KD servo driver

manual

Shanghai Siheng Motor Co.,Ltd

KD series AC servo driver manual

KD series AC servo driver manual V215

Safety precautions
The following marks are used in the safety-related contents of this instruction book. The instructions about the

safety mark are the main content, please be sure to follow.

Danger Indicates that when used incorrectly, it can cause danger and death.

Indicates a danger when used incorrectly, resulting in personal injury and possible damage to
Attention equipment.

Forbid Indicates strictly prohibited behavior, otherwise the device will be damaged or unusable.

1. Usage situation
 it is forbidden to products used for inflammable and explosive occasions, easy to cause damage or
Danger cause a fire.
 Do not use the product in damp, direct sunlight, dust, salt and metal powder places.
2. Wiring
 do not use drive power access to 380 v, 220 v power supply, otherwise it will cause equipment
damage or fire.
 Please ground the grounding terminal reliably，Poor grounding may cause electric shock or fire.
 Do not connect the drive U, V, W motor output terminals to the three-phase power supply, otherwise
Danger
it will cause casualties or fire.
 The output terminals of drive U, V, W motor and motor wiring terminals U, V, W must be connected
one-to-one, otherwise the motor may cause equipment damage and casualties due to overspeed.
 Please refer to wire wiring, otherwise it may cause fire
3. Operation
 Before starting operation, please confirm whether emergency switch can be activated at any time to
stop.
 During the test run, please separate the servo motor from the machine. Install the motor on the
Attention machine after confirmation of operation.
 Do not get close to the machine after the servo motor stops and resumes. The machine may
suddenly start again.
 Do not switch on or off the power frequently, otherwise it will cause overheating inside the drive.
4. Running
 When the motor running, banned parts in contact with any rotation, otherwise it will cause loss of life.
 Equipment runs, untouchable drives and motors, otherwise it will cause electric shock or burns.
Forbid
 Do not move the connecting cables while the equipment is in operation, otherwise it may cause
personal injury or damage to the equipment.
5.Check and Maintenance
 Please do not disassemble and repair by yourself
 Do not touch the inside of the drive and its motor, otherwise it will cause electric shock.
Forbid  Operations such as wiring, maintenance and overhaul are prohibited under the energized state.
Please be sure to power off for more than 30 minutes, after the high voltage warning light off, then
carry out the above operation.

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KD series AC servo driver manual

Chapter 1 Product introduction

1.1 Servo Driver Technical Specifications

Driver No KD202 KD203 KD205 KD210 KD215 KD310 KD315 KD320 KD325

Module current(A) 20 20 20 30 50 35 50 75 100

1.5 8.49 8.49 8.49 12.73 21.22 14.85 21.22 31.82 42.43
Overload ratio

2 6.36 6.36 6.36 9.55 15.91 11.14 15.91 23.87 31.82

Output
current
2.5 5.09 5.09 5.09 7.64 12.73 8.91 12.73 19.09 25.46

3 4.24 4.24 4.24 6.36 10.61 7.43 10.61 15.91 21.22

KD series single-phase or three-phase drive 220 vac (voltage fluctuation - 15% ~ + 10%), 50
Input power Hz / 60 Hz
KD series drive three-phase 380VAC (voltage fluctuation -15% ~ +10%), 50 Hz /60Hz
Working
Temperature:Working：0℃～55℃storage：-20℃～+80℃
Environment
Control Method Humidity:Below 90%（non condensing）
regenerative 2
Vibration:below0.5G（4.9m/s ），10 Hz～60 Hz(Discontinuous operation)
brake
Input power ①Position control ②Speed control ③Torque control ④Communication control
Working Built-in （ When the power of the internal brake resistor is not enough, the external high power brake
Environment resistor can be connected）
Velocity frequency response:≥200Hz
Speed fluctuation ratio
control ＜±0.03（Load 0～100%）：＜±0.02×(0.9～1.1）Supply voltage
characteristic
（value corresponds to the rated speed）
Speed ratio：1 : 5000
Pulse frequency ≤ 300kHz
1 Servo on；②ALM-RST；③CCW FSTP；④CW FSTP；
Control input ⑤Deviation counter is zeroed/speed selected 1；⑥Instruction pulse disabling/speed selection 2; ⑦CCW
Torque limitation；⑧CW Torque limitation 。
1 Servo ready for output；②Servo alarm output；
Control output
2 Position finished output/speed reached output；④Servo brake control signal output；
1 Pulse + Direction；
Input mode
2 A plus B orthogonal impulse。
Position control
Electronic gear ratio:1～32767 / 1～32767（default 10000 : 1000，1000 pulses per cycle)
Feedback pulse: 10000pulse/Cycle
Speed control 4 internal speeds (switched by SC1 and SC2 input signal combination)
Acceleration and deceleration function:Parameters set acceleration and deceleration time1～10000 ms
（0 r/min ～ 1000 r/min）
Speed, current position, instruction pulse accumulation, position deviation, motor torque, motor current,
Monitoring
bus voltage,
function
Absolute rotor position, instruction pulse frequency, operating state, input and output terminal signals, etc
Overspeed, overvoltage and undervoltage of the main power supply, overcurrent, overload, abnormal
Protect
braking, abnormal encoder, abnormal control power supply,
function
Too bad position, etc
Applicable load inertia:Less than 5 times the inertia of the motor rotor

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KD series AC servo driver manual

Chapter 2 Installation

2.1 KD202～KD203（400W and below ）Servo drive external size drawing

2.2 KD205（0.6 kW～1.0kW）Servo drive external size drawing

2.3 KD210（1.0 kW～2.6kW）Servo drive external size drawing

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KD series AC servo driver manual

2.4 KD305～KD310（1.0kW～3.0kW）Servo drive external size drawing

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KD series AC servo driver manual

2.5 KD315～KD320（3.7kW～11kW）Servo drive external size drawing

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KD series AC servo driver manual

2.6 Standard wiring diagram

2.6.1 Position mode wiring diagram

Position mode wiring diagram

PS: Just USE RS485 communication have encoder signal output.

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KD series AC servo driver manual

2.6.2 Speed/Torque Mode Wiring Diagram

Analog/Torque Mode Wiring

PS: Just USE RS485 communication have encoder signal output.

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KD series AC servo driver manual

2.6.3 Sequence diagram of KD servo control terminals

Sort from top to bottom facing the drive
Control terminal sequence diagram

OA+,OA-,OB+,OB-,OZ+,OZ- are empty terminal

Note 1: The diagram of control signal terminals is sorted from top to bottom facing the driver. For
detailed function description of each signal terminal, refer to the description on the next page.
Note 1: The above terminals are assigned by default. You can enter the parameters in group P13 to
assign DI and DO functions as required.
Only one input function can be assigned to a unique DI.

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KD series AC servo driver manual

2.6.4 Control signal input/output terminal (16-core terminal)

Control mode: P stands for position control mode; S stands for speed control mode; T stands for torque control mode.
Pin No Signal name Mark Mode Function

Command pulse 5V positive

1 PULS+
end  Determine the motor rotation Angle and speed.
P
Instruction pulse input  Select the corresponding port according to the pulse voltage.
2 PULS-
negative end
Command Direction 5V
3 DIR+  motor rotation direction.
positive end
—  It can also be used for directional control when simulating quantitative
Instruction Direction input
4 DIR- mode.
negative end
When pulse and direction signals use DC 12V ~ 24V voltage, this port is
Pulse and direction high connected to 24V (co-positive NPN connection, in combination with PULS- and
5 PD-HI P
voltage input DIR-) or 0V (co-negative PNP connection, in combination with PULS+ and
DIR+).

The common end of the input terminal is used to drive the input optocoupler,
Common end of the input
6 COM-I — connected with DC 12V ~ 24V (positive NPN connection) or 0V (negative PNP
terminal
connection), the current is more than or equal to 100mA

This terminal function depends on the user's I/O input function selection. Factory
7 Input terminal 1 DI1 —
default I/O input function 01 (servo enabling SON)

This terminal function depends on the user's I/O input function selection. Factory
8 Input terminal 2 DI2 —
default I/O input function 02 (return to the origin to trigger Home_start)

The common end of the output terminal, used to drive the output circuit,
Common end of the output
9 COM-O — connected to 0V (positive NPN connection) or DC 12 V ~ 24V (negative PNP
terminal
connection)

This terminal function depends on the user's I/O output function selection. The
10 Output terminal 1 DO1 —
factory default I/O output function is 01 (servo alarm ALM)

This terminal function depends on the user's I/O output function selection.
11 Output terminal 2 DO2 —
Factory default I/O output function 02 (location to POS_REACH)

 Usually Z is believed to be very narrow pulse, please use a high-speed

Encoder Z phase collector
12 OCZ — optoelectronic coupler to receive.
open output
 Combined with 16-pin GND, output current ≤ 100mA.

13 AS+  differential mode, the input impedance of 10 k Ω - 10 v ~ + 10 v input

Analog speed or torque
S/T range.
14 instruction input AS-  The direction of rotation/torque can be controlled by DIR signal.

 only for analog input and output current 100 ma, or less.
15 Driver internal 5V 5Vout —  Do not use this voltage as it or short circuit with GND, otherwise it will
damage the drive!

 Output Ground
16 GND —  As a Group for 5V, OA, OB, OZ and OCZ

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KD series AC servo driver manual

2.6.5 Control signal input/output terminal (DB14-core terminal)

Pin No Signal name Mark Mode Function

This terminal function depends on the user's I/O input function selection. Factory
17 Input terminal 3 DI3 — default I/O input function 04 (CCW (counterclockwise) driver disallows
FSTP)

This terminal function depends on the user's I/O input function selection. Factory

18 Input terminal 4 DI4 — default I/O

Input function select 05 (CW (clockwise) drive disable RSTP)

This terminal function depends on the user's I/O input function selection. Factory
19 Input terminal 5 DI5 —
default I/O Input function selection 06 (instruction pulse disallow INH)

This terminal function depends on the user's I/O input function selection. Factory
20 Input terminal 6 DI6 —
default I/O Input function select 07 (Alarm Clearance ALM_S)

This terminal function depends on the user's I/O input function selection. Factory
21 Input terminal 7 DI7 —
default I/O Input function select 08 (pulse deviation counter zero clear CLE)

This terminal function depends on the user's I/O output function selection.
22 Output terminal 3 DO3 —
Factory default I/O Output function selection 06 (mechanical brake release BRK)

This terminal function depends on the user's I/O output function selection.
23 Output terminal 4 DO4 — Factory default I/O output function select 07 (go back to complete
Home_A)

This terminal function depends on the user's I/O output function selection.
24 Output terminal 5 DO5 —
Factory default I/O output function 08 (servo-ready SRDY)
25 OA+
Encoder A trust number
26 OA-
output
27 Encoder B believes the OB+
—  Empty terminal
28 signal output OB-
29 Encoder Z believes in sign OZ+
30 output OZ-

2.6.6 Encoder signal input terminal (DB9-core terminal)

Pin No Signal name Mark Mode
1 5V power supply +5V
 with a + 5 power servo motor encoder and the public;
2 Power common 0V  When the cable is longer, multi-line parallel connection is applied to reduce
the line voltage drop.
4 Positive end of the encoder SD +
 It is connected with the absolute encoder SD +
communication signal

5 Negative end of the encoder SD -

 It is connected with the absolute encoder SD -
communication signal

Shell  Shield Ground FG

 Shield ground terminals

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KD series AC servo driver manual

Chapter 3 Display and Panel Operation

 3.1 Description operator panel

The operation interface of the servo driver is composed of 5 LED digital tubes and 5 keys, which
can be used for the state display and parameter setting of the servo driver. The interface layout is as
follows：

 Keys function description

Key Key name Function
M MODE Switch status monitoring mode/parameter mode/alarm mode to return to the previous
menu.

▲ Increase Add monitor code, parameter number or set value, long press can increase quickly.

▼ Reduce Reduced monitor code, parameter number or set value, long press can quickly
reduce.

◀ Shift When setting parameters, press the key to move the selected flicker bit to the left by
one.
Confirm Go to the next level menu, or save the Settings.

Numerical display description

The numerical value uses 5 digital tube display, the front of the numerical value shows a minus sign
to represent the negative number, if it is 5 negative number, all the decimal point lit up to represent the
negative number. Some display items have prefix characters in front of them. If the number of digits is
too long to occupy the prefix character's position, the prefix character will not be displayed, only the
value will be displayed.

