VersaMotion GFK2480A

GE
Intelligent Platforms
Programmable Control Products
VersaMotion
Servo Motors and Amplifiers
Users Manual, GFK-2480A
October 2012
GFL-002
Warnings, Cautions, and Notes

as Used in this Publication
Warning
Warning notices are used in this publication to emphasize that hazardous voltages,
currents, temperatures, or other conditions that could cause personal injury exist in this
equipment or may be associated with its use.
In situations where inattention could cause either personal injury or damage to equipment,
a Warning notice is used.
Caution
Caution notices are used where equipment might be damaged if care is not taken.
Note: Notes merely call attention to information that is especially significant to

understanding and operating the equipment.
This document is based on information available at the time of its publication. While efforts
have been made to be accurate, the information contained herein does not purport to cover all
details or variations in hardware or software, nor to provide for every possible contingency in
connection with installation, operation, or maintenance. Features may be described herein
which are not present in all hardware and software systems. GE Intelligent Platforms assumes
no obligation of notice to holders of this document with respect to changes subsequently made.
GE Intelligent Platforms makes no representation or warranty, expressed, implied, or statutory

with respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, or
usefulness of the information contained herein. No warranties of merchantability or fitness for
purpose shall apply.
* indicates a trademark of GE Intelligent Platforms, Inc. and/or its affiliates. All other
trademarks are the property of their respective owners.
Copyright 2011 GE Intelligent Platforms, Inc.

All Rights Reserved
Contact Information
If you purchased this product through an Authorized Channel Partner, please contact the seller
directly.
General Contact Information

Online technical support and http://support.ge-ip.com
GlobalCare
Additional information http://www.ge-ip.com/
Solution Provider [email protected]
Technical Support
If you have technical problems that cannot be resolved with the information in this manual, please
contact us by telephone or email, or on the web at http://support.ge-ip.com
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Europe, the Middle East, and Africa

Phone +800-1-433-2682
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dialing from a mobile telephone)
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Primary languages of support English, French, German, Italian, Czech, Spanish
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[email protected] (China)
iii VersaMotionServo Motors and Amplifiers Users ManualOctober 2012 GFK-2480A

Contents
Introduction.................................................................................................................... 1-1
1.1 Product Overview ....................................................................................................... 1-3
1.2 Servo Drive and Servo Motor Combinations ............................................................ 1-11
1.3 Servo Drive Control Modes....................................................................................... 1-12
Unpacking and Installation ........................................................................................... 2-1

2.1 Unpacking and Inspection .......................................................................................... 2-2
2.2 Storage Conditions ..................................................................................................... 2-2
2.3 Installation ................................................................................................................... 2-3
2.4 Molded-Case Circuit Breaker, Fuse and Leakage Current ........................................ 2-8
Equipment Connections and Wiring ............................................................................ 3-1

3.1 Equipment Connections.............................................................................................. 3-2
3.2 Basic Wiring ................................................................................................................ 3-9
3.3 Input/Output Interface Connector CN1 ..................................................................... 3-11
3.4 Encoder Connector CN2........................................................................................... 3-33
3.5 Serial Communication Connector CN3 ..................................................................... 3-34
3.6 Standard Connection Example ................................................................................. 3-36
Display and Operation ..................................................................................................... 4-1

4.1 Description of the Digital Keypad................................................................................ 4-2
4.2 Display Flowchart ....................................................................................................... 4-3
4.3 Status Display ............................................................................................................. 4-4
4.4 General Function Operation ....................................................................................... 4-8
Trial Run and Tuning Procedure .................................................................................. 5-1

5.1 Trial Run without a Load ............................................................................................. 5-2
5.2 Tuning Procedure ..................................................................................................... 5-15
Control Modes of Operation ......................................................................................... 6-1

6.1 Control Mode Summary .............................................................................................. 6-2
6.2 Position Control Mode ................................................................................................ 6-4
6.3 Speed Control Mode ................................................................................................. 6-20
6.4 Torque Control Mode ................................................................................................ 6-38
6.5 Control Mode Selection ............................................................................................ 6-43
6.6 Others ....................................................................................................................... 6-46
Parameters ...................................................................................................................... 7-1

7.1 Definitions ................................................................................................................... 7-2
7.2 Parameter Summary ................................................................................................... 7-3
7.3 Detailed Parameter Listings...................................................................................... 7-20
7.4 Input Function Definitions ......................................................................................... 7-92
7.5 Output Function Definitions ...................................................................................... 7-97
GFK-2480A v
Contents
MODBUS Communications .......................................................................................... 8-1

8.1 Communication Hardware Interface ........................................................................... 8-2
8.2 Communication Parameter Settings ........................................................................... 8-6
8.3 MODBUS Communication Protocol .......................................................................... 8-10
8.4 Communication Parameter Write-in and Read-out................................................... 8-19
Maintenance and Inspection ........................................................................................ 9-1

9.1 Basic Inspection .......................................................................................................... 9-2
9.2 Maintenance ............................................................................................................... 9-3
9.3 Life of Replacement Components .............................................................................. 9-4
Diagnostics .................................................................................................................... 10-1

10.1 Fault Messages Table ............................................................................................ 10-2
10.2 Potential Causes and Corrective Actions ............................................................... 10-4
10.3 Clearing Faults ...................................................................................................... 10-10
Specifications .............................................................................................................. 11-1

11.1 Servo Drive AC Input Current Ratings .................................................................... 11-2
11.2 Servo Drive Specifications ...................................................................................... 11-3
11.3 Servo Motor Specifications ..................................................................................... 11-5
11.4 Servo Motor Speed-Torque Curves ........................................................................ 11-8
11.5 Overload Characteristics ...................................................................................... 11-10
11.6 Dimensions of Servo Drives ................................................................................. 11-12
11.7 Dimensions of Servo Motors................................................................................. 11-14
11.8 EMI Filters Selection ............................................................................................. 11-16
Application Examples ................................................................................................. 12-1

12.1 Position Control with Homing Function ................................................................... 12-2
12.2 Roller Feeding......................................................................................................... 12-4
12.3 Connecting to a PLC ............................................................................................... 12-6
12.4 Connecting to an Operator Interface .................................................................... 12-11
12.5 Position Control Mode (Pr Mode) ......................................................................... 12-12
12.6 Feed Step Control ................................................................................................. 12-15
12.7 Internal Auto Running Mode ................................................................................. 12-26
12.8 Homing Function ................................................................................................... 12-30
DSM314 Connections ................................................................................................... A-1

Equipment Needed for One-Axis Connection to DSM314................................................ A-1
Avoiding Electrical Noise in the Installation ...................................................................... A-1
Connection Diagram ......................................................................................................... A-2
VersaMotion Start-up (Do This First) ................................................................................ A-3
DSM314 Start-Up.............................................................................................................. A-3
vi VersaMotion Servo Motors and Amplifiers Users ManualOctober 2012 GFK-2480A

Contents
Accessories ..................................................................................................................... B-1

B.1 Power Connectors ...................................................................................................... B-2
B.2 Power Cables ............................................................................................................. B-3
B.3 Encoder Connectors ................................................................................................... B-5
B.4 Encoder Cables .......................................................................................................... B-6
B.5 I/O Signal Connector .................................................................................................. B-7
B.6 Drive- to-Computer Communication Cable ................................................................ B-7
B.7 Terminal Block ............................................................................................................ B-8
GFK-2480A Contents vii

Chapter Introduction
1
This chapter provides an overview of VersaMotion servo drives and motors.
Page
1.1 Product Overview 1-3
1.2 Servo Drive and Servo Motor Combinations 1-11
1.3 Servo Drive Control Modes 1-12
The rest of the manual describes VersaMotion products in detail, and explains how to install, operate
and maintain the servo drives and motors.
Chapter 2, Unpacking and Installation. Includes procedures for unpacking, initial inspection and
installation of a VersaMotion system.
Chapter 3, Equipment Connections and Wiring. Provides cable connection and wiring
procedures. Also provides detailed information on I/O signals.
Chapter 4, Display and Operation. Explains how to use the VersaMotion drives digital keypad.
Chapter 5, Trial Run and Tuning Procedure. Explains how to perform a trial run without a load
and how to tune the servo system with a load.
Chapter 6, Control Modes of Operation. Explains how to operate the VersaMotion drive in each
control mode. (The VersaMotion drive provides provide six single and five dual control modes,
which are summarized on page 1-12.)
Chapter 7, Parameters. Describes how to use the drives operating parameters, which can be
configured using the VersaMotion Configuration software.
Chapter 8, MODBUS Communications. Describes connections and parameter settings for RS-
232, RS-485 and RS-422 communications.
Chapter 9, Maintenance and Inspection. Explains how to perform preventive maintenance and
inspection of the servo drive.
Chapter 10, Diagnostics. Provides definitions and corrective actions for fault messages.
Chapter 11, Specifications. Provides physical and electrical characteristics of the VersaMotion
drives and servo motors.
Chapter 12, Application Examples. Provides sample applications using VersaMotion drives and
servo motors.
Appendix A, Accessories. Provides a reference to connectors, cables and terminal blocks used
with VersaMotion products.
GFK-2480A 1-1
1
For additional information about VersaMotion and related products, refer to the following manuals:
VersaMax Micro and Nano PLCs Users Manual, GFK-1645
VersaMax Micro Two-Axis Servo Motion Expansion Modules Users Manual, GFK-2471
DSM314 Motion Controller for PACSystems RX3i and Series 90-30 User's Manual, GFK-1742
User manuals, module datasheets, and other product documents are available online at
http://support.ge-ip.com.
VersaMotion Servo Drive and Motor
1-2 VersaMotion Users Manual October 2012 GFK-2480A

