 or display is 0, it indicates that the load inertia estimation of
semi-auto tuning mode has been executed but not been completed yet. When the setting value of A is
set to 1, it indicates that the load inertia estimation of semi-auto tuning mode has been completed. The
measured load inertia is memorized in P1-37. If P2-33 is reset to 0, the servo drive will perform
continuous adjustment for estimating the load inertia (P1-37) again.
B: Reserved.

P2-34 SDEV Overspeed Warning Condition Address: 0244H, 0245H

Default: 5000 Related Section: N/A

Applicable Control Mode: S
Unit: r/min
Range: 1 ~ 5000
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the over speed threshold that is used to determine the over speed fault
condition. When the difference in speed between the desired speed and actual motor speed is over
than the setting value of parameter P2-34, the servo fault, Overspeed (AL007) will be activated.

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Chapter 8 Servo Parameters

P2-35 PDEV Excessive Error Warning Condition Address: 0246H, 0247H

Default: 3840000 Related Section: N/A

Applicable Control Mode: PT, PR
Unit: pulse
Range: 1 ~ 128000000
Data Size: 32-bit
Display Format: Decimal
Settings:
This parameter is used to set the position deviation excessive error threshold that is used to determine the
escessive deviation fault condition. When the difference in pulse number between the desired position and
actual motor position is over than the setting value of parameter P2-35, the servo fault, Excessive Deviation
(AL009) will be activated.

P2-36 EDI9 External Digital Input Terminal 9 (EDI9) Address: 0248H, 0249H

Default: 0 Related Section: Table 8.A

Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 015Fh
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
The parameters from P2-36 to P2-41 are used to determine the functions and statuses of external DI9 ~
DI14.

A: DI (Digital Input) Function Settings:

For the setting value of P2- 36 ~ P2-41, please refer to Table 8.A.
External DI (Digital Input) Enabled Status Settings:
Normally closed (contact b)
Normally open (contact a)
For example, when P2-36 is set to 101, it indicates that the function of EDI9 is SON (Servo On,
setting value is 0x01) and it requires a normally open contact to be connected to it.
Please re-start the servo drive after parameters have been changed.

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Chapter 8 Servo Parameters

P2 - 37 EDI10 External Digital Input Terminal 10 (EDI10) Address: 024AH, 024BH

Default: 0 Related Section: Table 8.A

Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 015Fh
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
Refer to P2-36 for explanation.

P2 - 38 EDI11 External Digital Input Terminal 11 (EDI11) Address: 024CH, 024DH

Default: 0 Related Section: Table 8.A

Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 015Fh
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
Refer to P2-36 for explanation.

P2 - 39 EDI12 External Digital Input Terminal 12 (EDI12) Address: 024EH, 024FH

Default: N/A Related Section: Table 8.A

Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 015Fh
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
Refer to P2-36 for explanation.

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Chapter 8 Servo Parameters

P2-40 EDI13 External Digital Input Terminal 13 (EDI13) Address: 0250H, 0251H

Default: N/A Related Section: Table 8.A

Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 015Fh
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
Refer to P2-36 for explanation.

P2-41 EDI14 External Digital Input Terminal 14 (EDI14) Address: 0252H, 0253H

Default: N/A Related Section: Table 8.A

Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 015Fh
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
Refer to P2-36 for explanation.

P2-42 Reserved (Do Not Use)

P2-43 NCF2 Notch Filter 2 (Resonance Suppression) Address: 0256H, 0257H

Default: 1000 Related Section:

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Chapter 8 Servo Parameters

Notch Filter Attenuation Rate 2

P2-44 DPH2 Address: 0258H, 0259H
(Resonance Suppression)
Default: 0 Related Section:
Applicable Control Mode: ALL Section 6.3.7
Unit: dB
Range: 0 ~ 32
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set magnitude of the resonance suppression that is set by parameter P2-43. If P2-
44 is set to 0, the parameters P2-43 and P2-44 are both disabled.

P2-45 NCF3 Notch Filter 3 (Resonance Suppression) Address: 025AH, 025BH

Default: 1000 Related Section:

Applicable Control Mode: ALL Section 6.3.7
Unit: Hz
Range: 50 ~ 2000
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set third resonance frequency of mechanical system. It can be used to suppress
the resonance of mechanical system and reduce the vibration of mechanical system.
If P2-45 is set to 0, this parameter is disabled.

Notch Filter Attenuation Rate 3

P2-46 DPH3 Address: 025CH, 025DH
(Resonance Suppression)
Default: 0 Related Section:
Applicable Control Mode: ALL Section 6.3.7
Unit: dB
Range: 0 ~ 32
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set magnitude of the resonance suppression that is set by parameter P2-45. If P2-
46 is set to 0, the parameters P2-45 and P2-46 are both disabled.

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Chapter 8 Servo Parameters

P2-47 ANCF Auto Resonance Suppression Mode Selection Address: 025EH, 025FH

Default: 1 Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 2
Data Size: 16-bit
Display Format: Decimal
Settings:
Disable Auto Resonance Suppression Mode.
The setting value of P2-23~P2-24 and P2-43~P2-46 will be fixed and will not be changed.
Auto Resonance Suppression Mode 1 [Non-continuous adjustment]
After the resonance is suppressed, the setting value of P2-23, P2-24, P2-43, P2-44, P2-45 and P2-46
will be fixed and will not be changed.
Auto Resonance Suppression Mode 2 [Continuous adjustment]
The servo drive will perform the resonance suppression continuously (will not stop). The setting value of
P2-23, P2-24, P2-43, P2-44, P2-45 and P2-46 will not be fixed.
When P2-47 is set to 1, the resonance suppression will be enabled automatically. After the mechanical
system becomes stable, the setting value of P2-47 will return to 0. When the mechanical system is stable,
the resonance suppression point will be memorized. When the mechanical system is not stable, if the
servo drive is restarted or P2-47 is set to 1, the servo drive will estimate the resonance suppression point
again.
When P2-47 is set to 2, the servo drive will perform the resonance suppression continuously. When the
mechanical system becomes stable, the resonance suppression point will be memorized. When the
mechanical system is not stable, if the servo drive is restarted, the servo drive will estimate the resonance
suppression point again.
When switching the mode#1 or #2 to #0, the setting values of P2-43, P2-44, P2-45 and P2-46 will be
saved automatically.