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KD series AC servo driver manual

3.2 State monitoring

When the servo drive is powered on, the display will continue to display "pr. on" for about one second,
and then automatically enter the status monitoring mode
Type. There are 21 kinds of display status. The user uses ▲ and ▼ keys to select the display status
needed. You can also modify the value of parameter P00.03 to select the display state after the servo
drive is powered on.

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KD series AC servo driver manual

Monitor mode operation block diagram

[Note 1] R1000, where R is the motor speed code, and 1000 means the motor speed is 1000 r/min in the
counterclockwise direction. If the motor is running in the clockwise direction, the negative speed of
-1000 is displayed.The units are r/min.

[Note 2] Position feedback pulse POS and position command pulse CPO are values amplified by the input
electronic gear.

The position quantity fed back by the motor encoder is composed of POS. (high 4 bits) + POS (low 4 bits).
For example: P.12 x 10000 + P5806 = 125806 pulses.
Similarly, the position instruction pulse is also composed of CPO. (high 4 bits) + CPO (low 4 bits).

For example: C.12 x 10000 + C5810 =125810 pulses.

[Note 3] When the encoder is fixed, the Z pulse position is fixed as the zero pulse.D-Apo displays the pulse value
of the motor encoder's output position signal deviating from the zero pulse. If the number of lines in the
encoder is 2500, the D-Apo displays the range from 0 to 9999.

[Note 4] Display of input terminal is shown in Fig. 3-2-1, display of output terminal is shown in Fig. 3-2-2, and
display of encoder signal is shown in Fig. 3-2-3.

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KD series AC servo driver manual

Figure 3-2-1 Input terminal display (the stroke is ON and OFF is OFF)

Figure 3-2-2 Display of output terminals (the stroke is ON and OFF is OFF)

Figure 3-2-3 signal display of encoder (the stroke is ON, OFF is OFF)
[Note 5] The running state is as follows:
RN-OF: the main circuit is not charged, and the servo system is not running;
RN-CH: The main circuit has been charged, and the servo system is not running (the servo is not enabled or there
is an alarm);
RN-ON: The main circuit has been charged and the servo system is running.
3.3 [arameter setting
 Servo driver parameters can be set by following the following steps
1. Press [M] key in the menu of Layer 1 to switch to "P00." parameter setting mode;

2. Use [▲] and [▼] keys to select different parameter groups P00 ~ P11, press [ ] key to enter the second
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KD series AC servo driver manual

layer "parameter number" selection menu;

3. Use [▲] and [▼] keys to select different parameter numbers.Press [ ] key to display the value of this
parameter, and the lowest value of the parameter flashes. 【 ◄】 key can move the flicker bit, and 【▲】 and
【▼ 】 key can modify the parameter value.
4. Press [ ] key to save the modified value, and the modified value will be immediately reflected in the
control.
5. After that, press [▲ ] and [ ▼ ] keys to continue to modify parameters. After modification, press [M] key to
return to the parameter selection menu.

6. If you are not satisfied with the value being modified, do not press [ ] to confirm, but press [M] to cancel,
the parameter will be restored to its original value, and return to the parameter selection menu.

P00. P00 group Pxx.00 Pxx.01

P01. P01group Pxx.01 Pxx.02

00000
.. ..

.. ..

M M

P10. P10 group Pxx.98 Pxx.98

P11. P11group Pxx.99 Pxx.99

Operation block diagram of parameter setting

Chapter 4 Parameter and Function

4.2 List of parameters

The factory values in the table below take the servo driver fitted with 60SFM-E01330 (1.27Nm,
3000r/min) motor as an example.
Note: Parameters with "*" indicate that relevant parameters of drivers matching different motors are
different.

4.1.1 P00 group list of parameters

Factory way of
No Name Setting range Unit
default application
P00.00 Password 0～9999 316 — P，S
P00.01 Motor Model Code 0～32767 22102* — P，S
P00.02 Software Version (Read Only) — * — P，S
P00.03 Initial display state 0～22 0 — P，S
P00.04 Control Strategy Choice 0～11 0 — P，S
P00.05 Proportional velocity gain 5～2000 150* Hz P，S
P00.06 Velocity integral time constant 1～1000 80* ms P，S
P00.07 Torque command filter 1～500 30 % P，S
P00.08 Speed detection low pass filter 1～500 100 % P，S
P00.09 Position proportional gain 1～1000 100* 1/s P
P00.10 Position feed forward gain 0～100 0 % P
The cut-off frequency of the position feedforward
P00.11 1～1200 300 Hz P
low-pass filter
P00.12 Position command pulse frequency dividing molecule 1～32767 0 — P
P00.13 Position instruction pulse frequency dividing 1～32767 1000 — P

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KD series AC servo driver manual

denominator
P00.14 Position instruction pulse input mode 0～1 0 — P
P00.15 Reverse the direction of the position instruction pulse 0～1 0 — P
P00.16 Location completion range 0～30000 262 Encoder unit P
P00.17 Position out of tolerance detection range 0～30000 400 ×0.01 Pulse P
P00.18 Out-of-position errors are invalid 0～1 0 — P
P00.19 Position command smoothing filter 0～20000 200* ms P

4.1.2 P01 group list of parameters

Factory way of
No Name Setting range Unit
default application
P01.00 Invalid driver disable input 0～1 1 — P，S
P01.01 JOG running speed -3000～3000 120 r/min S
P01.02 Acceleration and deceleration time constants 0～10000 500 ms S
P01.03 Maximum speed limit 0～6000 6000 r/min P，S
P01.04 Internal speed 1 -3000～3000 0 r/min S
P01.05 Internal speed 2 -3000～3000 100 r/min S
P01.06 Internal speed 3 -3000～3000 300 r/min S
P01.07 Internal speed 4 -3000～3000 -100 r/min S
P01.08 On-speed 0～3000 500 r/min S
P01.09 Retain — — — —
P01.10 Internal CCW torque limit 0～600 300 % P，S
P01.11 Internal CW torque limit -600～0 -300 % P，S
P01.12 External CCW torque limit 0～600 100 % P，S
P01.13 External CW torque limit -600～0 -100 % P，S
P01.14 Speed trial run, torque limit of JOG operation 0～300 100 % S
P01.15 Retain — — — —

4.1.3 P02 group list of parameters

Factory way of
No Name Setting range Unit
default application
P02.00 Analog speed command gain 0～3000 300 （r/min）/ V S
P02.01 Reverse the direction of the analog speed instruction 0～1 0 — S
P02.02 Analog speed instruction zero offset compensation -500～500 0 — S
P02.03 Analog speed instruction has no control area -500～500 0 — S
P02.04 Analog speed command filter 1～1000 300 Hz S
P02.05 Analog torque command gain 1～300 30 %/V T
Input direction of analog torque instruction is
P02.06 0～1 0 — T
reversed
P02.07 Analog torque instruction zero offset compensation -500～500 0 — T
P02.08 Maximum speed limit for torque control 0～4000 2400 r/min T
P02.09 Analog torque command filter 1～1000 300 Hz T
P02.10 Low 4-bit input terminal enforces the ON control word 0～1111(0~15) 0 — ALL
P02.11 High 4-bit input terminal enforces the ON control word 0～1111(0~15) 0 — ALL
Low 4 - bit input terminal takes the reverse control
P02.12 0～1111(0~15) 0 — ALL
word
High 4 - bit input terminal takes the reverse control
P02.13 0～1111(0~15) 0 — ALL
word
P02.14 Output terminal takes the inverse control word 0～1111(0~31) 0 — ALL
P02.15 Input terminal to dejitter the time constant 1～1000 16 0.1ms ALL

4.1.4 P03 group list of parameters

Factory way of
No Name Setting range Unit
default application
P03.00 Speed trial run 0～1 0.0 — S
P03.01 JOG Run 0～1 — — S
P03.02 Encoder is zeroed in 0～1 0 — ALL
P03.03 Open loop run 0～1 0 — ALL
P03.04 Analog channel zero offset automatic adjustment 0～1 0 — ALL
P03.05 Retain — — — —
P03.06 Servo forced enablement 0～1 0 — ALL
P03.07 System parameter initialization 0～1 0 — ALL
P03.08 Driver fan switch 0～1 0 — ALL
P03.09 Reaching output selection 0～2 0 — ALL
P03.10 Analog speed instruction minimum speed -500～500 0 r/min S
P03.11 Mechanical brake release delay 0～30000 100 ms ALL

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KD series AC servo driver manual

P03.12 Servo enable holding time 0～30000 100 ms ALL

P03.13 Pulse command filter selection 1～4 0 — P
P03.14 Servo failure lower axle arm switch 0～1 0 — ALL
P03.15 Encoder alarm selection 0～6 5 — ALL
P00.16 Location completion range 0~6000 10 r/min ALL
P00.17 Position out of tolerance detection range 0~600 5 % ALL

4.1.5 P09 group list of parameters

way of
Factory
No Name Setting range Unit applicatio
default
n
P09.00 ~ P09.12 are motor communication control parameters that can be read and written
P09.00 Communication control start and stop 0～1 0 — ALL
P09.01 4 bits higher operating pulse number (X10000) -32767～32767 0 pulse P
P09.02 Run pulse count 4 bits lower -32767～32767 0 pulse P
P09.03 Position mode speed 0～3000 0 r/min P
P09.04 Speed mode speed -3000～3000 0 r/min S
P09.05 Torque mode Torque -300～300 0 % T
P09.06 Communication location mode speed 0～1 0 — P
P09.07 Retain — — — —
P09.08 Retain — — — —
P09.09 Communication control start and stop mode 0～1 0 — ALL
P09.10 Retain — — — —
P09.11 Retain — — — —
P09.12 EEPROM storage 0-2 0 — ALL
P09.13 ~ P09.33 are motor running state parameters read only and cannot be written
P09.13 Current motor speed — — r/min ALL
P09.14 Current position is 4 digits higher(X10000) — — Encoder unit P
P09.15 Current position 4 bits lower — — Encoder unit P
P09.16 Position instruction is 4 bits higher(X10000) — — Encoder unit P
P09.17 Position instruction 4 bits lower — — Encoder unit P
P09.18 Position deviation is 4 places lower — — Encoder unit P
P09.19 Position deviation 4 bits higher (X10000) — — Encoder unit P
P09.20 Current motor torque — — % T
P09.21 Current motor current — — 0.1A ALL
P09.22 Current bus voltage — — V ALL
P09.23 Current control mode — — — ALL
P09.24 Current position instruction pulse frequency — — Pulse P
P09.25 Current speed instruction — — r/min ALL
P09.26 Current torque instruction — — % ALL
P09.27 Number of turns in the current absolute position — — Encoder unit ALL
P09.28 Current absolute lap position 4 bits higher (X10000) — — Encoder unit ALL
P09.29 Current absolute lap position is 4 places lower — — Encoder unit ALL
P09.30 error code — — — ALL
P09.31 Enter the terminal state DI1/ DI2/ DI3/ DI4 — — — ALL
P09.32 Enter the terminal state DI5/ DI6/ DI7 — — — ALL
P09.33 Output terminal state DO1/ DO2/ DO3/ DO4/DO5 — — — ALL
P09.34 Encoder status bit — — — ALL
P09.35 Encoder battery status bit — — — ALL

4.1.6 P11 group list of parameters

Factory way of
No Name Setting range Unit
default application
P11.00 Baud rate 1～6 3 — ALL
P11.01 Station no. 1～255 1 — ALL
P11.02 Verify 0～2 0 — ALL
P11.03 Communication delay response time 0-1000 5 Ms ALL

4.1.7 P12 group list of parameters

Factory way of
No Name Setting range Unit
default application
P12.00 Predefined origin trigger mode 0～1 0 — P
P12.01 Predefined origin panel button trigger 0～1 0 — P
P12.02 Return to the origin trigger mode selection 0～2 0 — P
P12.03 Return to the origin mode of motion 0～5 0 — P

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KD series AC servo driver manual