1
1.1 Product Overview

The VersaMotion family of servo motors offers high servo performance in a compact package. The
range of torque and motor power allows you to optimize performance, size and cost for your
application.
The motors range from 100 W to 3 kW with continuous torque ratings from 0.3 Nm to 19.1-Nm. Most
models are rated for 3000 RPM continuous with an intermittent rating of 5000 RPM. Motor feedback is
provided by a 2500 PPR encoder (10,000 quadrature counts per revolution) for a resolution of 0.036
degrees of a motor revolution. All motors have metric mounting configurations and include a straight
shaft with key and oil seal.
Motors are matched with VersaMotion amplifiers, which support a variety of configurable command
interface and operational modes. They provide simple stand-alone positioning capability using up to
eight stored motion profiles or can be connected to a motion controller using an analog velocity, analog
torque or pulse command interface.
The drives, motors, and accessories that make up the VersaMotion product family are listed on page
1-6.).
VersaMotion servo/amplifier products provide the following features:
Power range: 100 Watt to 3 kW (7 models)
Torque range: Continuous: 0.32-19.1 Nm, Peak: 0.96 57.3 Nm
Single and dual control modes: Position, Speed, Torque, Speed/Position, Speed/Torque and
Torque/Position
The RS-232/485/422 serial communications interface supports multi-drop system
configurations and Modbus ASCII or RTU communication protocol.
Encoder position output: A/B/Z with scalable resolution
Homing and jogging functions
Speed and torque limiting functions
Autotuning function
On-the-fly gain switching
Electronic gearing (pulse follower)
Configurable digital I/O: 8 Inputs and 5 Outputs
Analog inputs: 1 Speed or 2 Torque
Built-in touch pad and display provides convenient access to configuration parameters and
system information.
Resonance suppression using notch and low pass filters
Motors with 24 VDC holding brakes are available (except 100 Watt motor) for vertical axes or
applications that need to hold position during power loss.
GFK-2480A Chapter 1 Introduction 1-3

1
1.1.1 Servo Drive Features

Heatsink
Used to secure servo drive and for
heat dissipation
LED Display
Charge LED The 5 digit, 7 segment LED displays
A lit LED indicates that either power is the servo status orfault codes
connected to the servo drive OR a
residual charge is present in the drive's Operation Panel
internal power components. Used function keys to perform status
DO NOT TOUCH ANY ELECTRICAL
display, monitor and diagnostic, function
CONNECTIONS WHILE THIS LED IS LIT.
(Please refer to the Safety Precautions on
and parameter setting.
page i). Function Keys:
MODE : Press this key to select/change
mode
SHIFT : Shift Key has several functions:
Control Circuit Terminal (L1, L2) moving the cursor and indexing
Used to connect 200~230Vac, through the parameter groups
50/60Hz single-phase VAC supply. Press this key to shiftcursor to
the left
UP : Press this key to increase values
Main Circuit Terminal (R, S, T) on the display
Used to connect 200~230V, DOWN : Press this key to decrease
50/60Hz commercial power supply values on the display
SET : Press this key to store data
Servo Motor Output (U, V, W) I/O Interface

Used to connect servo motor. Never Used to connect Host Controller (PLC)
connect the output terminal to main or control I/O signal
circuit power. The AC servo drive
may be destroyed beyond repair if
incorrect cables are connected to Encoder Interface
the output terminals. Used to connect Encoder of
Servo Motor
Internal / External Regenerative
Resistor Terminal
1) When using an external regenerative
resistor, connect P and C to the Serial Communication Interface
regenerative resistor and ensure that For RS-485 / 232 / 422 serial
the circuit between P and D communication
is open. Used to connect personal computer
2) When using the internal regenerative or other controllers
resistor, ensure that the circuit
between P and D is closed and the Ground Terminal
circuit between P and C is open.

1
1.1.2 VersaMotion System Architectures

The VersaMotion servos can be used in the following types of system architectures:
As a standalone simple position indexer using up to eight stored positions that are selected and
triggered using discrete inputs or the serial communication interface. Positions can be
configured or changed using a teach function or over the serial communication interface.
Simple electronic gearing (pulse follower) using a configurable fixed gear ratio is also
supported.
With the VersaMax Micro 20/40/64 built-in CPU motion functions.
With the VersaMax Micro two-axis motion expansion module using the 500 KHz pulse
command interface for application that require more complex motion sequences, such as basic
positioning with registration control.
With Quick Panel Control and the VersaMax Micro two-axis motion expansion module using
the 500 KHz pulse command interface to provide an integrated motion, logic and view solution.
With a DSM314 Motion Controller using either an analog velocity or analog torque command.
1.1.3 VersaMotion System Components

A complete and workable VersaMotion servo system includes the following parts:
1) Servo amplifier
2) Servo motor
3) One operating lever (for wire to terminal block insertion)
4) One power cable, which is used to connect the servo motor and the servo drives U, V,
and W terminals.
5) One encoder cable, which is used to connect the encoder of servo motor and CN2
terminal of servo drive.
6) CN1 I/O connector: 50 pin Connector (IC800VMACONCN1), Breakout Terminal Board
and Cable Kit (IC800VMTBC005), or Flying Lead I/O Cable (IC800VMCI010 1
meter) or IC800VMCI030 3meter)
7) CN3 serial communication cable (IC800VMCS030)
For 100W 1KW models:
8) Five-pin Terminal Block for L1, L2, R, S, T (Included with amplifier.)
9) Three-pin Terminal Block for U, V, W (Included with amplifier.)
10) Three-pin Terminal Block for P, D, C (Included with amplifier.
Note: The 2kW and 3kW amplifiers have built-in terminal blocks.

1
Amplifiers
IC800VMA 30 2
VersaMotion Amplifier
Power Rating
01 = 100 Watt 10 = 1000 Watt
02 = 200 Watt 20 = 2000 Watt Voltage
04 = 400 Watt 30 = 3000 Watt 2 = 200230 VAC, 1 or 3 phase (100-750W)
07 = 750 Watt 2 = 200230 VAC, 3 phase (2kW & 3kW)
Part Number Power Rating (Watts)

IC800VMA012 100
IC800VMA022 200
IC800VMA042 400
IC800VMA072 750
IC800VMA102 1000
IC800VMA202 2000
IC800VMA302 3000
Motors
IC800VMM 30 L N KS E25
VersaMotion Motor
Power Rating Feedback
01 = 100 Watt E25 = 2500 PPR Encoder
02 = 200 Watt Inertia Type
04 = 400 Watt L = Low Inertia
07 = 750 Watt
10 = 1000 Watt Brake Shaft Configuration
20 = 2000 Watt N = No Brake KS= Straight Shaft, Key & Oil Seal
30 = 3000 Watt B = 24 VDC Holding Brake
Without brake
IC800VMM01LNKSE25 100

1
With Brake
IC800VMM01LBKSE25 100
Accessories
Cables
Note: xxx = length in 0.1 meter increments.
Standard lengths (other lengths available):
xxx=030 3 meters
xxx=050 5 meters
xxx=100 10 meters
xxx=200 20 meters
Encoder Cables
Part Number Description
IC800VMCExxx Encoder Cable (100W to 750W)
IC800VMCE1xxx Encoder Cable (1000W & larger)
Motor Power Cables

IC800VMCPxxx Motor Power Cable (100W to 750W)
IC800VMCP1xxx Motor Power Cable (1kW)
IC800VMCP2xxx Motor Power Cable (2kW & 3kW)
Motor Power & Brake Cables

Note: The 100 Watt motor does not have a brake option.
IC800VMCBxxx Motor Power & Brake Cable (200W to 750W)
IC800VMCB1xxx Motor Power & Brake Cable (1kW)
IC800VMCB2xxx Motor Power & Brake Cable (2kW & 3kW)

1
Serial Cable
IC800VMCS030 Serial Cable, 3 meter
Regeneration Resistors
IC800VMBR040 40 ohm 400 watt
IC800VMBR020 20 ohm 1000 watt
Amplifier Connectors
IC800VMACONCN1 Amplifier CN1 Serial Communication Connector
IC800VMACONCN2 Amplifier CN2 Encoder Connector
IC800VMACONCN3 Amplifier CN3 Serial Communications Connector
IC800VMTBC005 Breakout Terminal Board with 0.5 m Cable
IC800VMMCONE001 Motor Encoder Connector (100W-750W)
IC800VMMCONE002 Motor Encoder Connector (1000W & larger)
IC800VMMCONP002 Motor Power Connector (100-750W, With Brake)
IC800VMMCONP001 Motor Power Connector (100-750W, No Brake)
IC800VMMCONP003 Motor Power Connector (1kW-3kW)
Amplifier Terminal Blocks

IC800VMACONMTRP Amplifier Motor Power Connector
IC800VMADBR001 Amplifier External Braking Resistor Connector

1
1.1.4 VersaMotion Configuration Software

The VersaMotion servo configuration tool is provided with Proficy Machine Edition version 5.70, SIM 1.
To access the configuration tool, select it on the Utilities tab in the Machine Edition Navigator window.
The VersaMotion Settings dialog box appears. To work in offline mode, click OK. To configure a
communications port for the software tool, select On-Line and click OK.