P2-48 ANCF Auto Resonance Suppression Detection Level Address: 0260H, 0261H

Default: 100 Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 1 ~ 300%
Data Size: 16-bit
Display Format: Decimal
Settings:
When the setting value is smaller, the system will become more sensitive to detect and find the
resonance.

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Chapter 8 Servo Parameters

When the value of ↑

The setting value of P2-48 ↑, the sensitivity of detecting resonance ↓.
The setting value of P2-48 ↓, the sensitivity of detecting resonance ↑.

P2-49 SJIT Speed Detection Filter and Jitter Suppression Address: 0262H, 0263H

Default: 0 Related Section: N/A

Applicable Control Mode: ALL
Unit: sec
Range: 0 ~ 1F
Data Size: 16-bit
Display Format: Decimal
Settings:

Setting Value of P2-49 Cutoff Frequency of Speed Loop Feedback (Hz)

00 2500
01 2250
02 2100
03 2000
04 1800
05 1600
06 1500
07 1400
08 1300
09 1200
0A 1100
0B 1000
0C 950
0D 900
0E 850
0F 800
10 750
11 700
12 650
13 600
14 550
15 500
16 450
17 400
18 350

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Chapter 8 Servo Parameters

Setting Value of P2-49 Cutoff Frequency of Speed Loop Feedback (Hz)

19 300
1A 250
1B 200
1C 175
1D 150
1E 125
1F 100

P2-50 DCLR Pulse Deviation Clear Mode Address: 0264H, 0265H

Default: 0 Related Section: N/A

Applicable Control Mode: PT, PR
Unit: N/A
Range: 0 ~ 2
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
For digital input function (DI function), please refer to Table 8.A.
This pulse deviation clear function is enabled when a digital input is set to pulse clear function (CCLR
mode, DI (Digital Input) setting value is 0x04). When this input is triggered, the position accumulated
pulse number will be clear to 0. (available in PT and PR mode only)
CCLR is triggered by rising-edge
CCLR is triggered bu level

Reserved (Do Not Use)

P2-51
Reserved (Do Not Use)
P2-52

KPI Position Integral Compensation Address: 026AH, 026BH

P2-53 Default: 0 Related Section:

Applicable Control Mode: ALL Section 6.3.6
Unit: rad/s
Range: 0 ~ 1023
Data Size: 16-bit
Display Format: Decimal

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Chapter 8 Servo Parameters

Settings:
This parameter is used to set the integral time of position loop. When the value of position integral
compensation is increased, it can decrease the position control deviation. However, if the setting value is
over high, it may generate position overshoot or noise.

P2-54 Reserved (Do Not Use)

P2-55 Reserved (Do Not Use)

P2-56 Reserved (Do Not Use)

P2-57 Reserved (Do Not Use)

P2-58 Reserved (Do Not Use)

P2-59 Reserved (Do Not Use)

P2-60 GR4 Electronic Gear Ratio (2nd Numerator) (N2) Address: 0278H, 0279H

Default: 128 Related Section: N/A

Applicable Control Mode: PT
Unit: pulse
Range: 1 ~ (229-1)
Data Size: 32-bit
Display Format: Decimal
Settings:
The electronic gear numerator value can be set via GNUM0, GNUM1 (refer to Table 8.A). When the
GNUM0, GNUM1 are not defined, the default of gear numerator value is set by P1-44.
When the users wish to set the gear numerator value by using GNUM0, GNUM1, please set P2-60 ~ P2-
62 after the servo motor has been stopped to prevent the mechanical system vibration.

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Chapter 8 Servo Parameters

P2 - 61 GR5 Electronic Gear Ratio (3rd Numerator) (N3) Address: 027AH, 027BH

Default: 128 Related Section: N/A

Applicable Control Mode: PT
Unit: pulse
Range: 1 ~ (229-1)
Data Size: 32-bit
Display Format: Decimal
Settings:
Refer to P2-60 for explanation.

P2-62 GR6 Electronic Gear Ratio (4th Numerator) (N4) Address: 027CH, 027DH

Default: 128 Related Section: N/A

Applicable Control Mode: PT
Unit: pulse
Range: 1 ~ (229-1)
Data Size: 32-bit
Display Format: Decimal
Settings:
Refer to P2-60 for explanation.

P2-63 Reserved (Do Not Use)

P2-64 Reserved (Do Not Use)

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Chapter 8 Servo Parameters

P2-65 GBIT Special Function 1 Address: 0282H, 0283H

Default: 0 Related Section: N/A

Applicable Control Mode: PR, PT, S
Unit: N/A
Range: 0 ~ 0xFF
Data Size: N/A
Display Format: N/A
Settings:
Bit15 Bit14Bit13Bit12Bit11Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

Bit1 Bit0

Bit0: DI SPD0/SPD1 speed command trigger mode

Bit0=0: by level
Bit0=1: by rising edge
Bit1: DI TCM0/TCM1 torque command trigger mode
Bit1=0: by level
Bit1=1: by rising edge
When the servo drive is rising-edge triggered, the internal commands work as follows:

Execute internal command 1

Execute internal command 2
Execute internal command 3
Execute internal command 3

Bit5 Bit4 Bit3 Bit2

Bit2 ~ Bit5: Reserved. Must be set to 0.