P12.04 Velocity of return to origin 0～3000 120 r/min P

P12.05 Return to the origin panel button triggered 0～1 0 — P
P12.06 The integral part of the engineering unit coefficient 1～32767 1 — P
P12.07 Engineering unit coefficient after the decimal three 0～999 0 — P
Origin offset and software limit setting value unit
P12.08 0~3 0 — P
selection
P12.09 The origin is offset 4 bits higher（X10000） -32767～32767 0 — P
P12.10 The origin is offset 4 bits lower -9999～9999 0 — P
P12.11 Software limit mode 0～1 0 — P
The negative limit of the software based on the origin
P12.12 -32767～0 0 — P
is 4 bits higher（X10000）
The negative limit of the software based on the origin
P12.13 -9999～0 0 — P
is 4 bits lower
The positive limit of software based on the origin is 4
P12.14 0～32767 0 — P
bits high (X10000)
The software based on the origin is 4 bits lower than
P12.15 0～9999 0 — P
the positive limit
P12.16 ~ P12.23 are motor running state parameters read only and cannot be written
4 bits higher relative encoder position of motor based
P12.16 -32767～32767 — Encoder unit P
on origin (X10000)
The motor is 4 bits lower relative to the encoder
P12.17 -9999～9999 — Encoder unit P
position based on the origin
4 bits higher relative instruction pulse position of
P12.18 -32767～32767 — Encoder unit P
motor based on origin (X10000)
The motor is 4 bits lower relative to the command instruction
P12.19 -9999～9999 — P
pulse position based on the origin pulse
P12.20 -92233720368547
P12.21 Relative feedback encoder position based on origin
75807~ —
P12.22 Encoder P
(64-bit data) 922337203685477
P12.23 5807
-92233720368547
P12.24 Relative feedback instruction pulse based on origin
75807~ instruction
— P
～P12.27 (64-bit data) 922337203685477 pulse
5807

4.1.8 P13 group list of parameters

Factory way of
No Name Setting range Unit
default application
P13.00 Input terminal DI1 0～21 01 — ALL
P13.01 Input terminal DI2 0～21 02 — ALL
P13.02 Input terminal DI3 0～21 04 — ALL
P13.03 Input terminal DI4 0～21 05 — ALL
P13.04 Input terminal DI5 0～21 06 — ALL
P13.05 Input terminal DI6 0～21 07 — ALL
P13.06 Input terminal DI7 0～21 08 — ALL
P13.07 Output terminal DI1 0～10 01 — ALL
P13.08 Output terminal DI2 0～10 02 — ALL
P13.09 Output terminal DI3 0～10 06 — ALL
P13.10 Output terminal DI4 0～10 07 — ALL
P13.11 Output terminal DI5 0～10 08 — ALL

4.1.9 P14 group list of parameters

Factory way of
No Name Setting range Unit
default application
P14.00 Multi-segment position operation mode 0～2 2 — P
P14.01 Number of end points of position instruction 1～16 1 — P
P14.02 Allowance treatment 0～1 0 — P
P14.03 unit of time 0～1 0 — P
P14.04 Displacement instruction type selection 0～2 2 — P
P14.05 Run start segment 1～16 1 — P
P14.06 Running instruction source 0～1 0 — P
P14.07 Panel to trigger 0～1 0 — P
P14.08 Current position segment 1～16 — — P
P14.09 Keep — — — P
P14.10 Keep — — — P
P14.11 Keep — — — P
The first segment of movement displacement is 4 high
P14.12 -32767～32767 1 Instruction unit P
(X10000)
P14.13 The first segment of movement displacement is 4 low -9999～9999 0 Instruction unit P

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KD series AC servo driver manual

P14.14 Maximum operating speed of the first displacement 1～6000 200 rpm P
P14.15 First displacement plus acceleration time 0～32767 200 ms P
P14.16 Waiting time after the first displacement is completed 0～10000 08 ms(s) P
The sixteenth segment of movement displacement is
P14.87 -32767～32767 1 Instruction unit P
4 high (X10000)
The sixteenth segment of movement displacement is
P14.88 -9999～9999 0 Instruction unit P
4 low
Maximum operating speed of the sixteenth
P14.89 1～6000 200 rpm P
displacement
P14.90 Sixteenth displacement plus acceleration time 0～32767 200 ms P
Waiting time after the sixteenth displacement is
P14.91 0～10000 08 ms(s) P
completed

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KD series AC servo driver manual

4.2Parameter function 4.2.1 Parameter function

No Name Function Parameter range default

1.Password tiers, which correspond to user parameters, system
parameters, and manufacturer parameters
2.User Password 316

3.This parameter prevents the parameter from being modified by mistake.

System parameters and manufacturer parameters need to be set

P00.00 Password 0～9999 316
Set the corresponding permission password to operate. After the operation

debugging, finally this .

Set the parameter to 316 to ensure that the parameter will not be modified

by mistake

Example: 22015

①220 indicates that the drive input voltage is AC220V

P00.01 Motor Model Code ②15 indicates that the maximum output effective current of the drive is 15A

You can judge whether the adaptive motor is reasonable by viewing the

driving information

P00.02 Software version You can view the software version number, but you cannot modify it. — —

Select the display status after the servo drive is powered on.

0: display motor speed;

1: display the absolute position of the motor is 4 bits lower;

2: display the absolute position of the motor 4 bits higher;

3: display feedback increment 4 bits lower;

4: display feedback increment 4 bits higher;

5: display the lower 4 bits of the current position instruction;

6: display the current position instruction 4 bits higher;

7: Display the current position deviation is 4 bits lower;

8: display the current position deviation 4 bits higher;

9: display motor torque;

P00.03 Initial display state 10: display motor current; 0～22 0

11: display bus voltage;

12: display control mode;

13: display position instruction pulse frequency;

14: display speed instruction;

15: display torque instruction;

16: show the absolute position of the rotor in a revolution;

17: indicates the input terminal status.

18: Display output terminal status;

19: display encoder input signal (no);

20: display running status;

21: display alarm code;

No Name Function Parameter range default

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KD series AC servo driver manual

Through this parameter, the control mode of AC servo drive unit can be set:

0: pulse position control mode;

1: internal speed control mode;

2: test operation control mode;

3: Test JOG control mode;

4: manufacturer encoder zero control mode;

5: Manufacturer's open-loop operation control mode (used for testing motor

and encoder);

6: external analog speed control mode;

7: external analog torque control mode;

8: communication position control mode;

9: communication speed control mode;

10: communication torque control mode;

11: internal multi-section position control mode;

① Pulse position control mode, position instruction input from pulse input

port;

② Internal speed control mode, SC1 and SC2 combination to select internal
P00.04 Control Method choice 0～11 0
speed:

For details, see parameters P01.04 to P01.07.

③ Test run control with test JOG control mode, speed command from

keyboard

Input for testing AC servo drive units and motors: see details

P03.00 to P03.01 Parameter Description.

Manufacturer's encoder zero control and manufacturer's open loop control

mode, used for motor

Factory adjustment coding disc zero and motor adaptation test;

(5) External simulation mode, speed or torque control with simulation port:

See P02.00 ~ P02.09 parameter description for details.

⑥ Communication control mode, with 485 communication control motor

position, speed, turn

Moment: See P09.00 ~ P09.05 parameter description for details;

⑦ Internal multi-section position control mode, the use of internal

parameters preset position, speed

For details, see P14.00 ~ P14.91 parameter description.

1 Set the proportional gain of the speed loop regulator;

2 The larger the setting value, the higher the gain and the greater the
rigidity. Determined according to the drive and load conditions. Generally,
P00.05 Proportional velocity gain 5～2000Hz 150*
the greater the load inertia, the greater the set value;
3 Under the condition that the system does not oscillate, try to set a larger
value.

1 Set the integral time constant of the speed loop regulator;

2 The smaller the set value, the faster the integral speed and the greater
Velocity integral time
P00.06 the stiffness. Determined according to the drive and load conditions. 1 ～1000ms 80*
constant
Generally, the larger the load inertia, the smaller the set value;
3 If the system does not oscillate, try to set it as small as possible.

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KD series AC servo driver manual

1 Set the characteristics of the torque command filter. Can suppress the
resonance generated by the torque (the motor emits sharp vibration
noise);
2 If the motor emits sharp vibration and noise, please reduce this
parameter;
3 The smaller the value, the lower the cut-off frequency, and the smaller
P00.07 Torque command filter 1～500% 30
the noise generated by the motor. If the load inertia is large, the set value
can be reduced appropriately. If the value is too small, it will slow down
the response and may cause instability;
4 The larger the value, the higher the cut-off frequency, and the faster the
response. If higher mechanical rigidity is required, the setting value can
be appropriately increased.

1 Set the characteristics of speed detection low-pass filter;

2 The smaller the value, the lower the cut-off frequency, and the smaller
the noise generated by the motor. If the load inertia is large, the set value
Speed detection low pass can be reduced appropriately. If the value is too small, it will slow down
P00.08 1～500% 120
filter the response and may cause oscillation;
3 The larger the value, the higher the cut-off frequency and the faster the
speed feedback response. If a higher speed response is required, the
setting value can be appropriately increased.

No Name Function Parameter range default

1 Set the proportional gain of the position loop regulator;
2 The larger the setting value, the higher the gain and stiffness, and the
smaller the position lag under the same frequency instruction pulse
P00.09 Position proportional gain condition.However, if the value is too large, it may cause oscillation or 1～1000 /s 100*
overshoot.
3 Parameter values are determined according to the specific servo driver
model and load conditions.

1 Set the feedforward gain of the position loop;

2 When set to 100%, it means that the position lag is always 0 under the
instruction pulse of any frequency;
3 With the increase of the feedforward gain of the position loop, the
P00.10 Position feed forward gain 0～100％ 0
high-speed response characteristics of the control system are improved,
but the position loop of the system is unstable and easy to oscillate;
4 Unless a very high response is required, the feedforward gain of the
position loop is usually zero.

Cut-off frequency of the

position feed forward
1 Set the cut-off frequency of the low-pass filter with the position loop
low-pass filter feedforward;
P00.11 1～1200Hz 300
2 The function of this filter is to increase the stability of compound position
 control.

1 Set the octave of the position command pulse (electronic gear)；

2 In the position control mode, by setting P00.12 parameters and P00.13
parameters, it can be easily matched with various pulse sources to
achieve the user's ideal control resolution (that is, Angle/pulse)；
3 P：Number of pulses of input instruction P  G  N  C ；
Position command pulse G ： Electronic gear ratio G= frequency division of molecular/Dividing
P00.12 1～32767 0
frequency dividing molecule
denominator；
N：Number of motor turns；
C：Photoelectric encoder line number/turn, this system C = 32768；
4 EX：When the input instruction pulse is 6000, the servo motor rotates 1
turn

N  C  4 1 32768  4 8192
G  
P 6000 375
The parameter P00.12 is set to 8192, and the parameter P00.13 is set to
375；
Position instruction pulse ⑤The recommended range of electronic gear ratio is 1:50 ≤ G ≤ 50 ;
P00.13 frequency dividing 1～32767 1000
denominator ⑥ When the electronic gear input parameter P00.12 and P00.13 digit tube

number do not

When sufficient, use high electronic gear ratio: P10.10 higher 4 position

electronic gear

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KD series AC servo driver manual

Numerator, P10.11 high 4 electronic gear denominator, default factory is 0;

Total molecule = P10.10*10000+P00.12; (High 4 digits 1 means 10000)

Total female = P10.11*10000+P00.13; (High 4 digits 1 means 10000)

⑦ When the total numerator is 0, the value of the denominator represents

the number of pulses required per revolution of the motor

① Set the input form of position instruction pulse;

② The parameters are set as one of the three input modes:

Set to 0: pulse + direction;

Position instruction pulse
P00.14 0～1 0
input mode Set to 1: A and B phase 4 frequency;

Set to 2: double pulse input;

③ The parameter change takes effect only after the system is powered on

① Set to 0: normal; 1: Position instruction pulse direction reversed.

(2) CCW is viewed from the axial direction of the motor, and the
Direction of the position
P00.15 0～1 0
instruction is reversed counterclockwise direction becomes positive;

CW is seen from the axis of the motor, clockwise direction to reverse.

① The pulse range of positioning is completed under the control of setting

position;

② This parameter provides the position control mode to determine whether

the servo driver is finished

The basis for positioning. When the number of remaining pulses in the

position deviation counter is less than

0～30000
P00.16 Location completion range 262
Or equal to the set value of this parameter, the servo driver considers that Encoder

the positioning has been completed.

Signal ON when positioning is completed, otherwise OFF;

③ Users can complete the function COIN/Pos_ by P13 group parameter

allocation

Reach output DO terminal. The factory default is DO2.

1 Set the detection range of position out of tolerance alarm;

Position out of tolerance 2 In the position control mode, when the value of the position deviation 0～30000
P00.17 400
detection range counter exceeds the value of this parameter, the servo driver will give an
alarm for the position deviation.