1
VersaMotion Software provides the following tools:
Settings Allows you to go online with the VersaMotion drive
Scope Opens the oscilloscope view
Auto Gain Tuning Opens tool for calculating servo gain values
Allows you to view and change the digital IO functions in the
Digital IO/Jog Control servo drive
Status Monitor Allows you to monitor the servo motor status.

Lists communications port information, drive model information,
Model Information and motor specifications.
Alarm Information Displays information for current alarms and alarm history.
Allows you to view the values of all servo drive parameters.
Parameter Editor Some parameters can be set while online with the servo drive.
Allows you to read the current parameter settings, select the
Parameter Wizard control mode, edit selected parameter values, or save a set of
parameter values to a file.
User Manual Online help for the VersaMotion software.
Parameter Manual Provides a summary of servo drive parameters.
VersaMotion Information Provides version information for the VersaMotion software.

1
1.2 Servo Drive and Servo Motor Combinations

The servo drives are designed for use in combination with specific servo motors. The table below
shows the possible combinations of VersaMotion servo drives and motors.
The servo drive and motor must be correctly matched for size (power rating). If the power of motor and
drive is not within the specifications, the drive and motor may overheat and servo alarm would be
activated. For detailed specifications of servo drives and motors, please refer to Chapter 11
Specifications.
Power Servo Motors

Servo Drives
Rating Without Brake With Brake
100W IC800VMA012 IC800VMM01LNKSE25 IC800VMM01LBKSE25

1
1.3 Servo Drive Control Modes

The VersaMotion servo can be programmed to provide six single and five dual modes of operation,
which are described in the following table. For information on operating in each control mode, refer to
chapter 6.
Single Modes Code Description
External Position Control Pt Position control for the servo motor is achieved via an external
pulse command.
Internal Position Control Pr Position control for the servo motor is achieved via by eight
commands stored in the servo controller. Digital Inputs (DI)
control execution of the position commands.
Speed Control S Speed control for the servo motor is provided by either Internal
Preset Speed Parameters or External analog -10 to +10VDC
command. If using the Internal Preset Speed Parameters, the
three individual speeds are selected via digital inputs.
Note: S mode is a dual mode. The Internal Preset Speeds have
priority over the analog input. At any point when an Internal
Preset Speed is selected via a digital input, it will take priority
over the incoming External analog command.
Internal Speed Control Sz Speed control for the servo motor is provided by Internal Preset
Speed Parameters only. The individual speed commands are
selected via digital inputs. (A maximum of three speeds can be
stored internally).
Torque Control T Torque control for the servo motor is provided by either Internal
Preset Torque Parameters or External analog -10 to +10VDC
command. If using the Internal Preset Torque Parameters, the
three individual torques are selected via digital inputs.
Note: T mode is a dual mode. The Internal Preset Torque has
priority over the analog input. At any point when an Internal
Preset Torque command is selected via a digital input, it will
take priority over the incoming External analog command.
Internal Torque Control Tz Torque control for the servo motor is provided by Internal Preset
Torque Parameters only. The individual torque commands are
selected via digital inputs. (A maximum of three torque levels
can be stored internally).

1
Dual Modes Code Description

Position (pulse train) - Pt-S Either Pt or S control mode can be selected via the Digital Inputs
Speed (DI)
When switched to Speed mode the user has the option to use
Internal Preset Speed commands or External analog -10 to
+10VDC command as described in the Speed Mode details.
Position (pulse train) - Pt-T Either Pt or T control mode can be selected via the Digital Inputs
Torque (DI).
When switched to Torque mode the user than has the option to
use Internal Preset Torque commands or External analog -10 to
+10VDC command as described in the Torque Mode details.
Position (internal register) - Pr-S Either Pr or S control mode can be selected via the Digital
Speed Inputs (DI)
When switched to Speed mode the user has the option to use
Internal Preset Speed commands or External analog -10 to
Position (internal register) - Pr-T Either Pr or T control mode can be selected via the Digital Inputs
Torque (DI).
Speed - Torque S-T Either S or T control mode can be selected via the Digital Inputs
(DI).
When switched to Speed mode the user than has the option to
use Internal Preset Speed commands or External analog -10 to

Chapter Unpacking and Installation
2
This chapter provides the following information:
Page
2.1 Unpacking and Inspection 2-2
2.2 Storage Conditions 2-2
2.3 Installation 2-3
2.4 Molded-Case Circuit Breaker, Fuse and Leakage Current 2-8
Note: In this manual, actual measured values are in metric units. Dimensions in SI units are for
reference only. Please use metric units for precise measurements.
GFK-2480A 2-1
2
2.1 Unpacking and Inspection

Warning
Ensure that both the servo drive and motor are correctly matched for size (power
rating). Failure to observe this precaution may cause fire, seriously damage the
drive or motor, or cause personal injury.
After receiving the AC servo drive, please check for the following:
Ensure that the product is what you have ordered.

Verify the part number indicated on the nameplate corresponds with the part number of your order.
Ensure that the servo motor shaft rotates freely.

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

Inspect the unit to insure it was not damaged during shipment.
Check for loose screws.

Ensure that all necessary screws are tight and secure.
If any items are damaged or incorrect, contact the distributor from whom you purchased the product.
2.2 Storage Conditions

The product should be kept in the shipping carton before installation. In order to retain the warranty
coverage, the servo drive should be stored properly when it is not to be used for an extended period of
time. Some storage suggestions are:
Store in a clean and dry location free from direct sunlight.
Store within an ambient temperature range of -20C to +65C (-4F to 149F).
Store within a non-condensing relative humidity range of 0% to 90%.
Do not store in a place subjected to corrosive gases and liquids.
The product should be correctly packaged and placed on a solid surface.
2-2 VersaMotionServo Motors and Amplifiers Users Manual October 2012 GFK-2480A
2
2.3 Installation
2.3.1 Installation Notes
Do not bend or strain the cables between the servo drive and the motor.
When mounting the servo drive, tighten screws to secure the drive in place.
If the servo motor shaft is coupled directly to a rotating device, ensure that the alignment
specifications of the servo motor, coupling, and device are followed. Failure to do so may
cause unexpected loads or premature failure of the servo motor.
If the length of cable connected between servo drive and motor is more than 20m, the wire
gauge of the encoder and motor connection cables (connected to U, V, W terminals) should be
increased. For wire gauge recommendations, refer to chapter 3.
Make sure to properly tighten the motor mounting bolts.
2.3.2 Installation Conditions

Warning
Do not install the product in a location that is outside the stated specification for
the drive and motor. Failure to observe this caution may result in electric shock,
fire, or personal injury.
VersaMotion drives are open type servo drives and must be installed in a NEMA enclosure, such as a
protected control panel, during operation to comply with the requirements of international safety
standards. They provide precise feedback control and high-speed calculation functions incorporating
DSP (Digital Signal Processor) technology, and are intended to drive three-phase permanent magnet
synchronous motors (PMSM) to achieve precise positioning by means of accurate current output
generated by IGBT (Insulated Gate Bipolar Transistor).
VersaMotion drives can be used in industrial applications and for installation in an end-use enclosure
that conforms to the specifications provided in this manual (Drives, cables and motors are for use in a
suitable enclosure with a minimum of a UL Type 1 rating).
GFK-2480A Chapter 2 Unpacking and Installation 2-3

2
Operating Temperature
VersaMotion Servo Drives: 0C to 55C (32F to 131F)
VersaMotion Servo Motors: 0C to 40C (32F to 104F)
For long-term reliability, the ambient temperature of the servo drive should be less than 45C (113F).
If the ambient temperature of servo drive is greater than 45C (113F), install the drive in a well-
ventilated location and do not obstruct the airflow of the cooling fan.
Caution
The servo drive and motor will generate heat. If they are installed in a control
panel, allow sufficient space around the units for heat dissipation.
Observe the following precautions when selecting a mounting location.
Do not mount the servo drive or motor adjacent to heat-radiating elements or in direct sunlight.
Do not mount the servo drive or motor in a location subjected to corrosive gases, liquids, or
airborne dust or metallic particles.
Do not mount the servo drive or motor in a location where temperature and humidity will
exceed the specifications.
Do not mount the servo drive or motor in a location where vibration and shock will exceed the
specifications.
Do not mount the servo drive or motor in a location where it will be subjected to high levels of
electromagnetic radiation.
2
2.3.4 Installation Procedure and Minimum Clearances