Bit6

Bit6: Abnormal pulse command detection (In PT mode)

Bit6=0: enable abnormal pulse command detection
Bit6=1: disable abnormal pulse command detection
Bit7

Bit7: Reserved. Must be set to 0.

Bit8

Bit8: U, V, W wiring error detection

Bit8=1: enable U, V, W wiring error detection

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Chapter 8 Servo Parameters

Bit9

Bit9: U, V, W wiring cut-off detection

Bit9=1: enable U, V, W wiring cut-off detection

Bit10

Bit10: DI ZCLAMP function selection

When the following conditions are all met, ZCLAMP function will be activated.
Condition1: Speed mode
Condition2: DI ZCLAMP is activated.
Condition3: External analog speed command or internal register speed command is less than
parameter P1-38.
Bit10=0: When the command source is an analog speed command, the users can use ZCLAMP DI
signal to stop the motor at the desire position and do not care the acceleration and deceleration
speed curve of the analog speed command. The motor will be locked at the position when
ZCLAMP conditions are satisfied.

Bit10=0: When the command source is an internal speed command, the users can use ZCLAMP
DI signal to stop the motor at the desire position and keep the the acceleration and deceleration
speed curve of the internal speed command. The motor will be locked at the position when
ZCLAMP conditions are satisfied.

Bit10=1: When the command source is an analog speed command, the users can use ZCLAMP DI
signal to stop the motor at the desire position and do not care the acceleration and deceleration
speed curve of the internal speed command. When ZCLAMP conditions are satisfied, the speed
command is decreased to 0 r/min. When ZCLAMP conditions are not satisfied, the speed
command will follow the analog speed command through Accel/Decel S-curve.

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Chapter 8 Servo Parameters

Bit10=1: When the command source is an internal speed command, the users can use ZCLAMP DI
signal to stop the motor at the desire position and keep the acceleration and deceleration speed
curve of the analog speed command. When ZCLAMP conditions are satisfied, the speed command
is forced to 0 r/min directly.

B11
Bit11: NL(CWL)/PL(CCWL) pulse input inhibit function
Bit11=0: Disable NL(CWL)/PL(CCWL) pulse input inhibit function. In PT mode, no matter NL
or PL exists or not, external position pulse command will be input into the servo drive.
Bit11=1: Enable NL(CWL)/PL(CCWL) pulse input inhibit function. In PT mode, if NL exists, the external
NL pulse input into the servo drive will be inhibited and PL pulse input will be accepted. On the one hand,
in PT mode, if PL exists, the external PL pulse input into the servo drive will be inhibited and PL pulse
input will be accepted.
Please note:
If NL and PL both exist, NL and PL pulse input into the servo drive will be both inhibited.

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Chapter 8 Servo Parameters

Bit12

Bit12: Input power phase loss detection function

Bit12=0: Enable Input power phase loss (AL022) detection function
Bit12=1: Disable Input power phase loss (AL022) detection function

Bit13

Bit13: Encoder output error detection function

Bit13=0: Enable encoder output error (AL018) detection function
Bit13=1: Disable encoder output error (AL018) detection function

Bit14

Bit14: Reserved. Must be set to 0.

Bit15

Bit15: Friction Compensation Selection

Bit15=0: When external analog speed command or internal register speed command is less than parameter
P1-38, the friction compensation value will not change. Bit15=1: When external analog speed command or
internal register speed command is less than parameter P1-38, the friction compensation value will change
to 0(zero).

P2-66 GBIT2 Special Function 2 Address: 0284H, 0285H

Default: 0 Related Section: N/A

Applicable Control Mode: PR, PT, S
Unit: N/A
Range: 0 ~ 0x000F
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

Bit1 Bit0

Bit0 ~ Bit1: Reserved. Must be set to 0.

Bit2

Bit2: Undervoltage (Servo Drive Fault) clear mode selection

Bit2=0: The fault, Undervoltage will not be cleared automatically.
Bit2=1: The fault, Undervoltage will be cleared automatically.

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Chapter 8 Servo Parameters

Bit3

Bit3: Reserved. Must be set to 0.

Bit4

Bit4: ALE44 disable selection

Bit4=0: The fault, ALE44 is not disabled.
Bit4=1: The fault, ALE44 is disabled.

Bit5

Bit5: ALE41 disable selection (only available when full-close control function is enabled)
Bit5=0: The fault, ALE41 is disabled.
Bit5=1: The fault, ALE41 is not disabled.

Bit7 Bit6

Bit6 ~ Bit7: Reserved. Must be set to 0.

P2-67 JSL Stable Inertia Estimating Time Address: 0286H, 0287H

Default: 1.5 Related Section: N/A

Applicable Control Mode: ALL
Unit: 0.1times
Range: 0 ~ 200.0
Data Size: 16-bit
Display Format: Decimal
Settings:
In semi-auto tuning mode, after the servo drive continuously perform the adjustment for a period of time
which is determined by P2-67, the system will consider that the system inertia has become stable and finish the
operation of system inertia estimation.

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Chapter 8 Servo Parameters

Group 3: P3-xx Communication Parameters

P3-00 ADR Communication Address Setting Address: 0300H, 0301H

Default: 0x7F Related Section: Section 9.2

Applicable Control Mode: ALL
Unit: N/A
Range: 0x01 ~ 0x7F
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
This parameter is used to set the communication slave address in hexadecimal format. This address is
an absolute address which represents the servo drive on a RS-232/485 or CANbus network.

Display 0 0 Y X
Range - - 0~ 7 0~F
Axis number, the value must be within the range from 0 through F.
Group number, the value must be within the range from 0 to through 7
If the AC servo drive is controlled by RS-232/485 communication, each drive (or device) must be
uniquely identified. One servo drive only can set one address. If the address is duplicated, there will be a
communication fault.
Please note:
This parameter does not provide broadcast function and does not respond insecurity.
When the address of host (external) controller is set to 0xFF, it is with auto-respond function. Then, the
servo drive will receive from and respond to host (external) controller both no matter the address is
matching or not. However, the parameter P3-00 cannot be set to 0xFF.