No Name Function Parameter range default

Set to 0: the position out-of-tolerance alarm detection is effective;
Out-of-position errors are
P00.18 Set to 1: The detection of position out of tolerance alarm is invalid, and the 0～1 0
invalid
detection of position out of tolerance error is stopped.
① Smoothing and filtering the command pulse, with exponential
acceleration and deceleration, and the value represents the time constant.
When set to 0, the filter has no effect.
②The filter will not lose the input pulse, but the command delay
phenomenon will occur;
Position command ③This filter is used for 0～30000
P00.19 200*
smoothing filter  The upper controller has no acceleration/deceleration function or ×0.1ms
the command frequency is low;
 The electronic gear has a large division and multiplication
frequency (>10);
 When the motor is running, the phenomenon of stepping jumping
and unevenness occurs;

4.2.2 P01 group parameters detailed description

Parameter
Name Function default
No range
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KD series AC servo driver manual

0：CCW、CW Input forbidden valid；

When FSTP is ON, CCW driver allows;
When FSTP is OFF, the torque in CCW direction remains 0.
When the RSTP is ON, the CW driver allows it.
When RSTP is OFF, the torque in CW direction remains 0.
P01.00 Invalid driver disable input
When both FSTP and RSTP are OFF, a driver ban error alarm will be
0~1 1
generated.
1：Cancel CCW, CW input prohibitions; CCW and CW drivers are allowed
regardless of FSTP and RSTP switching status. FSTP, RSTP are OFF,
there will be no driver prohibited input error alarm.

P01.01 JOG running speed ①Sets the speed of the JOG operation. -6000~6000 120
1 The setting value is the acceleration time of the motor from 0 to 1000
r/min;
Speed mode acceleration 2 Acceleration and deceleration characteristics are linear;
P01.02 and deceleration time 3 Only used for speed control mode, position control mode is invalid;
1～10000ms 500
constant
4 Set to 0 if the servo drive is used in combination with an external position
ring.
1 The maximum speed limit of the servo motor is set, which has nothing to
do with the direction of rotation; 0～6000
P01.03 Maximum speed limit
r/min
6000
2 If the setting value exceeds the rated speed, the actual speed limit is the
rated speed.
P01.04 Inner speed 1
SC1 OFF ，SC2 OFF ：Inner speed 1；
0
P01.05 Inner speed 2 SC1 ON ，SC2 OFF ：Inner speed 2； -6000～6000 100
P01.06 Inner speed 3 SC1 OFF ，SC2 ON ：Inner speed 3； r/min 300
SC1 ON ，SC2 ON ：Inner speed 4。
P01.07 Inner speed 4 -100

1 Set the arrival speed and has nothing to do with the direction of rotation;
2 In the non-position control mode, if the motor speed exceeds the set
0～6000
P01.08 On-speed value, then SCMP ON, otherwise SCMP OFF;
r/min
500
3 In the position control mode, this parameter is not used;
4 The comparator has the hysteresis characteristic.

1 Set the internal torque limit value of the servo motor in the CCW
direction;
2 The setting value is the percentage of the rated torque;
P01.10 Internal CCW torque limit 3 This restriction is valid at all times; 0～600% 300
4 If the setting value exceeds the maximum allowable system overload
capacity, the actual torque limit is the maximum allowable system
overload capacity.

Parameter
No Name Function default
range
1 Set the internal torque limit value of the servo motor in CW direction;
2 The setting value is the percentage of the rated torque;
3 This restriction is valid at all times;
P01.11 Internal CW torque limit 4 If the setting value exceeds the maximum allowable system overload -600%～0 -300
capacity, the actual torque limit is the maximum allowable system
overload capacity.

1 Set the external torque limit value of the servo motor in the CCW
direction;
2 The setting value is the percentage of the rated torque;
P01.12 External CCW torque limit 3 Only valid when the CCW torque limit input terminal (F/RIL) ON; 0～600% 100
4 When the restriction is effective, the actual torque limit is the minimum of
the maximum allowable overload capacity of the system, internal CCW
torque limit and external CCW torque limit.
1 Set the external torque limit value in the CW direction of the servo motor;
2 The setting value is the percentage of the rated torque;
3 Only valid when CW torque limit input terminal (F/RIL) ON;
P01.13 External CW torque limit -600%～0 -100
4 When the restriction is effective, the actual torque limit is the minimum
absolute value of the maximum allowable overload capacity of the
system, internal CW torque limit and external CW torque limit.
1 Set the torque limit value in the speed trial run and JOG operation mode;
Speed trial run, 2 Independent of the direction of rotation, two-way effective;
P01.14 JOG operating torque limit 3 The setting value is the percentage of the rated torque, 1 times the rated
0～300% 100
torque, set to 100;
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KD series AC servo driver manual

4 Internal and external torque limits remain in effect.

4.2.3 P02 group parameters detailed description

Parameter
Name Function default
No range
Analog speed command Set the analog speed input voltage and motor speed proportional
P02.00 gain relationship.
0～3000 300
Set to 0: when the speed instruction of analog quantity is positive, the speed
Analog speed instruction
direction is CCW;
P02.01 The input direction is
Set to 1: When the speed instruction of the analog quantity is positive, the
0～1 0
reversed
speed direction is CW.
Analog speed zero offset
P02.02 compensation
Zero offset compensation for the analog speed input. -500～500 0
The simulated velocity has The instruction is 0 when the input voltage of analog speed is located in the
P02.03 no action zone uncontrolled action zone.
-500～500 0

1 Low pass filter for analog velocity input;

Analog speed command 2 The larger the setting value is, the faster the response speed of the input
P02.04 filter analog quantity is, and the greater the influence of signal noise is.The 1～1000 300
smaller the setting value is, the slower the response speed is and the
less the influence of signal noise is.

Analog torque command Set the proportional relationship between the analog torque input voltage
P02.05 gain and the motor torque
10～600 30

Set to 0: when the analog torque instruction is positive, the torque direction
Input direction of analog
is CCW;
P02.06 torque instruction is
Set to 1: When the analog torque instruction is positive, the torque direction
0～1 0
reversed
is CW.

Analog torque instruction

P02.07 zero offset compensation
Zero offset compensation for the analog torque input. -500～500 0

Maximum speed limit for 1 In torque control, motor running speed is limited within this parameter;
P02.08 torque control
0～4000 2400
2 It can prevent the phenomenon of overspeed under light load.

Low pass filter for analog torque input. The larger the setting value is, the
faster the response speed to the torque input analog quantity is, and the
Analog torque command
P02.09 filter
greater the influence of signal noise is. The smaller the setting value is, 1～1000 300
the slower the response speed is and the less the influence of signal
noise is.

Parameter
Name Function default
No range
Panel operation
①Set the input terminal internal force ON to be effective.It is represented
as a 4-bit binary number, with 0 for non-enforced ON and 1 for enforced 0000 to 1111
Low 4-bit input terminal ON.
P02.10 enforces the ON control Position 0: SON servo enabling; Communication 0
word Bit 1: ALRS alarm clearance;
Bit 2: FSTP CCW driver disabled; operation
Bit 3: RSTP CW driver disabled.
0 ~ 15

Panel operation
①Set the input terminal internal force ON to be effective.It is represented
as a 4-bit binary number, with 0 for non-enforced ON and 1 for enforced 0000 to 1111
High 4-bit input terminal ON.
P02.11 enforces the ON control Bit 0: CLE/SC1 Deviation Counter Clearing/Speed Selection 1; Communication 0
word 1 bit: INH/SC2 instruction pulse disable/speed select 2;
2 bits: FIL CCW torque limit; operation
3 bits: RIL CW torque limit.
0 ~ 15

Panel operation
Set the input terminal to be inverted. It is represented by a 4-bit binary number,
0 means no inversion, 1 means inversion. The input terminals represented by 0000 to 1111
Low 4 - bit input terminal binary numbers are as follows:
P02.12 takes the reverse control Bit 0: DI1 input terminal 1; Communication 0
word 1 bit: DI2 input terminal 2;
2 bits: DI3 input terminal 3; operation
3 bits: DI4 input terminal 4.
0 ~ 15

High 4 - bit input terminal Set the input terminal to be inverted. It is represented by a 4-bit binary number,
P02.13 Panel operation 0
takes the reverse control 0 means no inversion, 1 means inversion. The input terminals represented by
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KD series AC servo driver manual

word binary numbers are as follows:

Bit 0: DI5 input terminal 5; 0000 to 1111
1 bit: DI6 input terminal 6;
2 bits: DI7 input terminal 7; Communication
Bit 3: Remain reserved.
operation

0 ~ 15

Panel operation
It is represented by a 5-bit binary number, 0 means no inversion, 1 means
inversion. 0000 to 1111
Bit 0: DO1 output terminal 1;
Output terminal takes the Communication
P02.14 1 bit: DO2 output terminal 2; 0
inverse control word
2 bits: DO3 output terminal 3;
3 bits: DO4 output terminal 4; operation
4 bits: DO5 output terminal 5.
0 ~ 15

P02.15 Enter terminal filtering time The input terminal to jitter filtering time. 1～1000 16

4.2.4 P03 group parameters detailed description

Parameter
Name Function default
No range
Set to 1, and press SET key to enter the speed trial run, the speed is SET by
P03.00 Speed trial run -3000～3000 0
the key.
Set to 1, and press SET key to enter JOG operation, the speed is SET by
P03.01 JOG Run — 0
the key.
P03.02 Encoder is zeroed in The encoder zero adjustment function is used by the motor manufacturer. — 0
P03.03 Open loop run Open loop operation mode is used by motor manufacturers. 0～1 0

1 Set whether the analog channel automatic adjustment function can be

enabled, the driver will automatically correct the zero drift voltage of the
Analog channel zero offset
P03.04 analog channel; 0～1 0
automatic adjustment
2 The adjusted zero drift value will be automatically stored in the
corresponding function codes (P02.02 and P02.07).

P03.05 Keep — — —

Set to 0: SON is determined by IO port input signal;

P03.06 Servo forced enablement 0～1 0
Set to 1: SON will be forced to be ON (independent of the input signal).

Parameter
No Name Function default
range
Set 1: Restore all parameters to factory Settings.
Set 2: Only related parameters of the drive motor are restored to factory
P03.07 Drive parameter reset 0～2 0
Settings;
Note: Power off restart effect
P03.08 Driver fan switch Set 0, fan off, set 1, fan on. For factory test use. 0～1 0
Set 0: send and receive data normally;
Setting 1: Reset all errors reported by the encoder (the setting is valid after
P03.09 Encoder reset disabling); 1～2 0

Setting 2: Reset the encoder circle number and all errors (the setting is valid
after disabling).
Used as the minimum speed limit, i.e., take-off speed, for analog speed
Analog speed instruction
P03.10 control. When the analog speed instruction is lower than this speed, the 0～3000 0
minimum speed
motor will not operate.
Mechanical brake release
P03.11 When enabled, the time set by the motor brake delay is released. 0～30000 100
delay
When the enabling is turned off, the motor coil delay time is set and then the
P03.12 Servo enable holding time 0～30000 100
power is lost.
Set 1: Receiving pulse frequency 0-300KHZ;
Set 2: Receiving pulse frequency 0-180KHZ;
Set 3: Receiving pulse frequency 0-140KHZ;
Pulse instruction filter
P03.13 Set 4: Receiving pulse frequency 0-120KHZ; 1～4 1
selection
Setting the appropriate filter level of pulse instruction can effectively prevent
interference.
The filtering level is higher than the actual pulse frequency received
Servo failure lower axle arm
P03.14 Manufacturer test, users do not need to change. 0～1 0
switch
Set 0: all encoder alarms are applied;
P03.15 Encoder alarm selection Set 1: Only use encoder battery alarm; 0~6 5
Set 2: Only use the coding state alarm;
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KD series AC servo driver manual

Set 3: Only use encoder communication alarm;

Setting 4: Application of encoder battery alarm and status alarm;
Set 5: Application of encoder battery alarm and communication alarm;
Set 6: Application encoder status alarm and communication alarm
When the DO port associated with the speed reaches the output function.
Speed reaches the (P13 group selection). When the actual running speed of the motor is within
P03.16 0-6000 10
allowable deviation value the range of P01.08 speed arrival value ± (P03.16 value), the DO port output
is ON, regardless of the direction of rotation.
When the torque associated with the DO port reaches the output function.
Torque reaches the (P13 group selection). When the actual running torque of the motor is within
P03.17 0-600 5
allowable deviation value the range of P09.05 torque arrival value ± (P03.17 value), the DO port
output is ON to distinguish the direction of rotation.