Incorrect installation may result in a drive malfunction or premature failure of the drive and or motor.
Please follow the guidelines in this manual when installing the servo drive and motor.
The VersaMotion servo drive should be mounted perpendicular to the wall or in the control panel. In
order to ensure the drive is well ventilated, allow sufficient free space surrounding the servo drive and
do not obstruct the ventilation holes. Do not install the drive in a horizontal position or malfunction and
damage will occur.
Correct Incorrect
Drive Mounting
The servo drives must be back-mounted vertically on a dry and solid surface such as a NEMA
enclosure. A minimum spacing of two inches must be maintained above and below the drive for
ventilation and heat dissipation. Additional space may be necessary for wiring and cable connections.
Also, the mounting surface should be able to conduct heat away from the mounting plate and not
conduct into the drive from external sources.
Motor Mounting
The servo motors should be mounted firmly to a dry and solid mounting surface to ensure maximum
heat transfer for maximum power output and to provide a good ground.
For dimensions and weight specifications of the servo drives and motors, refer to Chapter 11,
Specifications".

2
Minimum Clearances
Install a fan to increase ventilation to avoid ambient temperatures that exceed the specification. When
installing two or more drives adjacent to each other, allow clearances as shown in the following
diagram.
Minimum Clearances
50mm
(2.0in)
min.
20mm 20mm
(0.8in) (0.8in)
min. min.
50mm
(2.0in)
min.
2
Side by Side Installation

100mm 100mm
(4.0 in) (4.0 in)
Fan Fan
min. min.
40mm 10mm 10mm 10mm 40mm

(0.4 in) (0.4 in) (0.4 in)
(1.16 in) min. min. min.
(1.16 in)
min. min.
Air flow Air flow

100mm 100mm
(4.0 in) (4.0 in)
min. min.

2
2.4 Molded-Case Circuit Breaker, Fuse and Leakage Current

3-Phase 1-Phase
Output Short Operation Operation
Drive Part No. Breaker Fuse
Circuit
Leakage Current Leakage Current
IC800VMA012 8.4A (peak) 5A 5A 0.06mA 0.16mA
IC800VMA022 8.4A (peak) 5A 5A 0.06mA 0.16mA
IC800VMA042 25A (peak) 10A 20A 0.08mA 0.2mA
IC800VMA202 73A (peak) 30A 60A 0.12mA -
IC800VMA302 107A (peak) 30A 80A 0.13mA -
Chapter Equipment Connections and Wiring
3
This chapter provides information on wiring VersaMotion products, descriptions of I/O signals, and
sample wiring diagrams.
Page
3.1 Equipment Connections 3-2
3.2 Basic Wiring 3-9
3.3 Input / Output Interface Connector CN1 3-11
3.4 Encoder Connector CN2 3-33
3.5 Serial Communication Connector CN3 3-34
3.6 Standard Connection Example 3-36
Warning
Install the encoder cables in a separate conduit or wire tray from the motor
power cables to avoid signal noise. Separate the conduits or trays by 30cm
(11.8inches).
Use multi-stranded twisted-pair wires or multi-core shielded-pair wires for
encoder feedback cables. The maximum length of command input cable is 3m
(9.84ft). The maximum length of encoder feedback cables is20m (66ft).
A charge with hazardous voltages may still remain in the drive after power has
been removed. Wait at least 10 minutes after power has been removed before
performing any wiring and/or inspection.
Caution
Connect wiring after the terminal blocks are all removed from the drive.
Insert only one wire into a terminal on the terminal block.
When inserting wires, ensure that the conductors are not shorted to adjacent
terminals or wires.
Double check the wiring before applying power to the drive. If the wiring is in
error, perform the wiring again with proper tools.
Never use force to remove the terminals or wires. Otherwise, , as it may result in
malfunction or damage.
GFK-2480A 3-1
3
3.1 Equipment Connections

3.1.1 Connecting to Peripheral Devices
The following figure illustrates how to connect the peripheral devices.
When using an external regenerative resistor, connect the resistor to terminals P and C on the Servo
Drive, and ensure an open circuit between P and D. When using an internal regenerative resistor,
ensure the connection between P and D is closed, and P and C is open.
3
3.1.2 Servo Drive Connectors and Terminals

Terminal
Identification Notes
Description
L1, L2 Control circuit The servo Control Circuit requires an independent 220V
terminal single-phase VAC supply.
R, S, T Main circuit The Main Circuit Terminal is used to supply the servo with line
terminal power. If a single-phase supply is used, connect the R and S
terminals to power. If three-phase power is used, connect all three
terminals, R, S, and T. To provide Control Circuit power, add two
jumpers: from R to L1 and S and L2.
U, V, W, FG Servo motor Used to connect servo motor.
output Terminal Symbols:
U
V
W
FG
P, D, C Regenerative Internal Ensure the circuit is closed between P and D,
resistor terminal resistor and the circuit is open between P and C.
External Connect the regenerative resistor to P and C,
resistor and ensure an open circuit between P and D.
two places Ground terminal Used to connect grounding wire of power supply and servo motor.
CN1 I/O connector Used to connect external controllers. For details, refer to 3.3
Input/Output Interface Connector CN1 on page 3-11.
CN2 Encoder Used to connect encoder to servo motor and drive I/O. For details,
connector refer to 3.4 Encoder Connector CN2 on page 3-33.
Terminal Symbols:
A
/A
B
/B
Z
/Z
+5V
GND
CN3 Communication Used to connect PC. For details, refer to Serial Communication
connector Connector CN3 on page 3-34
Note: U, V, W, CN1, CN2, CN3 terminals provide short circuit protection.
GFK-2480A Chapter 3 Equipment Connections and Wiring 3-3

3
3.1.3 Wiring Notes

Warning
Connect the ground terminals to a class-3 ground (Ground resistance should not
exceed 100 ). Improper grounding may result in electric shock or fire.
Do not connect a power supply to the U, V and W terminals. Failure to observe
this precaution may result in serious injury, damage to the drive or fire.
Ensure that all screws, connectors and wire terminations are secure on the
power supply, servo drive and motor. Failure to observe this caution may result
in damage, fire or personal injury.
Please observe the following wiring notes while performing wiring and touching any electrical
connections on the servo drive or servo motor.
1. Verify the power supply and wiring of the power terminals (R, S, T, U, V, & W) is correct.
2. Use shielded twisted-pair cables for wiring to prevent voltage coupling and eliminate electrical
noise and interference.
3. Because a residual hazardous voltage may remain inside the drive, do not immediately touch any
of the power terminals (R, S, T, U, V, & W) and/or the cables connected to them after the power
has been turned off and the Charge LED is lit. (Refer to the safety precautions on page 3-1.)
4. The cables connected to R, S, T and U, V, W terminals should be placed in separate conduits from
the encoder or other signal cables. Separate them by at least 12 inches (30cm).
5. The encoder cable should use a twisted-shield signal wire with grounding conductor. The wire
length should be 65.62ft. (20m) or less. For lengths greater than 65.62ft. (20m), the wire gauge
should be doubled in order to lessen any signal attenuation.
6. The motor power cable should use 600V PTFE wire and the wire length should be less than 98.4ft.
(30m). If the wiring distance is longer than 98.4ft. (30m), choose adequate wire size according to
the voltage.
7. The shield of shielded twisted-pair cables should be connected to the ground (terminal marked )
of the servo drive.
8. For connector and cable specifications, refer to 3.1.6 Encoder Connector Specifications on page
3-7.
3
3.1.4 Wiring Methods

For servo drives from 100W to 1.0KW the input power can be either single or three-phase. For servo
drives 2kW and above only three-phase connections are available.
In the following wiring diagram figures:
Power ON: contact a (normally open)
Power OFF or Alarm Processing: contact b (normally closed)
1MC/x: coil of electromagnetic contactor
1MC/a: self-holding power
1MC: contact of main circuit power
Single-Phase Power Supply Connection
Three-Phase Power Supply Connection

3
3.1.5 Motor Power Cable Connector Specifications

Servo Drive Motor Part Number Terminal
U, V, W / Electromagnetic Brake Connector
Power Rating Description Id.
100W IC800VMM01LNKSE25
No Brake
400W IC800VMM04LNKSE25 A
200W IC800VMM02LBKSE25
Brake
B
IC800VMM10LNKSE25
1kW
IC800VMM10LBKSE25
C
With or Without Brake
IC800VMM20LNKSE25
2kW
IC800VMM20LBKSE25
3106A-20-18S
IC800VMM30LNKSE25
3kW D
IC800VMM30LBKSE25
3106A-24-11S
Terminal
U V W CASE GROUND BRAKE1 BRAKE2
Identification
A 1 2 3 4 - -
B 1 2 4 5 3 6
C F I B E G H
D D E F G A B
Note: The brake coil has no polarity. The terminal identification names are BRAKE1 and BRAKE2.
The power supply for the brake is 24 VDC. Never use it for VDD, the +24V source voltage.
3
3.1.6 Encoder Connector Specifications