P3-01 BRT Transmission Speed Address: 0302H, 0303H

Default: 0x0203 Related Section: Section 9.2

Applicable Control Mode: ALL
Unit: bps
Range: 0x0000 ~ 0x0405
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
This parameter is used to set the baud rate and data transmission speed of the communications.

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Chapter 8 Servo Parameters

Display 0 Z Y X
COM Port - CAN - RS-232/485
Range 0 0~ 4 0 0~ 5
Baud rate setting
Baud rate 4800
Baud rate 9600
Baud rate 19200
Baud rate 38400
Baud rate 57600
Baud rate 115200
Reserved. Must be set to 0.
Data transmission speed setting.
125K bits / second
250K bits / second
500K bits / second
750K bits / second
1.0M bits / second
Please note:
When setting this parameter via CANopen communication, only the setting of Z (data transmission
speed setting) can be configured and other settings.
The communication transmission speed for USB can be set to 1.0M bits / second only and cannot be
changed.

P3-02 PTL Communication Protocol Address: 0304H, 0305H

Default: 6 Related Section: Section 9.2

Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 8
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
This parameter is used to set the communication protocol. The alphanumeric characters represent the
following: 7 or 8 is the number of data bits; N, E or O refers to the parity bit, Non, Even or Odd; the 1 or
2 is the numbers of stop bits.
Modbus ASCII mode, <7,N,2>
Modbus ASCII mode, <7,E,1 >
Modbus ASCII mode, <7,O,1>
Modbus ASCII mode, <8,N,2 >

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Chapter 8 Servo Parameters

If the setting value of L is set to 0, it indicates that low-speed monitor function is disabled. Low-
speed monitor function is enabled only when the setting value of H is set to 1.

P3-09 SYC CANopen Synchronization Setting Address: 0312H, 0313H

Default: 0x57A1 Related Section: Section 9.2

Applicable Control Mode: CANopen
Unit: N/A
Range: refer to the description of Settings
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
This parameter is used to set the CANopen slave to be synchronized with the CANopen master through
synchronization signal. Although this parameter allows the users to execute manual adjustment, if not
necessary, we do not recommend users to change the default setting manually.

Display E T D M
Clock
Function SYNC error Target value Dead zone correction
range range setting
Range 1~9 0~9 0~F 1~F
Clock correction setting, the value must be within the range from 1 through F, and the unit is usec.
When setting the CANopen slave to be synchronized with the CANopen master, the clock of the servo
drive must be corrected. This function is used to set the maximum correction everytime.
Dead zone range, the value must be within the range from 0 through F, and the unit is usec.
When the difference between actual value and target value of SYNC signal reach time does not
exceed the dead zone range, the clock correction does not need to be changed.
Target value of SYNC signal reach time, the value must be within the range from 0 through 9, and the
standard value of SYNC signal reach time is 500 usec.
Target reach time of synchronization signal = 400 + 10 x setting value of T.
For example:
When T is set to 5, the target reach time of synchronization signal = 400 + 10 x 5 = 450
There should be a buffer between the target value and the standard value. The target value should be
less than the standard value. If the target value is above than the standard value, an error may occur.

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Chapter 8 Servo Parameters

SYNC error range, the value must be within the range from 1 through 9, and the unit is 10 usec.
When the difference between actual value and target value of SYNC signal reach time is below this
range, it indicates that the CANopen slave synchronize with the CANopen master through
synchronization signal.

P3-10 Reserved (Do Not Use)

P3-11 Reserved (Do Not Use)

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Chapter 8 Servo Parameters

Group 4: P4-xx Diagnosis Parameters

Press the UP or DOWN arrow keys to jog the motor either P(CCW) or N(CW) direction. The
motor will only rotation while the arrow key is activated.
To change JOG speed again, press the MODE key. The servo Drive will display "P4 - 05". Press the
SET key and the JOG speed will displayed again. Refer back to #(2) and #(3) to change speed.
In JOG operation mode, if any fault occurs, the motor will stop running. The maximum JOG
speed is the rated speed of the servo motor.
DI Signal Control
Set the value of DI signal as JOGU and JOGD (refer to Table 8.A). Users can
perform JOG run forward and run reverse control.

Communication Control
To perform a JOG Operation via communication command, use communication addresses
040AH and 040BH.
Enter 1 ~ 5000 for the desired JOG speed
Enter 4998 to JOG in the P(CCW) direction
Enter 4999 to JOG in the N(CW) direction
Enter 0 to stop the JOG operation
Please note that when using communication control, please set P2-30 to 5 to avoid that there are
excessive writes to the system flash memory.

P4-06
FOT Force Output Contact Control Address: 040CH, 040DH
▲

Default: 0 Related Section:

Applicable Control Mode: ALL Section 4.4.3
Unit: N/A
Range: 0 ~ 0xFF
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
The function of Digital Outout (DO) is determined by the DO setting value. The user can set DO setting
value (0x30 ~ 0x3F) via communication and then write the values into P4-06 to complete the settings.
Bit00 corresponds with DO setting value 0x30
Bit01 corresponds with DO setting value 0x31
Bit02 corresponds with DO setting value 0x32
Bit03 corresponds with DO setting value 0x33
Bit04 corresponds with DO setting value 0x34
Bit05 corresponds with DO setting value 0x35
Bit06 corresponds with DO setting value 0x36
Bit07 corresponds with DO setting value 0x37

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Chapter 8 Servo Parameters

Bit08 corresponds with DO setting value 0x38

Bit09 corresponds with DO setting value 0x39
Bit10 corresponds with DO setting value 0x3A
Bit11 corresponds with DO setting value 0x3B
Bit12 corresponds with DO setting value 0x3C
Bit13 corresponds with DO setting value 0x3D
Bit14 corresponds with DO setting value 0x3E
Bit15 corresponds with DO setting value 0x3F
For example:
When P2-18 is set to 0x0130, it indicates that the state of DO1 is the Bit00 state of P4-06.
This parameter can also be used to force the state of DO signal. Please refer to P2-18 ~ P2-22 to assign
the functions of digital outouts (DO signals) and section 4.4.3 for the Force Outputs Operation.