4.2.5 P09 group parameters detailed description

Parameter
No Name Function default
range
P09.00 ~ P09.12 are motor communication control parameters that can be read and written

Set to 1, the communication control mode starts;

Set to 0, the communication control mode stops;
Communication control start After all parameters are set, set to 1, which is equivalent to the start button,
P09.00 0～1 0
and stop and set to 0, which is equivalent to the stop button. In communication
position mode, when the motor completes the target pulse number will jump
to 0.

4 bits higher in pulse number Set the high number of operating pulses in the communication position
P09.01 of communication operation mode, and set 1 to represent the number of 10000 pulses. In the -32767～32767 0
(X10000) communication position mode, set the total pulse =P09.01*10000+P09.02.
Pulse number of Set the low position of operating pulse number in communication position
P09.02 communication operation is mode, and set 1 to represent 1 pulse number. In communication position -32767～32767 0
4 bits lower mode, set the total pulse =P09.01*10000+P09.02.
Communication location
P09.03 Set the motor running speed in communication position mode. 0～3000 0
mode speed
Communication speed mode
P09.04 Set the motor running speed in communication speed mode. -3000～3000 0
speed
Communication Torque
P09.05 Set the motor operating torque in communication torque mode. -300～300 0
Mode Torque
Communication location Set to 0; positioning based on the relative coordinates of the current position
P09.06 0～1 —
mode speed Set to 1; positioning based on the absolute coordinates of the origin
Communication control start Set to 0; panel trigger (P09.00)
P09.09 0～1 —
and stop mode
Set to 1; external DI trigger (TX-start-stop)
P09.10 Keep — — —
P09.11 Keep — — —
Set 1, save the communication setting parameters to the power outage
holding area, and the return value 2 is successfully saved.
Remarks: The parameter values ​ ​ set by the communication are saved in
P09.12 EEPROM Storage the temporary storage area, and the parameter values ​ ​ restore to the 0～2
values ​ ​ before modification after power off. If this parameter is set to 1,
the modified parameter value will be written into the EEPROM power-off
holding area, and the parameter value will not be lost after power off.
P09.13 ~ P09.33 are motor running state parameters read only and cannot be written

P09.13 Current motor speed For user communication to read the current real-time speed of the motor. -3000～3000 —

For users to read real-time motor encoder feedback position high.

Current position is 4 bits
P09.14 higher（X10000）
Position feedback value =P09.15*10000+P09.14 -32767～32767 —
The position feedback value is based on the encoder unit.

Parameter
No Name Function default
range
For users to read the real-time feedback position of the motor encoder.
Current position is 4 digits
P09.15 Position feedback value =P09.15*10000+P09.14 -9999～9999 —
lower
The position feedback value is based on the encoder unit.
For user communication to read the real-time position instruction received
Position instruction is 4 bits by the driver.
P09.16 -32767～32767 —
higher（X10000） Number of position instruction pulses =P09.16*10000+P09.17
Position instructions are based on encoder units.
It is used for user communication to read the real-time position instruction
Position instruction is 4 bits high level received by the driver.
P09.17 -9999～9999 —
lower Number of position instruction pulses =P09.16*10000+P09.17
Position instructions are based on encoder units.
P09.18 Position deviation is 4 bits For user communication to read driver deviation counter real-time follow the -32767～32767 —
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KD series AC servo driver manual

higher（X10000） low value of the difference.

Position deviation =P09.18*10000+P09.19
The deviation value is based on the encoder unit.
For user communication to read driver deviation counter real-time follow the
Position deviation is 4 bits low value of the difference.
P09.19 -9999～9999 —
lower Position deviation =P09.18*10000+P09.19
The deviation value is based on the encoder unit.
For users to read the real time torque percentage of the motor
P09.20 Current motor torque -300～300 —
communication.
For users to communicate and read the real-time current of the motor (unit
P09.21 Current motor current 0～32767 —
0.1A).
P09.22 Current bus voltage For users to read real-time bus voltage of the driver communication. 0～32767 —
P09.23 Current control mode For user communication to read the current control mode of the drive. 0～11 —
Current position pulse
P09.24 Non-effect — —
frequency
For user communication to read the current speed instruction value of the
P09.25 Current speed instruction -3000～3000 —
driver.
For user communication to read the current torque instruction value of the
P09.26 Current torque instruction -300～300 —
driver.
Number of turns in the
P09.27 For users to read the absolute position of the motor rotor turns. -32767～32767 —
current absolute position
Current absolute lap position For users to read the absolute position of the rotor in a single turn of the
P09.28 motor. 0～13 —
is 4bit higher（X10000）
Absolute position of single-turn motor =P09.28*10000+P09.29
For users to read the absolute position of the rotor in a single turn of the
Current absolute lap position
P09.29 motor. 0～9999 —
is 4bit lower
Absolute position of single-turn motor =P09.28*10000+P09.29
For user communication to read the current alarm state of the drive.
P09.30 Alarm code 0～32 —
Alarm code meaning refer to the alarm list.
For user communication to monitor the current input terminal status of the
Enter the terminal state DI1/
P09.31 driver. 0000～1111 —
DI2/ DI3/ DI4
DI1/ DI2/ DI3/ DI4
Enter the terminal state DI5/ For user communication to monitor the current input terminal status of the
P09.32 000～111 —
DI6/ DI7 driver. DI5/ DI6/ DI7
For user communication to monitor the current state of the output terminal of
Output terminal state DO1/
P09.33 the driver. 00000～11111 —
DO2/ DO3/ DO4/DO5
DO1/ DO2/ DO3/ DO4/DO5
P09.34 Encoder status bit For user communication to monitor the current encoder status of the driver. 0～32 —
For user communication to monitor the current encoder battery state of the
P09.35 Encoder battery status bit
driver.
0～3 —

4.2.6 P12 group parameters detailed description

Parameter
No Name Function default
range
Predefined origin trigger Set 0: use the panel button to trigger (or communication trigger);
P12.00 0～1 0
mode Set 1: trigger using external I/O;
Set 0: not triggered
Predefined origin panel
P12.01 Set 1: trigger the origin definition (the origin definition is automatically set to 0～1 0
button trigger
0)
Set 0: Use the panel button to trigger
Return to the origin trigger
P12.02 Set 1: power on to enable automatic return to the origin 0～2 0
mode selection
Set 2: Use external I/O to trigger
Set 0: linear mode
Set 1:0-360° in single-turn cycle mode, and return to predefined origin
position in single-turn (optimal direction)
Set 2:0-360° in single-turn cycle mode, and return to predefined origin
P12.03 Return to the origin mode of position in single-turn (CW direction) 0～5 0
motion Set 3:0-360° in single-turn cycle mode, and return to predefined origin
position in single-turn (CCW direction)
Set 4: return to the mechanical origin position (CCW direction)
Set 5: return to the mechanical origin position (CW direction)
P12.04 Velocity of return to origin Set the motor running speed in the origin mode. 0～3000 120
Set 0: stop returning to the origin
Return to the origin panel
P12.05 Set 1: Trigger back to the origin (automatically set to 0 after completion of 0～1 0
button triggered
return to the origin)
The integral part of the
P12.06 Coefficient of engineering= (P12.06*1000+P12.07)/1000 1～32767 1
engineering unit coefficient
Engineering unit coefficient
P12.07 Coefficient of engineering= (P12.06*1000+P12.07)/1000 0～999 0
after the decimal three
Set 0: instruction pulse unit (based on the calculation result of servo
Origin offset and software electronic gear ratio, the factory default 1000 motor rotates 360°)
P12.08 limit setting value unit Set 1: Engineering unit (set based on user's proportional coefficient) 0~3 0
selection Set 2: number of motor turns + Angle
Set 3: Encoder unit (based on encoder resolution)
The origin is offset 4 bits Origin offset =P12.09*10000+P12.10
P12.09 -32767～32767 0
higher（X10000）
Offset values are selected based on P12.08 units.
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KD series AC servo driver manual

The origin is offset 4 bits Origin offset =P12.09*10000+P12.10

P12.10 -9999～9999 0
lower Offset values are selected based on P12.08 units.
P12.11 Software limit mode Set 0: Not on Set 1: Linear mode 0～1 0

Negative limit based on origin =P12.12*10000+P12.13

The negative limit of
Limit values are selected based on P12.08 units.
P12.12 software based on origin is 4 -32767～0 0
When the negative limit is equal to 0 based on the origin, the negative limit is
bits high (X10000)
invalid.

Negative limit based on origin =P12.12*10000+P12.13

The negative limit of the
Limit values are selected based on P12.08 units.
P12.13 software based on the origin -9999～0 0
When the negative limit is equal to 0 based on the origin, the negative limit is
is 4 bits lower
invalid.

Based on the positive limit of origin =P12.14*10000+P12.15

The positive limit of software
Limit values are selected based on P12.08 units.
P12.14 based on the origin is 4 bits 0～32767 0
When the positive limit based on the origin is equal to 0, the positive limit is
high (X10000)
invalid.

Parameter
No Name Function default
range
Based on the positive limit of origin =P12.14*10000+P12.15
The software based on the
Limit values are selected based on P12.08 units.
P12.15 origin is 4 bits lower than the 0～9999 0
When the positive limit based on the origin is equal to 0, the positive limit is
positive limit
invalid.
P12.16 ~ P12.24 are motor running state parameters read only and cannot be written
4 bits higher relative encoder
P12.16 position of motor based on Relative encoder position based on origin =P12.16*10000+P12.17 -32767～32767 —
origin (X10000)
The motor is 4 bits lower
P12.17 relative to the encoder Relative encoder position based on origin =P12.16*10000+P12.17 -32767～32767 —
position based on the origin
The motor is 4 bits higher
relative to the command
P12.18 pulse position based on the Relative instruction pulse position based on origin =P12.18*10000+P12.19 -32767～32767 —
origin（X10000）
The motor is 4 bits lower
relative to the command
P12.19 Relative instruction pulse position based on origin =P12.18*10000+P12.19 -32767～32767 —
pulse position based on the
origin

P12.20 Relative feedback encoder -92233720368547

—
P12.21 position based on origin 75807~ -2 64～2 64
P12.22 922337203685477
P12.23 (64-bit data) 5807

Relative feedback instruction -92233720368547

P12.24
pulse based on origin 75807~ -2 64～2 64 —
～P12.27 922337203685477
(64-bit data) 5807

4.2.7 P13 group parameters detailed description

Parameter
No Name Function default
range

Enter function options:

P13.00 Input terminal DI1 0～22 01
Let 00: FUN00 have no No_effect
Set 01: FUN01 servos enable SON
Set 02: FUN02 to trigger Home_Start back to the origin
Set 03: FUN03 external origin switch Home_Switch
Set 04: FUN04 CCW drive to disable FSTP
Set 05: FUN05 CW driver to disable RSTP
P13.01 Input terminal DI2 Set 06: FUN06 instruction pulse disables INH 0～22 02
Set 07: FUN07 alarm to clear ALM_S
Set 08: FUN08 pulse deviation counter to clear CLE

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KD series AC servo driver manual

Let 09: FUN09 CCW external torque limit FIL

Set 10: FUN10 CW external torque limit RIL
P13.02 Input terminal DI3 Set 11: FUN11 multiplexes the DI function 0～22 04

1.Control mode: (P00.04=11)

PosCmd_EN is enabled for multi-segment positions

P13.03 Input terminal DI4 2.Control mode: (P00.04=8/9/10) 0～22 05

Enable TXCmd_EN for communication instruction during communication
control

Let 12: FUN12 multi-bit instruction CMD1

Let 13: FUN13 multi-bit instruction CMD2
Let 14: FUN14 multi-bit instruction CMD3
P13.04 Input terminal DI5 0～22 06
Let 15: FUN15 multi-bit instruction CMD4
Let 16: FUN16 multi-speed instruction SC1
Let 17: FUN17 multi-speed instruction SC2
Set 18: FUN18 to switch to pulse position mode MOD1
Set 19: FUN19 to internal speed mode MOD2
Set 20: FUN20 to the external analog speed mode MOD3
Let 21: FUN21 switch to external analog torque mode MOD4
P13.05 Input terminal DI6 Set 22: FUN22 feedback position clear (predefined origin)Set_Home 0～22 07

P13.06 Input terminal DI7 0～22 08

P13.07 Output terminal DO1 0～10 01

P13.08 Output terminal DO2 Output function options: 0～10 02

Set 00: FUN00 has no effect No-effect
Set 01: FUN01 Servo alarm ALM
Set 02: FUN02 position reaches Pos_ Reach
Set 03: FUN03 speed reaches Spd_ Reach
Set 04: FUN04 torque reaches Trq_ Reach
P13.09 Output terminal DO3 Let 05: FUN05 keep Remain 0～10 06
Set 06: FUN06 mechanical brake release BRK
Set 07: FUN07 to return to the original to complete Home_A
Set 08: FUN08 Servo is ready to SRDY
Set 09: FUN09 keeps Remain
P13.10 Output terminal DO4 Set 10: FUN10 keep Remain 0～10 07