Terminal
Servo Drive Capacity Motor Model Name Encoder Connector Identific
ation
200W
200W IC800VMM02LNKSE IC800VMM02LNKSE25
25 IC800VMM02LBKSE25 IC800VMM02LBKSE25
200W
400W
400W IC800VMM04LNKSE IC800VMM04LNKSE25 A
400W
750W
750W IC800VMM07LNKSE IC800VMM07LNKSE25
750W HOUSING: AMP (1-172161-9)
IC800VMM10LNKSE25
1kW
IC800VMM10LBKSE25
2kW
2kW IC800VMM20LNKSE2 IC800VMM20LNKSE25
B
2kW
3kW
3kW IC800VMM30LNKSE2 IC800VMM30LNKSE25
3kW 20-29 17-#16
Terminal
Identification BRAID
AMP (1- A /A B /B Z /Z +5V GND
SHELD
172161-9)
A 1 4 2 5 3 6 7 8 9
Terminal
Identification BRAID
A /A B /B Z /Z +5V GND
3106A-20- SHELD
29S
B A B C D F G S R L

3
3.1.7 Cable Specifications Power Cable
Power Cable
The following table lists recommended wire gauges for power cables of 30m (98.4ft.) or less.
Power Cable - Wire Gauge AWG (mm2)
Servo Drive
L1, L2 R, S, T U, V, W P, C
IC800VMA012 AWG16 (1.31) AWG14 (2) AWG14 (2) AWG14 (2)
IC800VMA302 AWG16 (1.31) AWG12 (3.31) AWG12 (3.31) AWG14 (2)
Encoder Cable
The following table lists recommended wire gauges for encoder cables of 20m (65.62ft) or less. For
lengths greater than 20m (65.62ft.), the wire gauge should be doubled to avoid signal attenuation.
Encoder Cable - Wire Gauge AWG (mm2)
Servo Drive
Wire Size Core Number UL Rating
IC800VMA012 AWG26 (0.13) 10 core (4 pair) UL2464
Notes:
1) Please use shielded twisted-pair cables for wiring to prevent voltage coupling and eliminate
electrical noise and interference.
2) The shield of shielded twisted-pair cables should be connected to the ground terminal (marked
) of the servo drive.
3
3.2 Basic Wiring

3.2.1 Basic Wiring Schematic of 100W 1.0kW Models

3
3.2.2 Basic Wiring Schematic of 2kW 3kW Models
3
3.3 Input/Output Interface Connector CN1

The CN1 Interface Connector provides access to three signal groups:
General interface for the analog speed and torque command, encoder reference signal
from the motor, pulse / direction inputs, and reference voltages.
Eight programmable Digital Inputs (DI), can be set using parameters P2-10 P2-17
Five programmable Digital Outputs (DO), can be set using parameters P2-18 P2-22
A detailed explanation of each group is provided in 3.3.3 CN1 Signal Description on page 3-13
3.3.1 CN1 Terminal Identification

3
3.3.2 CN1 Terminal Signal Identification
1 DO4+ Digital 26 DO4- Digital

2 DO3- Digital output 27 DO5- Digital output
output output
3 DO3+ Digital 28 DO5+ Digital
4 DO2- Digital output 29 NC NC output
output
5 DO2+ Digital 31 DI7- Digital 30 DI8- Digital
6 DO1- Digital output input input
output
7 DO1+ Digital 33 DI5- Digital 32 DI6- Digital
8 DI4- Digital output input input
input
9 DI1- Digital 35 PULL Pulse 34 DI3- Digital
10 DI2- Digital input HI applied input
input power
11 COM+ Power 36 /SIGN Position
12 GND Analog input SIGN Position sign (+)
37
input (12 sign (-)
signal 38 NC NC
24V) NC NC
ground 39
GND Analog 40 NC NC
13
14 NC NC input 41 PULSE Pulse
input (-) 42 V_REF Analog
MON1 Analog signal speed
16
monitor ground 43 /PULSE Pulse input (+)
output 1 15 MON2 Analog input (+)
44 GND Analog
T_REF Analog monitor 45 COM- VDD(24V) input
18
torque output 2 power signal
Input 17 VDD +24V ground ground
VCC +12V power 47 COM- VDD(24V) NC NC
20 46
power output (for power
output (for external ground 48 OCZ Encoder
analog I/O) COM- VDD(24V) Z pulse
49
command) 19 GND Analog power Open-coll
input ground ector
22 /OA Encoder
signal output
/A pulse
output ground 50 OZ Encoder
21 OA Encoder Z pulse
24 /OZ Encoder
A pulse Line-drive
/Z pulse
output r output
output
23 /OB Encoder
/B pulse
output
25 OB Encoder
B pulse
output
CAUTION
The terminals marked NC (No Connection) must be left unconnected. The NC
terminals are used within the servo drive. Any outside connection to the NC
terminals will result in damage to the drive.
3
3.3.3 CN1 Signal Description

The tables in this section detail the three groups of signals on the CN1 connector: General Signals,
Digital Output (DO) signals and Digital Input (DI) signals. The General Signals are set by the factory
and cannot be changed, reprogrammed or adjusted. The Digital Input and Digital Output signals can be
programmed by the users.
General Signals (non-configurable)

For wiring diagrams, see 3.3.5 Wiring Diagrams of I/O Signals (CN1) on page 3-29.
Pin Wiring
Signal Details
No. Diagram
Analog V_REF 42 Motor speed command: -10V to +10V. Corresponds to C1
Signal the maximum speed programmed. P1-55 Maximum
INPUT Speed Limit (Factory default 3000 RPM).
T_REF 18 Motor torque command: -10V to +10V. Corresponds to - C1
100% to +100% rated torque command.
Analog MON1 16 The MON1 and MON2 can be assigned drive and motor C2
Monitor parameters that can be monitored via an analogue
OUTPUT voltage.
MON2 15 Please refer to parameter P0-03 for monitoring
commands and P1-04 / P1-05 for scaling factors.
Output voltage is reference to the power ground.
Position PULSE (A) 41 The drive can accept two types of pulse inputs: Open C3/C4
Pulse /PULSE (/A) 43 Collector and Line Driver.
INPUT Three different pulse commands can be selected via
SIGN (B) 37
parameter P1-00: Quadrature, CW + CCW pulse, and
/SIGN (/B) 36 Pulse/Direction.
PULL HI 35 If an Open Collector type of pulse is used, this terminal C3
must be pulled high to pin 17.
Position OA 21 The motor encoder signals are available through these C11/C12
Pulse /OA 22 terminals. The encoder output pulse count can be set
OUTPUT using parameter P1-46.
OB 25
/OB 23
OZ 50
/OZ 24
Power VDD 17 VDD is the +24V source voltage provided by the drive. -
Maximum permissible current 500mA.
COM+ 11 COM+ is the common voltage rail of the Digital Input and
COM- 45 Digital Output signals. Connect VDD to COM+ for source
mode. For external applied power sink mode (+12V to
47 +24V), the positive terminal should be connected to
49 COM+ and the negative to COM-.

3
Pin Wiring
Signal Details
No. Diagram
Power VCC 20 VCC is a +12V power rail provided by the drive. It can be -
used for the input on an analog speed or torque
command. Maximum permissible current 100mA.
GND 12,13, The polarity of VCC is with respect to Ground (GND).
19,44
Other NC 14,29, See previous note for NC terminals CN1 connector on -
38,39, page 3-12.
40,46,
48
Caution
Any outside connection to the NC terminals will result in damage to the drive.
Configurable Signals
The Digital Inputs (DI) and Digital Outputs (DO) have factory default settings that correspond to the
servo drive control modes, which are listed in chapter 1. However, both the DI and DO signals can be
configured independently to meet the requirements of the application.
The factory default settings of the DI and DO signals are listed in on pages 3-22 and 3-25.
The DI and DO signals and their corresponding pin numbers are factory set and cannot be changed.
However, the assigned signals and control modes are user configurable. For example, the factory
default function of DO5 (pins 28/27) can be assigned to DO1 (pins 7/6) and vice versa.
Digital Output (DO) Signals