P4 - 07 ITST Input Status Address: 040EH, 040FH

Default: 0 Related Section:

Applicable Control Mode: ALL Section 4.4.4, Section 9.2
Unit: N/A
Range: 0 ~ 3FFF
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
The control of digital inputs can be determined by the external terminals (DI1 ~ DI8, EDI9 ~ EDI14)
or by the internal software digital inputs SDI1 ~ SDI14 (corresponds to Bit0 ~ Bit13 of P1-47) via
communication (upon software). Please refer to P3-06 and section 9.2 for the setting method.
P3-06

External DIs
Read or Write
Final DI Status
Internal DIs

Read P4-07: Display the final status of DI input signal.

Write P1-47: Write the status of software digital inputs SDI1 ~ SDI14
(No matter the servo drive is controller through digital keypad or communication control, the
function of this parameter is the same.)

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Chapter 8 Servo Parameters

For example:
External Control: Display the final status of DI input signal
When the read value of P4-07 is 0x0011, it indicates that DI1 and DI5 are ON. Communication Control
(Internal DIs): Read the status of input signal (upon software). For example:
When the write value of P4-07 is 0x0011, it indicates that software digital inputs SDI1 and SDI5 are
ON.
Bit0 ~ Bit7 corresponds with DI1 ~ DI8. Bit8 ~ Bit14 corresponds with EDI9 ~ EDI14. For the settings
of DI1 ~ DI8, please refer to P2-10 ~ P2-17. For the settings of EDI9 ~ EDI14, please refer to P2-36 ~
P2-41.

P4 - 08★ PKE Digital Keypad Input of Servo Drive Address: 0410H, 0411H
Y

Default: N/A Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: Read only
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
This parameter is used to check if MODE, UP, DOWN, SHIFT, and SET keys on the drive keypad
being pressed or not. It is used to examine if these five keys work normally via communication during
production.

P4 - 09★ MOT Output Status Address: 0412H, 0413H

Default: 0 Related Section:

Applicable Control Mode: ALL Section 4.4.5
Unit: N/A
Range: 0 ~ 0x1F
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
There is no difference when reading DO output signal via the drive keypad or the communication.
For the status of DO output signal, please refer to P2-18 ~ P2-22.

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Chapter 8 Servo Parameters

P4 - 10 CEN Adjustment Function Address: 0414H, 0415H

Default: 0 Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 6
Data Size: 16-bit
Display Format: Decimal
Settings:
Reserved
Execute analog speed input drift adjustment
Execute analog torque input drift adjustment
Execute current detector (V phase) drift adjustment
Execute current detector (W phase) drift adjustment
Execute drift adjustment of the above 1~4
Execute IGBT NTC calibration
Please note:
This adjustment function is enabled after parameter P2-08 is set to 20.
When executing any adjustment, the external wiring connected to analog speed or torque must be
removed and the servo system should be off (Servo off).

P4-11 SOF1 Analog Speed Input Drift Adjustment 1 Address: 0416H, 0417H

Default: Factory setting Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 32767
Data Size: 16-bit
Display Format: Decimal
Settings:
The adjustment functions from P4-11 through P4-19 are enabled after parameter P2-08 is set to 22.
Although these parameters allow the users to execute manual adjustment, we still do not recommend the
users to change the default setting value of these parameters (P4-11 ~ P4-19) manually.
Please note that when P2-08 is set to 10, the users cannot reset this parameter.

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Chapter 8 Servo Parameters

P4-12 SOF2 Analog Speed Input Drift Adjustment 2 Address: 0418H, 0419H

Default: Factory setting Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 32767
Data Size: 16-bit
Display Format: Decimal
Settings:
Refer to P4-11 for explanation.
Please note that when P2-08 is set to 10, the users cannot reset this parameter.

P4-13 TOF1 Analog Torque Drift Adjustment 1 Address: 041AH, 041BH

Default: Factory setting Related Section: N/A

P4-14 TOF2 Analog Torque Drift Adjustment 2 Address: 041CH, 041DH

Default: Factory setting Related Section: N/A

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Chapter 8 Servo Parameters

P4-15 COF1 Current Detector Drift Adjustment (V1 phase) Address: 041EH, 041FH

Default: Factory setting Related Section: N/A

P4-16 COF2 Current Detector Drift Adjustment (V2 phase) Address: 0420H, 0421H

Default: Factory setting Related Section: N/A

Current Detector Drift Adjustment (W1

P4-17 COF3 Address: 0422H, 0423H
phase)
Default: Factory setting Related Section: N/A
Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 32767
Data Size: 16-bit
Display Format: Decimal
Settings:
Refer to P4-11 for explanation.
Please note that when P2-08 is set to 10, the users cannot reset this parameter.

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Chapter 8 Servo Parameters

Current Detector Drift Adjustment (W2

P4-18 COF4 Address: 0424H,0425H
phase)
Default: Factory setting Related Section: N/A
Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 32767
Data Size: 16-bit
Display Format: Decimal
Settings:
Refer to P4-11 for explanation.
Please note that when P2-08 is set to 10, the users cannot reset this parameter.

P4-19 TIGB IGBT NTC Calibration Address: 0426H, 0427H

Default: Factory setting Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 1 ~ 4
Data Size: 16-bit
Display Format: Decimal
Settings:
Refer to P4-11 for explanation.
When executing this auto adjustment, please ensure to cool the servo drive to 25 oC.