P13.11 Output terminal DO5 0～10 08

4.2.8 P14 group parameters detailed description

Parameter
No Name Function default
range
Set 0: single run, start segment number is P14.05, end segment number is
P14.01
The segment number is automatically incremented and switched;
Waiting time can be set between segments;
Multi-segment position enable is level effective;
Set 1: cyclic operation, starting segment number is P14.05, ending segment
Multi-segment position number is P14.01
P14.00 0～2 1
operation mode The segment number is automatically incremented and switched;
Waiting time can be set between segments;
Multi-segment position enable is level effective;
Set 2: DI switching operation
If the segment number is updated, it can run continuously;
The segment number is determined by DI terminal logic;
The interval between segments is determined by the host computer;

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KD series AC servo driver manual

Multi-segment position enable is level effective;

Number of end points of
P14.01 Sets the total number of segments of a position instruction 1～16 1
position instruction
Set 0: Continue running the unfinished segment (pause to the second
P14.02 Allowance treatment segment, resume from the third segment) 0～1 0
Set 1: restart from the start
P14.03 unit of time Set 0：ms Set1：s 0～1 0
Set 0: relative displacement instruction
Displacement instruction
P14.04 Set 1: absolute displacement instruction 0～1 0
type selection
Set 2: based on the origin displacement instruction
P14.05 Run start segment Sets the start segment number of the run 1～16 1
Set 0: Panel
P14.06 Running instruction source 0～1 0
Set 1: I/O input
Set 0: stop
P14.07 Panel trigger 0～1 0
Set 1: Start
P14.08 Current position segment Display current segment number (communication read only) 1～16 —
P14.09 Keep — — —
P14.10 Keep — — —
P14.11 Keep — — —
The First segment moves the Section 1 displacement=P14.12*10000+P14.13
P14.12 -32767～32767 1
lower 4 bits The amount of displacement is based on the command pulse unit.
The First segment moves the Section 1 displacement=P14.12*10000+P14.13
P14.13 -9999～9999 0
lower 4 bits The amount of displacement is based on the command pulse unit.
Maximum operating speed of
P14.14 Set the maximum operating speed of the first displacement motor. 1～6000 200
the first displacement
The first displacement
P14.15 acceleration and deceleration Set the acceleration and deceleration time of the first section of displacement motor. 0～32767 200
time
Waiting time after the first
P14.16 Set the waiting time after the first segment of displacement is completed. 0～10000 200
displacement is completed
The second moving
Section 2 displacement = P14.17*10000+P14.18 The displacement is based
P14.17 displacement is 4 high -32767～32767 1
on the command pulse unit.
(X10000)
The second segment Section 2 displacement = P14.17*10000+P14.18
P14.18 -9999～9999 0
moves the lower 4 bits The displacement is based on the command pulse unit.
Parameter
No Name Function default
range
The maximum operating
P14.19 speed of the second Set the maximum operating speed of the Second displacement motor. 1～6000 200
displacement
Displacement acceleration
Set the acceleration and deceleration time of the second section of
P14.20 and deceleration time of 0～32767 200
displacement motor.
the second stage
Waiting time after the
second displacement is
P14.21 Set the waiting time after the second segment of displacement is completed. 0～10000 1
completed

The third moving

displacement is 4 high Section 3 displacement = P14.22*10000+P14.23.
P14.22 -32767～32767 0
(X10000) The displacement is based on the command pulse unit.

The third segment moves

Section 3 displacement= P14.22*10000+P14.23
P14.23 the lower 4 bits -9999～9999 200
The displacement is based on the command pulse unit.
The maximum operating
speed of the third
P14.24 Set the maximum operating speed of the third displacement motor. 1～6000 200
displacement

Displacement acceleration
and deceleration time of Set the acceleration and deceleration time of the third section of
P14.25 0～32767 200
the third stage displacement motor.

Waiting time after the third

Set the waiting time after the third segment of displacement is completed.
P14.26 displacement is completed 0～10000 1

The fourth moving

Section 4 displacement=P14.27*10000+P14.28
P14.27 displacement is 4 high -32767～32767 0
The displacement is based on the command pulse unit.
(X10000)
The fourth segment moves Section 4 displacement=P14.27*10000+P14.28
P14.28 -9999～9999 200
the lower 4 bits The displacement is based on the command pulse unit.
The maximum operating
P14.29 speed of the fourth Set the maximum operating speed of the fourth displacement motor. 1～6000 200
displacement
Displacement acceleration
Set the acceleration and deceleration time of the fourth section of
P14.30 and deceleration time of 0～32767 200
displacement motor.
the fourth stage
Waiting time after the fourth
P14.31 Set the waiting time after the fourth segment of displacement is completed. 0～10000 1
displacement is completed
The fifth moving
Section 5 displacement=P14.32*10000+P14.33
P14.32 displacement is 4 high -32767～32767 0
The displacement is based on the command pulse unit.
(X10000)

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KD series AC servo driver manual

The fifth segment moves Section 5 displacement=P14.32*10000+P14.33

P14.33 -9999～9999 200
the lower 4 bits The displacement is based on the command pulse unit.
The maximum operating
P14.34 speed of the fifth Set the maximum operating speed of the fifth displacement motor. 1～6000 200
displacement
Displacement acceleration
Set the acceleration and deceleration time of the fifth section of
P14.35 and deceleration time of 0～32767 200
displacement motor.
the fifth stage
Waiting time after the fifth
P14.36 Set the waiting time after the fifth segment of displacement is completed. 0～10000 1
displacement is completed
The sixth moving
Section 6 displacement=P14.37*10000+P14.38
P14.37 displacement is 4 high -32767～32767 0
The displacement is based on the command pulse unit.
(X10000)
The sixth segment moves Section 6 displacement=P14.37*10000+P14.38
P14.38 -9999～9999 200
the lower 4 bits The displacement is based on the command pulse unit.
The maximum operating
P14.39 speed of the sixth Set the maximum operating speed of the sixth displacement motor. 1～6000 200
displacement
Displacement acceleration
Set the acceleration and deceleration time of the sixth section of
P14.40 and deceleration time of 0～32767 200
displacement motor.
the sixth stage

Waiting time after the sixth

P14.41 Set the waiting time after the sixth segment of displacement is completed. 0～10000 0
displacement is completed

Parameter
No Name Function default
range
The seventh moving
Section 7 displacement=P14.42*10000+P14.43
P14.42 displacement is 4 high -32767～32767 200
The displacement is based on the command pulse unit.
(X10000)
The seventh segment Section 7 displacement=P14.42*10000+P14.43
P14.43 -9999～9999 200
moves the lower 4 bits The displacement is based on the command pulse unit.
The maximum operating
P14.44 speed of the seventh Set the maximum operating speed of the seventh displacement motor. 1～6000 200
displacement
Displacement acceleration
Set the acceleration and deceleration time of the seventh section of
P14.45 and deceleration time of 0～32767 1
displacement motor.
the seventh stage
Waiting time after the
Set the waiting time after the seventh segment of displacement is
P14.46 seventh displacement is 0～10000 0
completed.
completed
The eighth moving
Section 8 displacement=P14.47*10000+P14.48
P14.47 displacement is 4 high -32767～32767 200
The displacement is based on the command pulse unit.
(X10000)
The eighth segment moves Section 8 displacement=P14.47*10000+P14.48
P14.48 -9999～9999 200
the lower 4 bits The displacement is based on the command pulse unit.
The maximum operating
P14.49 speed of the eighth Set the maximum operating speed of the eighth displacement motor. 1～6000 200
displacement
Displacement acceleration
Set the acceleration and deceleration time of the eighth section of
P14.50 and deceleration time of 0～32767 1
displacement motor.
the eighth stage
Waiting time after the
P14.51 eighth displacement is Set the waiting time after the eighth segment of displacement is completed. 0～10000 0
completed
The Ninth moving
Section 9 displacement=P14.52*10000+P14.53
P14.52 displacement is 4 high -32767～32767 200
The displacement is based on the command pulse unit.
(X10000)
The Ninth segment Section 9 displacement=P14.52*10000+P14.53
P14.53 -9999～9999 200
moves the lower 4 bits The displacement is based on the command pulse unit.
The maximum operating
P14.54 speed of the Set the maximum operating speed of the ninth displacement motor. 1～6000 200
Ninthdisplacement
Displacement acceleration
Set the acceleration and deceleration time of the ninth section of
P14.55 and deceleration time of 0～32767 1
displacement motor.
the Ninth stage
Waiting time after the
P14.56 Ninth displacement is Set the waiting time after the ninth segment of displacement is completed. 0～10000 0
completed
The tenth moving
Section 10 displacement=P14.57*10000+P14.58
P14.57 displacement is 4 high -32767～32767 200
The displacement is based on the command pulse unit.
(X10000)
The tenth segment moves Section 10 displacement=P14.57*10000+P14.58
P14.58 -9999～9999 200
the lower 4 bits The displacement is based on the command pulse unit.
The maximum operating
P14.59 speed of the tenth Set the maximum operating speed of the tenth displacement motor. 1～6000 200
displacement
Displacement acceleration
Set the acceleration and deceleration time of the tenth section of
P14.60 and deceleration time of 0～32767 1
displacement motor.
the tenth stage
P14.61 Waiting time after the Set the waiting time after the tenth segment of displacement is completed. 0～10000 0
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KD series AC servo driver manual

tenth displacement is
completed
The eleventh moving
Section 11 displacement=P14.62*10000+P14.63
P14.62 displacement is 4 high -32767～32767 200
The displacement is based on the command pulse unit.
(X10000)
The eleventh segment Section 11 displacement=P14.62*10000+P14.63
P14.63 -9999～9999 200
moves the lower 4 bits The displacement is based on the command pulse unit.

The maximum operating

P14.64 speed of the eleventh Set the maximum operating speed of the eleventh displacement motor. 1～6000 1
displacement

Parameter
No Name Function default
range
Displacement acceleration
P14.65 and deceleration time of Set the maximum operating speed of the eleventh displacement motor. 0～32767 0
the eleventh stage
Waiting time after the
Set the waiting time after the eleventh segment of displacement is
P14.66 eleventh displacement is 0～10000 200
completed.
completed
The twelfth moving
Section 12 displacement=P14.67*10000+P14.68
P14.67 displacement is 4 high -32767～32767 200
The displacement is based on the command pulse unit.
(X10000)
The twelfth segment Section 12 displacement=P14.67*10000+P14.68
P14.68 -9999～9999 200
moves the lower 4 bits The displacement is based on the command pulse unit.
The maximum operating
P14.69 speed of the twelfth Set the maximum operating speed of the twelfth displacement motor. 1～6000 1
displacement
Displacement acceleration
P14.70 and deceleration time of Set the maximum operating speed of the twelfth displacement motor. 0～32767 0
the twelfth stage
Waiting time after the
Set the acceleration and deceleration time of the twelfth section of
P14.71 twelfth displacement is 0～10000 200
displacement motor.
completed
The thirteenth moving
Section 13 displacement=P14.72*10000+P14.73
P14.72 displacement is 4 high -32767～32767 200
The displacement is based on the command pulse unit.
(X10000)
The thirteenth segment Section 13 displacement=P14.72*10000+P14.73
P14.73 -9999～9999 200
moves the lower 4 bits The displacement is based on the command pulse unit.
The maximum operating
P14.74 speed of the thirteenth Set the maximum operating speed of the thirteenth displacement motor. 1～6000 1
displacement
Displacement acceleration
Set the acceleration and deceleration time of the thirteenth section of
P14.75 and deceleration time of 0～32767 0
displacement motor.
the thirteenth stage
Waiting time after the
Set the waiting time after the thirteenth segment of displacement is
P14.76 thirteenth displacement is 0～10000 200
completed.
completed
Thefourteenth moving
Section 14 displacement=P14.77*10000+P14.78
P14.77 displacement is 4 high -32767～32767 200
The displacement is based on the command pulse unit.
(X10000)
The fourteenth segment Section 14 displacement=P14.77*10000+P14.78
P14.78 -9999～9999 200
moves the lower 4 bits The displacement is based on the command pulse unit.
The maximum operating
P14.79 speed of the fourteenth Set the maximum operating speed of the fourteenth displacement motor. 1～6000 1
displacement
Displacement acceleration
Set the acceleration and deceleration time of the fourteenth section of
P14.80 and deceleration time of 0～32767 0
displacement motor.
the fourteenth stage
Waiting time after the
Set the waiting time after the fourteenth segment of displacement is
P14.81 fourteenth displacement is 0～10000 200
completed.
completed
Thefifteenth moving
Section 15 displacement=P14.82*10000+P14.83
P14.82 displacement is 4 high -32767～32767 200
The displacement is based on the command pulse unit.
(X10000)
The fifteenth segment Section 15 displacement=P14.82*10000+P14.83
P14.83 -9999～9999 200
moves the lower 4 bits The displacement is based on the command pulse unit.
The maximum operating
P14.84 speed of the fifteenth Set the maximum operating speed of the fifteenth displacement motor. 1～6000 1
displacement
Displacement acceleration
Set the acceleration and deceleration time of the fifteenth section of
P14.85 and deceleration time of 0～32767 200
displacement motor.
the fifteenth stage
Waiting time after the
Set the waiting time after the fifteenth segment of displacement is
P14.86 fifteenth displacement is 0～10000 200
completed.
completed