Functions of the digital outputs DO1 through DO5 can be selected using parameters P2-18 through
P2-22. For information on setting these parameters, refer to Output Function Definitions in chapter 7.
CN1 Pin
DO DO Assigned No. Associated Wiring
Signal Parameter Control (Default) Details
Parameters Diagram
Name Value Mode
+ -
SRDY 01 ALL 7 6 Servo Ready (SRDY) is P2-51 C5/C6/C7/C8
activated when the servo
drive is ready to run. All
fault and alarm
conditions, if present,
have been cleared.
SON 02 - - Servo On (SON) is C5/C6/C7/C8
Not activated when control
assigned power is applied to the
servo drive.
3
CN1 Pin
Parameters Diagram
Name Value Mode
+ -
ZSPD 03 ALL 5 4 Zero Speed (ZSPD) is P1-38 C5/C6/C7/C8
activated when the drive
senses the motor speed
is equal to or below the
Zero Speed Range as
defined in parameter P1-
38. For example, at the
factory default setting,
ZSPD will be activated
when the drive detects
the motor rotating at or
below 10 rpm. ZSPD will
remain active until the
motor speed increases
above 10 RPM.
TSPD 04 ALL 3 2 Target Speed (TSPD) is P1-39. C5/C6/C7/C8
activated once the drive
has detected the motor
has reached the Target
Speed setting as defined
in parameter P1-39.
TSPD will remain active
until the motor speed
drops below the Target
Speed.
TPOS 05 Pt, Pr, Pt- 1 26 When the drive is in Pt P1-54 C5/C6/C7/C8
S, Pt-T, mode, Target Position
Pr-S, Pr-T (TPOS) will be activated
when the position error is
equal to or less than the
value of parameter P1-
54. When the drive is in
Pr mode, TPOS will be
detects that the position
of the motor is in the
range between -P1-54
and +P1-54 of the target
position. For example, at
the factory default
setting, TPOS will
activate when the motor
is within -99 pulses of the
target position, then
deactivate after it
reaches +99 pulses of
the desired position.

3
CN1 Pin
Parameters Diagram
Name Value Mode
+ -
TQL 06 Not - - Torque Limit (TQL) is P1-12 P1- C5/C6/C7/C8
assigned activated when the drive 13 P1-14
has detected that the
motor has reached the
torque limits set by either
the parameters P1-12 to
P1-14 or by an external
analog voltage.
ALRM 07 ALL 28 27 Alarm (ALRM) is C5/C6/C7/C8
has detected a fault
condition. However,
when a Reverse limit
error, Forward limit error,
Emergency stop, Serial
communication error, or
Undervoltage fault
occurs, Warning (WARN)
is activated first.
BRKR 08 ALL 1 26 BRKR is used to control C5/C6/C7/C8
operation of the motor
brake. When BRKR is
ON, the brake is
activated, allowing the
motor to move.
HOME 09 Pt, Pr 3 2 HOME is activated when P1-47 P1- C5/C6/C7/C8
the servo drive has 50 P1-51
detected that the HOME
sensor (Digital Input 24)
is detected and the home
conditions set in
parameters P1-47, P1-50
and P1-51 are satisfied.
OLW 10 ALL - - Output Overload (OLW) P1-56 C5/C6/C7/C8
is activated when the
servo drive detects that
the motor has reached
the output overload level
set by the parameter
P1-56.
3
CN1 Pin
Parameters Diagram
Name Value Mode
+ -
WARN 11 ALL - - Warning output (WARN) C5/C6/C7/C8
is activated when the
drive detects a Reverse
limit error, Forward limit
error, Emergency stop,
Serial communication
error, or an Undervoltage
fault condition.
Notes:
Pins 3 and 2 are assigned to either TSPD or HOME, depending upon control mode selected.
Pins 1 and 26 assigned to either BRKR or TPOS, depending on the control mode selected.
Digital Input (DI) Signals

Functions of the digital inputs DI1 through DI8 can be selected using parameters P2-10 through P2-18.
For information on setting these parameters, refer to Input Function Definitions in chapter 7.
DI CN1 Pin
Control Wiring
DI Signal Parameter No. Details
Mode Diagram
Value (Default)
Servo On. Switch
servo to "Servo
SON 01 ALL 9 C9/C10
Ready". Check
parameter P2-51.
A number of Faults
(Alarms) can be
cleared by activating
ARST. For details,
see Clearing Faults
in chapter 10. The
cause of the fault
ARST 02 ALL 33 C9/C10
should be
investigated if the
Fault does not clear
or the fault
description warrants
closer inspection of
the drive system.
GAINUP 03 ALL - Gain switching C9/C10

3
DI CN1 Pin
Control Wiring
Mode Diagram
Value (Default)
When CCLR is
activated the pulse
number is cleared.
CCLR 04 Pt 10 C9/C10
The Pulse Clear
Mode is determined
by parameter P2-50.
When this signal is
On and the motor
speed value is lower
ZCLAMP 05 ALL - than the value of C9/C10
P1-38, the motor is
locked in the instant
position.
When this signal is
CMDINV 06 Pr, T, S - On, the motor is in C9/C10
reverse rotation.
Internal position
Not
HOLD 07 control command C9/C10
assigned
pause
When the drive is in
Pr mode and CTRG
is activated, the drive
will command the
motor to move to the
stored position that
Pr, Pr-S,
CTRG 08 10 corresponds to the C9/C10
Pr-T
POS 0, POS 1 and
POS 2 settings.
Activation is
triggered on the
rising edge of the
pulse.
ON indicates the
TRQLM 09 S, Sz 10 torque limit C9/C10
command is valid.
ON indicates the
SPDLM 10 T, Tz 10 speed limit command C9/C10
is valid.
3
DI CN1 Pin
Control Wiring
Mode Diagram
Value (Default)
POS0 11 Pr 34 When the Pr Control
POS1 POS1 12 Pr-S, Pr- Mode is selected, the
T Pr-S, Pr- eight stored positions
12 8
T are selected via a
POS1 combination of the
POS 0, POS 1, and C9/C10
POS2 POS2 13 - - POS 2 commands.
For details, see
13 - -
Source of Position
POS2 Command (Pr Mode
Only) on page 3-21.
Select the source of
SPD0 14 S, Sz, 34 C9/C10
speed command.
For details, see
Pt-S, Pr- Source of Speed
SPD1 15 8 C9/C10
S, S-T Command on page
3-22.
torque command.
Pt, T, Tz,
For details, see
TCM0 16 Pt-T, Pr- 34 C9/C10
Source of Torque
T, S-T
Command on page
3-22.
torque command.
Pt, T, Tz,
For details, see
TCM1 17 Pt-T, Pr- 31 C9/C10
Source of Torque
T, S-T
Command on page
3-20.
Speed / Position
Pt-S, Pr-
S-P 18 31 mode switching OFF: C9/C10
S
Speed, ON: Position
Speed / Torque
S-T 19 S-T 31 mode switching OFF: C9/C10
Speed, ON: Torque
Torque / Position
Pt-T, Pr-
T-P 20 31 mode switching OFF: C9/C10
T
Torque, ON: Position
Forward operation
torque limit (Torque
Not
TRLM 26 - limit function is valid C9/C10
assigned
only when P1-02 is
enabled)
When SHOM is
activated, the drive
Not
SHOM 27 - will command the C9/C10
assigned
motor to move to
Home.

3
DI CN1 Pin
Control Wiring
Mode Diagram
Value (Default)
Not Feed step selection
INDEX0 28 - C9/C10
assigned input 0 (bit 0)
INDEX1 29 - C9/C10
INDEX2 30 - C9/C10
INDEX3 31 - C9/C10
INDEX4 32 - C9/C10
Not Feed step mode
MD0 33 - C9/C10
Not Feed step mode
MD1 34 - C9/C10
MDP0 35 Not - Manually continuous C9/C10
assigned operation
MDP1 36 Not - Manually single step C9/C10
assigned operation
JOGU 37 Not - Forward JOG input. C9/C10
assigned When JOGU is
activated, the motor
will JOG in forward
direction. (See
parameter P4-05, in
chapter 7.)
JOGD 38 Not - Reverse JOG input. C9/C10
assigned When JOGD is
will JOG in reverse
direction. (See
parameter P4-05 in
chapter 7.)
STEPU 39 Not - Step up input. When C9/C10
assigned STEPU is activated,
the motor will run to
next position.
STEPD 40 Not - Step down input. C9/C10
assigned When STEPD is
will run to previous
position.
STEPB 41 Not - Step back input. C9/C10
assigned When STEPB is
will return to first
position.
3
DI CN1 Pin
Control Wiring
Mode Diagram
Value (Default)
AUTOR 42 Not - Auto run input. When C9/C10
assigned AUTOR is activated,
the motor will run
automatically
according to internal
position command.
For time interval
setting, please see
the descriptions of
parameters P2-52 to
P259 in chapter 7.
GNUM0 43 Not - Electronic gear ratio C9/C10
assigned (Numerator)
selection 0 [See
descriptions of
parameters P2-60 to
P2-62 in chapter 7.]
GNUM1 44 Not - Electronic gear ratio C9/C10
assigned (Numerator)
selection 1 [See
descriptions of P2-60
to P2-62 in chapter
7.]
INHP 45 Not - Pulse inhibit input. C9/C10
assigned When the drive is in
position mode, if
INHP is activated,
the external pulse
input command is
not valid.
Source of Position Command (Pr Mode Only)