Analog Monitor Output Drift Adjustment

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Chapter 8 Servo Parameters

Analog Monitor Output Drift Adjustment

P4-22 SAO Analog Speed Input Offset Address: 042CH, 042DH

Default: 0 Related Section: N/A

Applicable Control Mode: S
Unit: mV
Range: -5000 ~ 5000
Data Size: 16-bit
Display Format: Decimal
Settings:
In speed mode, the users can use this parameter to add an offset value to analog speed input.

P4-23 TAO Analog Torque Input Offset Address: 042EH, 042FH

Default: 0 Related Section: N/A

Applicable Control Mode: T
Unit: mV
Range: -5000 ~ 5000
Data Size: 16-bit
Display Format: Decimal
Settings:
In speed mode, the users can use this parameter to add an offset value to analog speed input.

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Chapter 8 Servo Parameters

P4-24 LVL Undervoltage Error Level Address: 0430H, 0431H

Default: 160 Related Section: N/A

Applicable Control Mode: ALL
Unit: V (rms)
Range: 140 ~ 190
Data Size: 16-bit
Display Format: Decimal
Settings:

When DC Bus voltage is lower than the value of P4-24 x 2 , the fault, Undervoltage will
occur.

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Chapter 8 Servo Parameters

Group 5: P5-xx Motion Control Parameters

P5-00 Reserved (Do Not Use)

P5-01 Reserved (Do Not Use)

P5-02 Reserved (Do Not Use)

P5-03 PDEC Deceleration Time of Protectin Function Address: 0506H, 0507H

Default: 0XE0EFEEFF Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 0x00000000 ~ 0xF0FFFFFF
Data Size: 32-bit
Display Format: Hexadecimal
Settings:
High Word Low Word
Display
D C B A W Z Y X
Reserve
Function STP CTO OVF SNL SPL NL PL
d
Range 0~F - 0~F 0~F 0~F 0~F 0~F 0~F
This parameter is used to set motor deceleration when protection functions, such as STOP (Motor stop),
OVF (Position command overflow), SNL (Reverse software limit), SPL (Forward software limit), NL
(Reverse inhibit limit) or PL (Forward inhibit limit), etc. are activated.
Deceleration time of protection functions include: OVF, CTO(AL020), SPL, SNL, PL,
NL
Deceleration time of motor stop command: STP
When entering P5-03, Lower Word display will show first. After pressing SHIFT key on the drive
keypad, the High Word display will show next.
The values from 0 through F correspond with the setting values from P5-20 through P5-35.
For example, when the setting value X is set to A, it indicates that the motor PL deceleration
time is determined by parameter P5-30.

P5-04 HMOV Homing Mode Address: 0508H, 0509H

Default: 0 Related Section: N/A

Applicable Control Mode: PT, PR
Unit: N/A
Range: 0 ~ 0x128

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Chapter 8 Servo Parameters

Data Size: 16-bit

Display Format: Hexadecimal
Settings:
This parameter is used to determine the homing characteristics of the servo motor.

Display W Z Y X
Function Reserved Limit setting Z pulse setting Homing direction
setting
Range - 0~1 0~2 0~8
Settings - Y=0: Stop and return X=0: Move forward to
to Z pulse.
Y=1: Go forward to PL(CCWL) used as
Z pulse. home.
- Y=2: Ingore Z pulse X=1: Move reverse to
NL(CWL) used as
home.

When there is a X=2: Move forward to

limit: dedicated home
Z=0: After reaching sensor (ORGP: OFF
the limit, activate ON)
the limit signal. X=3: Move reverse to
Z=1: After reaching dedicated home
the limit, the motor sensor (ORGP: OFF
will run in the ON)
reverse direction. - X=4: Move forward
and regard Z pulse as
home sensor.

X=5: Move reverse and

regard Z pulse as
home sensor.
Y=0: Stop and return X=6: Move forward to
to Z pulse.
Y=1: Go forward to dedicated home
Z pulse. sensor (ORGP: ON
Y=2: Ingore Z pulse OFF)
X=7: Move reverse to
dedicated home
sensor (ORGP: ON
OFF)
- - X=8: Regard current
position as home
sensor

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Chapter 8 Servo Parameters

P5-05 HSPD1 1st Speed Setting of High Speed Homing Address: 050AH, 050BH

Default: 100.0 Related Section: N/A

Applicable Control Mode: ALL
Unit: 0.1 r/min
Range: 1 ~ 2000.0
Data Size: 16-bit
Display Format: Decimal

Settings:
This parameter is used to set the initial (high speed) homing speed.
The homing operation of the servo motor involves two homing speed settings. When homeing is
triggered, the servo motor will proceed at a high speed speed until a home sensor is detected. The servo
motor will then move reverse at a low speed speed until off of the home sensor, and finally will stop at
the next Z pulse.

P5-06 HSPD2 2nd Speed Setting of Low Speed Homing Address: 050CH, 050DH

Default: 20.0 Related Section: N/A

Applicable Control Mode: ALL
Unit: 0.1 r/min
Range: 1 ~ 500.0
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the secondary (low speed) homing speed.
Refer to P5-06 for explanation.