Thesixteenth moving
Section 16 displacement=P14.87*10000+P14.88
P14.87 displacement is 4 high -32767～32767 200
The displacement is based on the command pulse unit.
(X10000)

No Name Function Parameter default

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KD series AC servo driver manual

range
The sixteenth segment Section 16 displacement=P14.87*10000+P14.88
P14.88 -9999～9999 1
moves the lower 4 bits The displacement is based on the command pulse unit.
The maximum operating
P14.89 speed of the sixteenth Set the maximum operating speed of the sixteenth displacement motor. 1～6000 0
displacement
Displacement acceleration
Set the acceleration and deceleration time of the sixteenth section of
P14.90 and deceleration time of 0～32767 200
displacement motor.
the sixteenth stage
Waiting time after the
Set the waiting time after the sixteenth segment of displacement is
P14.91 sixteenth displacement is 0～10000 200
completed.
completed

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KD series AC servo driver manual

Chapter 5 Communication Control

5.1 Communication interface

communication
485A send pin 485B receive pin GND Pin
interface
RJ45 net opening 4 5 3
1394 socket 6 5 2
The communication distance of the twisted shielded wire can be up to 500m, and the normal use is
recommended within 300m.

5.2 P11 group communication parameters detailed description

Name Function Parameter range default

No
Set 1，2400bps；
Set 2，4800bps；
Set 3，9600bps；
Set 4，19200bps；
P11.00 Baud rate Set 5，38400bps； 1～6 3
Set 6，57600bps；
When communicating master-slave control, the baud rate setting of
the servo slave station must be consistent with that of the master
station.
In communication master-slave control, the communication station
P11.01 Station No. number of the servo slave station is the unique identification to 1～255 1
distinguish the control objects.
Set0，None
Set1，Odd
P11.02 checkout Set2，Even 0~2 0
When communicating with master slave control, the calibration
mode of servo slave station must be set in accordance with that of
master station.
Servo receives communication request, delay setting time to return
P11.03 Delayed response 0-1000 5
data

Note: This product has 8 data bits and 1 stop bit by default. The user controller needs to set 8 data bits and 1 stop bit.

5.3 communication protocol

The servo driver is embedded with the standard Modbus RTU communication protocol, which supports the
operation of single or multiple parameters read and write by the Modbus RTU master station. When the controller with
Modbus protocol is successfully connected with the servo driver, the controller can directly set the parameters of the
servo driver, read the state and other operations.
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KD series AC servo driver manual

When the servo driver is in the communication control mode, the controller can modify the operating instruction
parameters in real time to change the motor running position, speed, torque, etc. Modbus RTU protocol has a variety of
bus commands, and the servo driver supports three of the most commonly used commands. These three commands can
satisfy the controller to control the servo driver in all directions. Specific function codes are shown in the following table.

CMD Function code meaning

03H Read single or consecutive parameter registers
06H Write a single parameter register
10H Write to successive parameter register

In order to facilitate the Modbus controller to read and write the parameters of the driver, the driver corresponds the
parameter number to the Modbus address of the corresponding device. The parameter P00.00 of the driver corresponds
to the address 40001 in the Modbus, that is, the address of register 0 with the address offset from 40001. The rest will be
postponed. For example, parameter P01.03 is the maximum speed limit parameter, then this parameter corresponds to
register address No. 103, whose Modbus address is offset from 40001. Operation results of data whose Modbus address
is (40001+103) correspond to parameter No. P01.03.

Read single or multiple registers (03H code)

The following request frame reads P09.13 (feedback speed) data from a drive whose address (station number) is 01.
Parameter P09.13 address 913 (convert hex 0391H).
Request frame format:
CRC CRC
From the High Starting Read Read
Function check check
station starting address high number
Format code high low
address address low number low
position position
1byte 1byte 2byte 2byte 2byte
Eg 01H 03H 03H 91H 00H 01H CRC checkout
If read successfully, reply frame format: if the feedback speed is 0
From the
Function Data byte High starting Starting CRC check CRC check
station
Format code length address address low high position low position
address
1byte 1byte 1byte 2byte 2byte
Eg 01H 03H 02H 00H 00H CRC checkout
Write a single register (06H code)
The following request frame indicates that the speed value is written from the address (station number) of 01 to the
drive P09.04 (operation speed in communication speed mode). Parameter P09.04 address 904 (convert hexadecimal
0388H). Write speed 500 (convert hexadecimal 01F4H).
Request frame format:
CRC CRC
From the Write Write
Function Write Write check check
station address address
Format code data high data low high low
address high low
position position
1byte 1byte 2byte 2byte 2byte
Eg 01H 06H 03H 88H 01H F4H CRC checkout
If read successfully, reply frame format:
From the Is written to Is written to
Function data is data is CRC CRC
station address address
Format code written high written Low High Low
address high Low
1byte 1byte 2byte 2byte 2byte
CRC checkout
Eg 01H 06H 03H 88H 01H F4H
code

Write multiple registers consecutively (10H code)

The following request frame indicates that the operation pulse value is written from the communication address
(station number) of 01 to drives P09.01 (X10000, 4 bits higher for the operation pulse number in communication position
mode) and P09.02 (4 bits lower for the operation pulse number in communication position mode). Parameter P09.01
address 901 (converted hexadecimal 0385H).
P09.01 write 1 (convert hexadecimal 0001H); P09.02 write 5000 (convert hexadecimal 1388H).

37
KD series AC servo driver manual

Request frame format:

Write a
Write Writes the
Write the high Numb starting starting Start Start
From the the low CR
Function starting number of er of address address address address CRC
station starting number of C
Format code address contiguou bytes data is data is +1 data +1 data low
address addres contiguous high
high s written high low high Low
s low addresses
addresses
1byte 1byte 2byte 2byte 1byte 2byte 2byte 2byte
Eg 01H 10H 03H 85H 00H 02H 04H 00H 01H 13H 88H CRC

If the contiguous address is written successfully, reply frame format:

High number of Low number of
From the Is written to Is written to
Functio contiguous contiguous CRC CRC
station address address
Format n code addresses addresses high low
address high low
written written
1byte 1byte 2byte 2byte 2byte
Eg 01H 06H 03H 88H 01H F4H CRC check code

5.4.1 Communication position control mode

Workflow Process Definition Language

Modbus_RTU protocol 485 half duplex communication control servo according to the number of pulses and
speed positioning operation.
Object Directory

Register factory
Name Parameter range Unit
address default

4 Control mode selection 0～10 — 0

900 Start stop 0～1 — 0

number of pulses in
901 -32767～32767 Pulse（*10000） 0
communication position mode is 4 bits higher

number of pulses in
902 -32767～32767 Pulse 0
communication position mode is 4 bits lower

Operation speed of
903 0～3000 r/min 0
communication position mode

For example：
Suppose the control motor performs 11000 pulse positioning controls at the running speed of 100r/min (the total number of
pulses in operation is 11000 =1*10000+1000)。

If the total number of pulses is positive, the rotation is positive; if the total number of pulses is negative, the rotation is reversed.
Assuming the slave station number is 1, the Modbus_RTU command controls as follows;

※Start and stop (address 900), which should be set to 1 after all parameters are set, is
equivalent to the start button, and set to 0 is equivalent to the stop button. In the internal position mode, when the motor completes the
target pulse number, the motor stops, and the address 900 is automatically set to 0.
1:Set the operating mode to internal location mode: change P00.04 to 8 on the panel, or write 8 on the address 4。

The host sends data to the servo 01 06 00 04 00 08 C9 CD

2:Set the number of pulses to run: address 901 and 902 write the number of pulses you want to run。
Set the operating pulse count four lower: the host sends data to the servo 01 06 03 86 03 E8 68 D9
Set the operating pulse number four higher: the host sends data to the servo 01 06 03 85 00 01 59 A7

3:Set the running speed: address 903 write speed value 100。
The host sends data to the servo 01 06 03 87 00 64 38 4C 4:Start/stop running: address 900 write 0 stop, write 1
start.
Start location: the host sends data to the servo 01 06 03 84 00 01 08 67
Stop location: the host sends data to the servo 01 06 03 84 00 00 C9 A7

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KD series AC servo driver manual

5.4.2 Communication speed control mode

Workflow Process Definition

The user can control the servo at the set speed through MODBUS_RTU protocol 485 half duplex communication.
Object Directory
Register factory
Name Parameter range Unit
address default
4 Control mode selection 0～10 — 0
900 Start stop 0～1 — 0
Communication speed
904 -3000～3000 r/min 0
mode running speed

For Example
If the control motor runs at 100r/min in positive rotation. (904 running speed is positive, it is positive, the target speed is negative, it is
reverse). Assuming that the slave station number is 1, the Modbus 485 command is controlled as shown in the tablebelow；
※Start and stop (address 900) should be set to 1 after all parameters are set, which is

equivalent to the start button. Set it to 0, which is equivalent to the stop button. In speed mode, set 1 to run, and set 0 to

stop。

1:Set the operating mode to communication speed mode: change P00.04 to 9 on the panel, or write 9 on the address 4。
The host sends data to the servo 01 06 00 04 00 09 08 0D

2:Set communication speed mode running speed: correspondence address 904 write speed value 100。
The host sends data to the servo 01 06 03 88 00 64 08 4F
3:Start/stop running: communication will write address 900 0 to stop, write 1 to start。Start: the host sends data to the servo

01 06 03 84 00 01 08 67

Stop: The host sends data to the servo 01 06 03 84 00 00 C9 A7

5.4.3 Communication torque control mode

Workflow Process Definition

The user can control the servo by modbus_RTU protocol 485 half duplex communication at the set torque operation.
Object Directory
Register Parameter factory
Name Unit
address range default
4 Control mode selection 0～10 — 0
900 Start stop 0～1 — 0
Communication Torque Mode
905 -300～300 % 0
Operating Torque
Maximum speed limit for
208 0～4000 r/min 2500
torque control
KD series AC servo driver manual

For example：

If the control motor runs at 30% of the rated torque, the maximum speed limit is 500. (If 905 operating torque is positive,

it is positive; if 905 operating torque is negative, it is reverse). Assuming that the slave station number is 1, the Modbus 485

command is controlled as shown in the table below:

※Start and stop (address 900) should be set to 1 after all parameters are set, which is equivalent to the start button. Set

it to 0, which is equivalent to the stop button. In torque mode, set 1 to run and set 0 to stop.