POS2 POS1 POS0 Parameter
OFF OFF OFF P1-15, P1-16
OFF OFF ON P1-17, P1-18
OFF ON OFF P1-19, P1-20
OFF ON ON P1-21, P1-22
ON OFF OFF P1-23, P1-24
ON OFF ON P1-25, P1-26
ON ON OFF P1-27, P1-28
ON ON ON P1-29, P1-30

3
Source of Speed Command

SPD1 SPD0 Parameter
S mode: analog input Sz
OFF OFF
mode: 0
OFF ON P1-09
ON OFF P1-10
ON ON P1-11
Source of Torque Command

TCM1 TCM0 Parameter
T mode: analog input Tz
OFF OFF
mode: 0
OFF ON P1-12
ON OFF P1-13
ON ON P1-14
The default DI and DO signals used for different control modes are listed in the tables on pages 3-22
and 3-25.
Default Digital Input (DI) Signals for Each Control Mode

DI
Pt- Pt- Pr- Pr-
Signal Parameter Function Pt Pr S T Sz Tz ST
S T S T
Value
SON 01 Servo On DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1
ARST 02 Reset DI5 DI5 DI5 DI5 DI5 DI5
Gain switching in
GAINUP 03 speed and position
mode
Pulse clear (See P2-
CCLR 04 DI2 DI2 DI2
50 in chapter 7.)
ZCLAMP 05 Low speed CLAMP
Command input
CMDINV 06
reverse control
Internal position
HOLD 07 control command
pause
Command triggered
CTRG 08 (available in P mode DI2 DI2 DI2
only)
TRQLM 09 Torque limit enabled DI2 DI2
SPDLM 10 Speed limit enabled DI2 DI2
Position command
POS0 11 DI3 DI3 DI3
selection (1 8)
Position command
POS1 12 DI4 DI4 DI4
selection (1 8)
3
DI
Pt- Pt- Pr- Pr-
S T S T
Value
Position command
POS2 13
selection (1 8)
Speed command
SPD0 14 DI3 DI3 DI3 DI5 DI3
selection (1 4)
Speed command
SPD1 15 DI4 DI4 DI4 DI6 DI4
selection (1 4)
Torque command
TCM0 16 DI3 DI3 DI3 DI3 DI5 DI5
selection (1 4)
Torque command
TCM1 17 DI4 DI4 DI4 DI4 DI6 DI6
selection (1 4)
Position / Speed
mode switching (OFF:
S-P 18 DI7 DI7
Speed,
ON: Position)
Speed / Torque mode
S-T 19 switching (OFF: DI7
Speed, ON: Torque)
Torque / Position
T-P 20 mode switching (OFF: DI7 DI7
Torque, ON: Position)
Emergency stop
EMGS 21 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8
(Normally Closed)
Reverse inhibit limit
CWL 22 DI6 DI6 DI6 DI6 DI6 DI6
(Normally Closed)
Forward inhibit limit
CCWL 23 DI7 DI7 DI7 DI7 DI7 DI7
(Normally Closed)
Reference Home
ORGP 24
sensor
Reverse operation
torque limit (torque
TLLM 25 limit function is valid
only when P1-02 is
enabled)
Forward operation
torque limit (torque
TRLM 26 limit function is valid
only when P1-02 is
enabled)
SHOM 27 Move to Home
Feed step selection
INDEX0 28
input 0 (bit 0)
Feed step selection
INDEX1 29
input 1 (bit 1)
Feed step selection
INDEX2 30
input 2 (bit 2)
Feed step selection
INDEX3 31
input 3 (bit 3)
Feed step selection
INDEX4 32
input 4 (bit 4)

3
DI
Pt- Pt- Pr- Pr-
S T S T
Value
Feed step mode input
MD0 33
0
Feed step mode input
MD1 34
1
Manually continuous
MDP0 35
operation
Manually single step
MDP1 36
operation
JOGU 37 Forward JOG input
JOGD 38 Reverse JOG input
Step up input
STEPU 39 (available in Pr mode
only)
Step down input
STEPD 40 (available in Pr mode
only)
Step back input.
(available in internal
STEPB 41
auto running mode
only)
AUTOR 42 Auto run input
Electronic gear ratio
(Numerator) selection
GNUM0 43
0 [See P2-60 P2-
62 in chapter 7.]
Electronic gear ratio
(Numerator) selection
GNUM1 44
1 [See P2-60 P2-
62 in chapter 7.]
INHP 45 Pulse inhibit input
Note: For pin numbers of DI1 to DI8 signals, refer to 3.3.2 CN1 Terminal Signal Identification on
page 3-12.
3
Default Digital Output (DO) Signals for Each Control Mode

DO
Signal Parameter Function Pt Pr S T Sz Tz Pt-S Pt-T Pr-S Pr-T S-T
Value
SRDY 01 Servo ready DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1
SON 02 Servo On
ZSPD 03 Zero speed DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2
TSPD 04 Speed reached DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3
Positioning
TPOS 05 DO4 DO4 DO4 DO4 DO4 DO4 DO4
completed
Reached torque
TQL 06
limits
Servo alarm
ALRM 07 output (Servo DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5
fault)
Electromagnetic
BRKR 08 DO4 DO4 DO4 DO4
brake
Home
HOME 09 DO3 DO3
completed
Output overload
OLW 10
warning
Servo warning
WARN 11
output
Note: For Pin numbers of DO1 to DO5 signals, refer to 3.3.2 CN1 Terminal Signal Identification on
page 3-12.

3
3.3.4 User-defined DI and DO Signals

The default DI and DO signals assignments can be changed using parameters P2-10 to P2-17 and P2-
18 to P2-22.
User-defined DI and DO signals

Signal Name Pin No. Parameter Signal Name Pin No. Parameter
DI1 9 P2-10 DO1+ 7
P2-18
DI2 10 P2-11 DO1 6
DI3 34 P2-12 DO2+ 5
P2-19
DI4 8 P2-13 DO2 4
DI
DI5 33 P2-14 DO3+ 3
DO P2-20
DI6 32 P2-15 DO3 2
DI7 31 P2-16 DO4+ 1
P2-21
DI8 30 P2-17 DO4 26
DO5+ 28
P2-22
DO5 27
Setting Parameters P2-10 to P2-17

DI
Parameter Signal Description
Value
00 Disable Input function disabled
01 SON Servo On
02 ARST Reset
03 GAINUP Gain switching in speed and position mode
04 CCLR Pulse clear (see P2-50 in chapter 7)
05 ZCLAMP Low speed CLAMP
06 CMDINV Command input reverse control
07 HOLD Internal position control command pause
08 CTRG Command triggered (available in Pr mode only)
09 TRQLM Torque limit enabled
10 SPDLM Speed limit enabled
11 POS0 Position command selection (1 8)
12 POS1 Position command selection 1 8)
13 POS2 Position command selection 1 8)
14 SPD0 Speed command selection (1 4)
15 SPD1 Speed command selection (1 4)
16 TCM0 Torque command selection (1 4)
3
DI
Value
17 TCM1 Torque command selection (1 4)
18 S-P Position / Speed mode switching (OFF: Speed, ON: Position)
19 S-T Speed / Torque mode switching (OFF: Speed, ON: Torque)
20 T-P Torque / Position mode switching (OFF: Torque, ON: Position)
21 EMGS Emergency stop (Normally Closed)
22 CWL Reverse inhibit limit (Normally Closed)
23 CCWL Forward inhibit limit (Normally Closed)
24 ORGP Reference Home sensor
Reverse operation torque limit (Torque limit function is valid only
25 TLLM
when P1-02 is enabled)
Forward operation torque limit (Torque limit function is valid only
26 TRLM
when P1-02 is enabled)
27 SHOM Move to Home
28 INDEX0 Feed step selection input 0 (bit 0)
33 MD0 Feed step mode input 0
34 MD1 Feed step mode input 1
35 MDP0 Manually continuous operation
36 MDP1 Manually single step operation
37 JOGU Forward JOG input
38 JOGD Reverse JOG input
39 STEPU Step up input (available in Pr mode only)
40 STEPD Step down input (available in Pr mode only)
41 STEPB Step back input. (Available in internal auto running mode only.)
42 AUTOR Auto run input
Electronic gear ratio (Numerator) selection 0 [See P2-60 P2-62
43 GNUM0
in chapter 7.]
Electronic gear ratio (Numerator) selection 1 [See P2-60 P2-62
44 GNUM1
in chapter 7.]
45 INHP Pulse inhibit input
DI Signal Example
To assign the servo on (SON) signal to DI1, set parameter P2-10 to a value of 101 (refer to chapter 7).