P5 - 07 PRCM Trigger Position Command (PR mode only) Address: 050EH, 050FH

Default: 0 Related Section: N/A

Applicable Control Mode: PR
Unit: N/A
Range: 0 ~ 1000

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Chapter 8 Servo Parameters

Data Size: 16-bit

Display Format: Decimal
Settings:
There are 64 stored positions can be programmed via a combination of the POS0 ~ POS5 commands.
This parameter is used to trigger the dedicated position command in PR mode and command the motor to
move to the dedicated position instead of using DI (Digital Input) CTRG and POS0 ~ POS5.
Start homing function.
When entering P5-07, the default setting value 0 will display. Pressing SET key on the drive keypad,
the servo motor will start homing operation.
1 ~ 63: Trigger Position Command (This function is equivalent to the function of DI CTRG signal +
POSn signal).
When P5-07 is set to 1 ~ 63, the dedicated position command can be triggered and the servo drive will
command the motor move to the the dedicated position. For example, when P5-07 is set to 1, the
position command P1 is triggered and the servo drive will command the motor to move to the position
which correspond the position command P1.
64 ~ 9999: Write inhibit (Invaild setting value)
1000: Stop positioning.
When P5-07 is set to 1000, the motor stop command will be activated. This function is equivalent to
the function of DI STOP signal.
The display value of P5-07:
When the motor does not receive the drive command (the motor is not running), if the users read P5-07 at
this time, the display value of P5-07 will be the setting value of P5-07
When the position command is triggered and the motor start runningbut does not reach the dedicated
position (during positioning, the motor is running), if the users read P5-07 at this time, the display
value of P5-07 will be setting value of P5-07 plus 10000.
When the position command is triggered and the motor reachs the dedicated position (the positioning is
completed and the motor stop running), if the users read P5-07 at this time, the display value of P5-07
will be setting value of P5-07 plus 20000.
For example, when P5-07 is set to 3, it indicates that the position command P3 will be triggered.
If the display value of P5-07 is 3, it indicates that the motor does not receive the drive command and
the motor is not running.
If the display value of P5-07 is 100003, it indicates that the position command is triggered but the
positioning is not completed.
If the display value of P5-07 is 200003, it indicates that the position command is triggered and the
positioning is completed.

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Chapter 8 Servo Parameters

P5-08 SWLP Forward Software Limit Address: 0510H, 0511H

Default: 2147483647 Related Section: N/A

Applicable Control Mode: PR
Unit: PUU
Range: -2147483648 ~ +2147483647
Data Size: 32-bit
Display Format: Decimal

P5-09 SWLN Reverse Software Limit Address: 0512H, 0513H

Default: -2147483648 Related Section: N/A

Applicable Control Mode: PR
Unit: PUU
Range: -2147483648 ~ +2147483647
Data Size: 32-bit
Display Format: Decimal

P5 - 10★ AYSZ Data Array: Data Amount (N x 32 bits) Address: 0514H, 0515H

Default: N/A Related Section: Section 7.2

Applicable Control Mode: ALL
Unit: N/A
Range: read only
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the data amount of data arrady (N x 32 bits). N is the capacity of the
data array.

P5 - 11 AYID Data Array: Read / Write Address Address: 0516H, 0517H

Default: 0 Related Section: Section 7.2

Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ (P5-10-1)
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the data address when reading and writing data array.

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Chapter 8 Servo Parameters

P5 - 12 AYD0 Data Array: Read / Write Data Block 1 Address: 0518H, 0519H

Default: 0 Related Section: Section 7.2

Applicable Control Mode: ALL
Unit: N/A
Range: -2147483648 ~ +2147483647
Data Size: 32-bit
Display Format: Decimal
Settings:
This parameter is used to read the data block 0 of data arrady (Array[P5-11++]). For example, when P5-
11 is set to 100, the first read data displayed by P5-12 is the 100th data, the secondary read data is
101+1=102th data, the third read data is 102+1
103th data and vise versa. By the same logic, when P5-11 is set to 100, the first written data
displayed by P5-12 is the 100th data, the secondary written data is 101+1=102th data, the third
written data is 102+1 = 103th data and vise versa. However, if P5-12 is read via the drive keypad,
only the 101th data will be read.

P5-13 AYD1 Data Array: Read / Write Data Block 2 Address: 051AH, 051BH

Default: 0 Related Section: Section 7.2

Applicable Control Mode: ALL
Unit: N/A
Range: -2147483648 ~ +2147483647
Data Size: 32-bit
Display Format: Decimal
Settings:
This parameter is used to read the data block 2 of data arrady (Array[P5-11++]).
The usage of this parameter is the same as the parameter P5-12. Only one function is different. When P5-
12 is read via the drive keypad, the first read data displayed by P5-12 is the 100th data, the secondary
read data is 101+1=102th data, the third read data is 102+1 = 103th data and vise versa. It indicates that
using P5-13 can read more than one data via the drive keypad. Please note that using P5-13 can not write
data via the drive keypad.

P5-14 Reserved (Do Not Use)

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Chapter 8 Servo Parameters

P5 - 15 PMEM PATH 1 ~ PATH 2 Data Not Retained Setting Address: 051EH, 051FH

Default: 0x0 Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 0x0 ~ 0x0011
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
This parameter is designed for the users who need to change the positioning point frequently via
communication.
Display 0 0 Y X
Range - - 0~ 1 0~ 1
X=0: The data of PATH 1 (P6-02 ~P6-03) will be retained (memorized) when the power goes off.
X=1: The data of PATH 1 (P6-02 ~P6-03) will not be retained (memorized) when the power goes
off.
Y=0: The data of PATH 2 (P6-04 ~P6-05) will be retained (memorized) when the power goes off.
Y=1: The data of PATH 2 (P6-04 ~P6-05) will not be retained (memorized) when the power goes
off.
Other settings: Reserved

P5 - 16 AXEN Axis Position: Motor Encoder Address: 0520H, 0521H

Default: 0 Related Section: Section 7.3

Applicable Control Mode: ALL
Unit: PUU (user unit)
Range: -2147483648 ~ +2147483647
Data Size: 32-bit
Display Format: Decimal
Settings:
Read function: This parameter is used to read the actual position of the motor encoder, i.e. the monitor
variable V000 + deviation value.
Write function (available in firmware V1.015 and later models only):
The users can write any value and doing this will no change the value of monitor variable V000
and will not affect the position coordinate either.