1.Set the operating mode to communication torque mode: change P00.04 to 10 on the panel, or write 10 on the

address 4

The host sends data to the servo 01 06 00 04 00 0A 48 0C

2.Set communication torque mode operation torque: communication address 905 write the torque value of 30%

The host sends data to the servo 01 06 03 89 00 1E D8 6C

3.Set the maximum speed of communication torque mode: communication will address 208 write the maximum

speed value of 500

The host sends data to the servo 01 06 00 D0 01 F4 88 24

4.Start/stop running: communication will write address 900 0 to stop, write 1 to start

Start：The host sends data to the servo 01 06 03 84 00 01 08 67

Stop：The host sends data to the servo 01 06 03 84 00 00 C9 A7
KD series AC servo driver manual

Chapter 6 Alarm and Handling

6.1 Alarm list

The servo driver has a variety of protection functions. When the fault is detected after power on, the servo driver will stop the
motor running, and the alarm code will be displayed on the operation panelEr-xx。You can also go to the D-Err menu，View the
current alarm code. Users can refer to the relevant contents of this chapter according to the alarm code to understand the cause of
the fault and troubleshoot the fault.
6-1 Alarm list

Alarm code Alarm name Content Reset method

-- Normal Power-off reset, ARM_RST

1 Over speed servo motor speed exceeds the set value Power-off reset, ARM_RST

2 Main circuit over voltage main circuit supply voltage is too high Power-off reset, ARM_RST

3 \ main circuit under voltage Main circuit power supply voltage is too low Power-off reset, ARM_RST

4 Position error position deviation counter exceeds the set value Power-off reset, ARM_RST

5 Motor overheating Motor temperature is too high Power-off reset, ARM_RST

6 Speed amplifier saturation failure speed regulator saturates for a long time Power-off reset, ARM_RST

7 Driver disable exception CCW and CW drive are OFF Power-off reset, ARM_RST

8 Position deviation counter overflow absolute value of the position deviation counter is greater Power-off reset, ARM_RST

than 2^30

9 Encoder failed Encoder signal error Power-off reset

10 Control under voltage of power Control power supply 15V is low Power-off reset

supply

11 IPM module failure IPM Intelligent module fault Power-off reset

12 Over current Excessive motor current Power-off reset

13 overload Ac servo drive unit and motor overload (instantaneous Power-off reset, ARM_RST

overheating)

14 Braking fault Brake circuit fault Power-off reset

15 Encoder count error Encoder count exception Power-off reset

16 Motor thermal overload Electrical and mechanical heating value exceeds the set Power-off reset

value (I2t test)

19 Thermal reduction system was reset by heat Power-off reset

20 EEPROM error EEPROM error Power-off reset

23 IU,IV Current sampling anomaly IU,IV Current sampling anomaly Power-off reset

25 Bus soft startup timeout Bus soft startup timeout Power-off reset

30 encoder Z pulse is lost Encoder Z pulse error Power-off reset

31 Encoder UVW signal error Encoder UVW signal error or mismatch with encoder Power-off reset

32 Illegal encoder UVW signal encoding UVW signals exist at all high or all low levels Power-off reset

33 The matching motor code does not Wrong motor code set Power-off reset

exist

34 EEPROM is not written properly. EEPROM is written frequently Power-off reset

Procedure

The reset mode is power off reset, indicating that after troubleshooting, the driver can only be powered off and reset again. If the reset mode is DI reset, it

indicates that after the fault is rectified, you can use the DI terminal associated alarm reset function (ALM_RST),DI input ON reset alarm.
KD series AC servo driver manual

6.2 Alarm and replacement method of multi-turn absolute motor battery

6.2.1 Reasons and solutions for alarming ER30 and ER31
A: multi-turn absolute value motor relies on motor encoder to record position data. The motor encoder is
powered by the servo driver through the encoder
The extension cable provides power. When the driver loses power, the battery on the extension cable of the
encoder supplies power. The battery life is not more than 2 years.
Two: The motor encoder needs to be reset in the following circumstances.
1: When the power driver is connected for the first time, it will alarm ER30 or ER31 (encoder battery failure). Set
P03.09= 2 to reset the encoder
Failure, and power on to cancel the alarm.
2: If the motor is separated from the encoder extension wire during use, the data of the motor encoder will be lost
due to power loss and alarm ER30 or ER31.
It is necessary to set P03.09= 2 to reset the encoder fault, and power on the encoder again to cancel the alarm.
3: Forcibly remove the battery in the case of driver power off, or disconnect the battery from the encoder cable,
motor encoder power loss position data loss and alarm
ER30 or ER31. It is necessary to set P03.09=2 to reset the encoder fault, and power on the encoder again to cancel
the alarm.

6.2.2 Precautions for Replacing encoder Batteries

One: When do I need to replace the encoder battery?
1: The servo is in normal use, and the encoder cable has not been removed. If the alarm is ER30 or ER31, it
indicates low battery power and reminds the user to replace it
Encoder battery, otherwise easy to lose or have lost encoder position data.
2: The encoder battery needs to be replaced in time if the encoder battery is leaking, damaged, bulging, etc., to
prevent abnormal battery power loss and loss of the encoder position data.
2. Steps and precautions for replacing the encoder battery.
Replacement steps:
1: Replace the battery when the driver is powered up and the encoder cable is normally connected to the driver.
2: After the battery is removed, the driver will alarm ER30. After the correct replacement, P03.09=1 should be set.
Only reset the encoder alarm does not clear the encoder data, and re-power to remove the alarm.
3. The preceding steps do not cause loss of encoder position data.
Note:
1: Recommended battery specifications: 3.6V 2500mAh.
2: Install a new battery pay attention to distinguish between positive and negative battery terminals, generally red
positive terminal, black negative terminal.
3: Abnormal battery replacement or encoder abnormal power loss, alarm ER30 or ER31,
It is necessary to set P03.09=2 to reset the encoder alarm and clear the encoder data. In addition, power on the
encoder again to cancel the alarm.
KD series AC servo driver manual

6.2 Alarm processing method

6-2 Alarm processing method

Alarm
Alarm name Run status Reason Handling method
code
Appears when the control Control board failure Change driver

power is switched on Motor encoder failure Change motor

Input instruction pulse frequency is

Correctly set the input instruction pulse
too high

Acceleration/deceleration time Increase the acceleration/deceleration

constant is too small time constant

Occurs during motor Input electronic gear ratio is too

Setting up correctly
operation large

Motor encoder failure Change motor

Bad encoder cable Change Encoder cable

1 Overspeed Servo system is unstable, causing

Reset the relevant gain
overshoot

①Reduce the load inertia

Excessive load inertia ②Replace high-power drives and

motors

① Replace the servo motor

Motor appears when it is Encoder zero error.
② Please reset the encoder zero
just started
① The motor U, V, W leads are

connected wrong
Correct connection
② The encoder cable lead is

connected wrong

Appears when the control

Circuit board fault Change driver
power is switched on

①The power supply voltage is too

Appears when the main high

Check the power supply
power is switched on ② The power supply voltage

waveform is abnormal

Brake resistance wiring

rewiring
disconnected

Overvoltage of main Damaged brake transistor or brake

2 Change driver
circuit resistor

1 Reduce the start and stop frequency

Occurs during motor 2 Increase the

operation acceleration/deceleration time

constant
Brake circuit capacity is insufficient
3 Reduce the torque limit value and

load inertia

4 Replace high-power drives and

motors

 Circuit board failure

 Main circuit
Appears when the main  Power supply insurance
3 undervoltage Change driver
power is switched on damage

 Soft start circuit failure

KD series AC servo driver manual

 The rectifier is damaged

①Low Ignition Power Supply

Check the power supply

②Temporary power outage of more

than 20mS

Power supply capacity is not

Occurs during motor enough, or instantaneous power Check the power supply

operation loss

Radiator overheating Check the load

Appears when the control

Circuit board fault Change driver
power is switched on

①The motor U, V, W leads are

connected wrong
Correct connection
②The encoder cable lead is

connected wrong

Encoder failed Change motor

Set position out of tolerance Increase the detection range of position

Connect the main power
4 Position error detection range is too small out of tolerance
supply and control line,
Position proportional gain is too Increase mana gain
input instruction pulse,
small
motor does not rotate
1 Check the torque limit value

2 Reduce the load capacity

Lack of torque
3 Replace high-power drives and

motors

Command pulse frequency is too

reducing work frequency
high

Alarm
Alarm name Run status Reason Handling method
code
Circuit board fault Change driver

Appears when the control ①Cable bolt

①Check cable
power is switched on ②Temperature relay in motor is
②Check mtoor
damaged

①Reduce load, reduce start/stop

5 Motor Overheating frequency

②Reduced torque limit and associated

Occurs during motor Motor overloaded.
gain
operation
③Replace high-power drives and

motors

Motor internal failure Change driver

Motor was mechanically jammed Check the mechanical part of the load

Speed amplifier Occurs during motor ①Reduce the load

6
saturation failure operation Load is too large ②Replace high-power drives and

motors

CCW、CW Drivers are forbidden to Check the power supply for wiring and
7 FSTP —
disconnect input terminals

①motor was mechanically jammed ①Check the mechanical part of the

Position deviation
8 — ②Input instruction pulse is load
counter overflowed
abnormal ②Check instruction pulse
KD series AC servo driver manual

③Whether the motor is operated by

command pulse

Encoder wiring error Check the wiring

Encoder damaged Change motor

Bad encoder cable Change cable

9 Encoder Error —
Encoder cable is too long, resulting ① Shorten the cable

in low power supply voltage of ②Adopt multi-core parallel power

encoder. supply

①The drive cooling fan does not

rotate ①Replace the servo driver

Excessive drive ②The drives are arranged too ② Reasonably set the driver
10 —
temperature tightly installation spacing ③Reasonable heat

③The ambient temperature of the dissipation of the cabinet

drive is too high

Appears when the control

Circuit board fault Change driver
power is switched on

①Low supply voltage ①Power on reset

②overheating ②Reasonable heat dissipation

11 Power module failure Short circuit between drive U, V, W Check the wiring
Occurs during motor
Imperfect earth Change motor
operation
Motor insulation damage Change motor

Add line filters, away from the source of

Be disturbed
interference

Short circuit between drive U, V, W Check the wiring

Imperfect earth Correct grounding

12 Over current —
Motor insulation damage Change motor

Driver damaged Change motor

Appears when the control

Circuit board fault Change driver
power is switched on

①Check the load ②Reduce the start

and stop frequency ③Reduce the

Run over rated torque
torque limit value ④ Replace the

high-power driver and motor

 overload
13 Keep the brakes closed Check holding brake
Occurs during motor
①Adjust the gain
operation
②Increase acceleration/deceleration
Motor oscillates unsteadily
time

③Reduce load inertia

①Drives U, V, W are disconnected

Check the wiring
②Encoder wiring error

Alarm
Alarm name Run status Reason Handling method
code
Appears when the control
Circuit board fault Change driver
power is switched on

BRAKING FAULT Brake resistance wiring

14 Rewiring
Occurs during motor disconnected

operation Damaged brake transistor or brake

Change driver
resistor
KD series AC servo driver manual

①Reduce the start-stop frequency

②Increase acceleration/deceleration

time constant

Brake circuit capacity is insufficient ③Reduce the torque limit value or load

inertia

④ Change to a higher-power driver and

motor

Main circuit supply voltage is too

Check main power supply
high

Encoder damaged Change motor

15 Encoder counting error — Encoder wiring error Check the wiring

Bad grounding, signal interference Correct grounding

Appears when the control Circuit board fault Change driver

power is switched on Parameter setting error Set relevant parameters correctly

①Check the load

②Reduce the start and stop frequency

16 Motor thermal overload Long-term operation in excess of
Occurs during motor ③Reduce the torque limit value
rated torque
operation ④ Replace the high-power driver and

motor

Poor mechanical transmission Check mechanical parts

Input control power is unstable Check control power

 Warm Reset
19 — Add line filters, away from the source of
Be disturbed
interference

1 Change driver

EEPROM 2 After repair, the motor type code

20 — Chip or circuit board damage.
Error must be reset and the default

parameters restored

①Chip or circuit board damage

23 A/D chip error — Change driver
②Current sensor damaged

①The main power supply is not

connected or the wiring is bad

Appears when the main Check power wiring
25 Bus soft start timeout ② Circuit board failure ③Soft start
power is switched on （L1、L2、L3 or R、S、T）
circuit failure ④The rectifier is

damaged

①No Z pulse or encoder damage

②Bad cable or

③The cable shielding or the ground ①Replace the encoder ②Check the
30 Encoder Z pulse lost —
wire connection is poor encoder interface circuit

④The encoder interface circuit is

faulty

①The UVW signal of the encoder is

damaged

②No Z pulse or encoder damage

Encoder UVW signal ①Replace the encoder ②Check the
31 — ③Bad cable
error encoder interface circuit
④Cable shielding or poor grounding

connection ⑤The encoder interface

circuit is faulty

32 Encoder UVW signal is — ①The UVW signal of the encoder is ①Replace the encoder ②Check the
KD series AC servo driver manual

illegally encoded damaged encoder interface circuit

②Bad cable

③The cable shielding or the ground

wire connection is poor

④The encoder interface circuit is

faulty

The matching motor parameters are

33 Motor code is not exist Re-enter the correct motor code
incorrect

EEPROM is not written

34 EEPROM is written frequently Avoid frequent EEPROM operations
properly
KD series AC servo driver manual

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