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Chapter 8 Servo Parameters

Axis Position: Auxiliary Encoder (Pulse

P5-17 AXPC Address: 0522H, 0523H
Command Feedback)
Default: N/A Related Section: Section 7.3
Applicable Control Mode: ALL
Unit: pulse
Range: -2147483648 ~ +2147483647
Data Size: 32-bit
Display Format: Decimal
Settings:
This parameter is used to send back the pulse counts of the auxiliary encoder (linear scale).

P5-18 AXAU Axis Position: Pulse Command Address: 0524H, 0525H

Default: N/A Related Section: Section 7.3

Applicable Control Mode: ALL
Unit: N/A
Range: -2147483648 ~ +2147483647
Data Size: 32-bit
Display Format: Decimal
Settings:
This parameter is used to send back the pulse counts of pulse command.

P5-19 TBS E-Cam Curve Scaling Address: 0526H, 0527H

Default: 1.000000 Related Section: Section 7.3

Applicable Control Mode: PR
Unit: 0.000001 times, i.e. 1/ (10^6)
Range: -2147.000000 ~ +2147.000000
Data Size: 32-bit
Display Format: Decimal
Settings: (available in firmware V1.017 and later models only)
This parameter is used to magnify or minify the E-Cam table without changing the setting value of
the E-Cam table.
For example:
When the data of the table is 0,10,20,30,40,20, if the magnification is set to 2.000000, it is equal to the
data 0,20,40,60,80,40 which the magnification is set to 1.000000. When using the same pulse frequency
of master axis to drive E-Cam operation, increasing the setting value of P5-19 will magnify the route of
E-Cam operation and increase the operation speed as well.

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Chapter 8 Servo Parameters

P5-35 AC15 Accel / Decel Time 15 Address: 0546H, 0547H

Default: 30 Related Section:

P5-36 CAST CAPTURE: Start Address of Data Array Address: 0548H, 0549H

Default: 0 Related Section:

Applicable Control Mode: ALL Section 7.11.1
Unit: N/A
Range: 0 ~ (P5-10-1)
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to specify the start address which captures the first point data and save it into
data array.
Please note:
This parameter can be set only when capture operation is stopped (Refer to P5-39).

P5 - 37 CAAX CAPTURE: Axis Position CNT Address: 054AH, 054BH

Default: 0 Related Section:

Applicable Control Mode: ALL Section 7.11.1
Unit: N/A
Range: -2147483648 ~ +2147483647
Data Size: 32-bit
Display Format: Decimal
Settings:
This parameter can be set only when capture operation is stopped (Refer to P5-39).
Please note:
Do not change this parameter when the capture source is the motor encoder.
When the capture source is the motor encoder, the value of this parameter is reset to the motor encoder
feedback position (monitor variable is 00h).

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Chapter 8 Servo Parameters

P5 - 38 CANO CAPTURE: Capture Amount Address: 054CH, 054DH

Default: 1 Related Section:

Applicable Control Mode: ALL Section 7.11.1
Unit: N/A
Range: 1 ~ (P5-10 – P5-36)
Data Size: 16-bit
Display Format: Decimal
Settings:
When the compare function is not enabled, using this parameter can set the estimated capture amount
(able to read and write).
Once the capture function is enabled, everytime when one position is captured, the setting value of P5-
38 will decrease 1. When the setting value of P5-38 is equal to 0, it indicates that the capture operation
has finished.
Please note:
The total amount of COMPARE, CAPTURE and E-Cam data can not exceed the number of 800.
ASDA-A2 series L type models does not provide Electronic Cam (E-Cam) function.

P5 - 39 CACT CAPTURE: Capture Source Setting Address: 054EH, 054FH

Default: 0x2010 Related Section:

Applicable Control Mode: ALL Section 7.11.1
Unit: N/A
Range: 0x0000 ~ 0xF13F
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
This parameter is used to determine the capture source and enable the capture function.

A
B
C
D
Low Word
A: Capture function settings:

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Chapter 8 Servo Parameters

Please refer to the following table and descriptions:

Bit 3 2 1 0
Execute PR After first After first Start capture
command position is position is function
when capture captured, the captured, the
Function function has system will position will be
finished. enable the reset.
compare
function
After capture The compare When the first Setting Bit0 to 1
function has function is point is captured, will enable the
finished, enabled already, the position capture
execute PR ＃ coordinate will function. When
and this setting be reset. capture function
Explanation 50 command. will become has finished, the
ineffective. value of Bit0 will
be reset to 0
automatically.

Bit0: When the value of P5-38 is higher than 0, setting Bit0 to 1 will enable the capture function and
the DO signal, CAP_OK is inactivated. Once the capture function is enabled, everytime when one
position is captured, the setting value of P5-38 will decrease 1. When the setting value of P5-38 is
equal to 0, it indicates that the capture operation has finished. Then, DO signal, CAP_OK will be
activated and the value of Bit0 will be reset to 0 automatically.
When the value of P5-38 is equal to 0, setting Bit0 to 1 will not enable the capture function, the DO
signal, CAP_OK will be inactivated and then the value of Bit0 will be reset to 0 automatically. If Bit0
is set to 1 already, the new setting value cannot be 1. The users only can set Bit0 to 0 to disable the
capture function.
Bit1: When Bit1 is set to 1, after first position is captured, the system will set the value of the
current position as the value of the parameter P5-76.
Bit2: When Bit2 is set to 1, after first position is captured, the system will enable the compare
function (Bit0 of P5-59 is set to 1 and the value of P5-58 is set to the last compare amount). If the
compare function is enabled already, this setting will become ineffective.
Bit3: When Bit3 is set to 1, after capture operation is completed (all positions has been captured),
the position command P50 will be triggered immediately.
Capture source settings
Capture function is disabled.
Auxiliary encoder (linear scale).
Pulse command.
Motor encoder
Activate state settings
Normally open (use N.O. contact)
Normally closed (use N.C. contact)
Trigger time settings (unit: msec)

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