3
Setting Parameters P2-18 to P2-22

DO
Value
00 Disabled Output function disabled
01 SRDY Servo ready
02 SON Servo On
03 ZSPD Zero speed
04 TSPD Speed reached
05 TPOS Positioning completed
06 TQL Reached torque limits
07 ALRM Servo alarm output (Servo fault)
08 BRKR Electromagnetic brake
09 HOME Home completed
10 OLW Output overload warning
11 WARN Servo warning output
DO Signal Example
To assign the servo ready (SRDY) function to DO1, set parameter P2-18 to a value of 101.
3
3.3.5 Wiring Diagrams of I/O Signals (CN1)

The voltage range of the analog input command for speed and torque control mode is -10V to +10V.
C1: Speed / Torque analog signal input C2: Analog monitor output (MON1, MON2)
There are two kinds of pulse inputs, line driver input and open-collector input. The maximum input
pulse frequency of a line driver input is 500kpps and maximum input pulse frequency of an open-
collector input is 200kpps.
C3-1: Pulse input, for the use of internal power C3-2: Pulse input, for the use of external power
supply (Open-collector input) supply (Open-collector input)

3
Caution
Do not use dual power supply. Failure to observe this caution may result in
damage to the servo drive and servo motor.
C4: Pulse input (Line driver)
Caution
Because this
photocoupler is a
unidirectional
optocoupler,
please pay close
attention on the
current direction
of input pulse
command.
Connect a diode when the drive is applied to an inductive load.

(Continuous maximum current: 40mA, Instantaneous peak current: max. 100mA)
C5: Wiring of DO signal, for the use of internal C6: Wiring of DO signal, for the use of internal
power supply, general load power supply, inductive load
Servo Drive Servo Drive
Ensure the polarity(+,-)
DC24V DC24V of Diode is correct or it
VDD may damage the drive.
VDD
17
DOX: (DOX+, DOX-) 17
DOX: (DOX+, DOX-) X=1,2,3,4,5
X=1,2,3,4,5
DO1: ( 7, 6)
DO1: ( 7, 6) R DO2: ( 5, 4)
DO2: ( 5, 4) DO3: ( 3, 2)
DO3: ( 3, 2) DO4: ( 1, 26)
DO4: ( 1, 26) DO5: (28, 27)
DO5: (28, 27)
DOX-
DOX-
COM- COM-
45 45
3
C7: Wiring of DO signal, for the use of external C8: Wiring of DO signal, for the use of external
power supply, general load power supply, inductive load
Servo Drive Servo Drive
DOX: (DOX+, DOX-) DOX: (DOX+, DOX-)
X=1,2,3,4,5 Do not connect X=1,2,3,4,5 Do not connect
VDD-COM+ VDD-COM+
DO1: ( 7, 6) DO1: ( 7, 6)
DO2: ( 5, 4) DO2: ( 5, 4)
DO3: ( 3, 2) DO3: ( 3, 2)
DO4: ( 1, 26) DO4: ( 1, 26) DC24V
DO5: (28, 27) DO5: (28, 27)
DC24V R
DC24V
50mA
DOX-
DOX- Ensure the polarity (+, -)

of the Diode is correct or
it may damage the drive.
X=1,2,3,4,5
Use a relay or open-collector transistor to input signal.

C9: Wiring of DI signal, for the use of internal C10: Wiring of DI signal, for the use of external
power supply power supply
Servo Drive
DC24V
VDD 17
R: Approx.
11 4.7K
COM+
Approx. 5mA
for a transistor SON 9
45
TR
COM-
Vces < 1.0V
=
Iceo <
= 100uA
Caution
Do not use dual power supply. Failure to observe this caution may result in
damage to the servo drive and servo motor.

3
C11: Encoder output signal (Line driver) C12: Encoder output signal (Photocoupler)
3
3.4 Encoder Connector CN2

The servo motor contains an integrated incremental encoder that provides 2,500 pulses per revolution
(PPR) and a commutation signal. Within approximately 500msec after power is applied to the servo
drive, control algorithms detect the motor's rotor position through imbedded sensors in the motor.
After the rotor position has been detected, the amplifier automatically switches to using the encoder for
commutation control.
The 2500 PPR encoder output is multiplied to 10000PPR by X4 logic for increased control resolution.
3.4.1 Layout of CN2 Encoder Connector
3.4.2 CN2 Terminal Signal Identification

CN2 100W to 1KW to 3KW
Terminal
Pin Signal Name 750W Motor Motor Pin No. Description
Identification
No. Pin No.
Encoder /Z phase
2 /Z phase input /Z A6 G
output
Encoder /A phase
4 /A phase input /A A2 B
output
Encoder A phase
5 A phase input A A1 A
output
Encoder B phase
7 B phase input B A3 C
output
Encoder /B phase
9 /B phase input /B A4 D
output
Encoder Z phase
10 Z phase input Z A5 F
output
14, 16 Encoder power +5V A7 S Encoder 5V power
13, 15 Encoder power GND A8 R Grounding

3
3.5 Serial Communication Connector CN3

3.5.1 CN3 Terminal Layout and Identification
The servo drive can be connected to a PC or host controller via a serial communication cable
connected to CN2. You can operate the servo drive using the VersaMotion Configuration Software. The
communication connector/port of the servo drive provides three serial communication interfaces: RS-
232, RS-485, and RS-422 connection. RS-232 is the most common interface used, but is somewhat
limited. The maximum cable length for an RS-232 connection is 15 meters (50 feet). An RS-485
interface allows longer cable distances and supports multidrop, which allows multiple drives to be
connected simultaneously. However, an adapter is required for converting current and voltage when
using RS-485 interface.
Layout of CN3 Drive Connector
CN3 Terminal Signal Identification

CN3
Terminal
Pin Description
Identification
No.
1 GND Ground
2 RS-232-TX Servo drive data transmit. Connected to the RS-232 interface of the
PC.
3 RS-422-RX+ Servo drive data receive (differential line driver + end).
4 RS-232_RX Servo drive data receive. Connected to the RS-232 interface of PC.
RS-422_RX- Servo drive data receive (differential line driver - end).
5 RS-422-TX+ Servo drive data transmit (differential line driver + end).
6 RS-422-TX- Servo drive data transmit (differential line driver - end).
Note: For RS-485 connections, refer to Chapter 8.
3
3.5.2 Connection between PC and Serial Connector CN3

3
3.6 Standard Connection Example

3.6.1 Position (Pt) Control Mode
Note: For line driver pulse input, refer to the C4 wiring diagram on page 3-30. For open-collector
input, refer to the C3 wiring diagram on page 3-29.
3
3.6.2 Position (Pr) Control Modes

3
3.6.3 Speed Control Modes
3
3.6.4 Torque Control Modes

Chapter Display and Operation
4
This chapter describes the basic operation of the digital keypad and the features it offers.
Page
4.1 Description of the Digital Keypad ......................................................................................4-2
4.2 Display Flowchart..............................................................................................................4-3
4.3 Status Display ...................................................................................................................4-4
4.4 General Function Operation..............................................................................................4-8
GFK-2480A 4-1
4
4.1 Description of the Digital Keypad

The digital keypad includes the display panel and function keys.
Mode key Set key
Shift key
Up arrow key
Charge LED
Down arrow key
Digital Keypad Functions

Name Function
The LCD Display (5-digit, 7-step display panel) shows the monitor codes,
LCD Display
parameter settings and operation values of the AC servo drive.
Charge LED The Charge LED lights to indicate the power is applied to the circuit.
MODE Key. Pressing MODE key can enter or exit different parameter groups, and
switch between Monitor mode and Parameter mode.
SHIFT Key. Pressing SHIFT key scroll through parameter groups. After a
parameter is selected and its value displayed, pressing SHIFT key can move the
cursor to the left and then change parameter settings (blinking digits) by using
arrow keys.
UP and DOWN arrow Key. Pressing the UP and DOWN arrow key can scroll
through and change monitor codes, parameter groups and various parameter
settings.
SET Key. Pressing the SET key can display and save the parameter groups and
the various parameter settings. During diagnostic operation, pressing SET key can
execute the function in the last step. (The parameter settings changes are not
effective until the SET key is pressed.)
4
4.2 Display Flowchart
Keypad Operation
1. When the power is applied to the servo drive, the LCD display will show the monitor function codes
for approximately one second, then enter into the monitor mode.
2. In monitor mode, pressing UP or DOWN arrow key can switch monitor parameter code. At this
time, monitor display symbol will display for approximately one second.
3. In monitor mode, pressing the MODE key enters the parameter mode. Pressing the SHIFT key
switches the parameter groups (P0 to P4) and pressing the UP or DOWN arrow keys changes the
parameter codes within a group.
4. In parameter mode, the system enters the setting mode immediately after the Set key is pressed.
The LCD display will display the current value of the selected parameter. At this point, you can use
the UP or DOWN arrow key to change the parameter value or press Mode to exit the setting mode
and return to the parameter mode.
5. In parameter setting mode, the users can move the cursor to left by pressing the SHIFT key and
changing the selected digit (blinking) by pressing the UP or DOWN arrow key.
6. After the parameter value change is completed, press the SET key to save parameter settings or
execute the command (if applicable).
7. When parameter setting is completed, the LCD display will show the code -END- and
automatically return to the parameter mode.
GFK-2480A Display and Operation 4-3

4
4.3 Status Display

4.3.1 Save Setting Display
After the SET key is pressed, the LCD display will show the following display messages for
approximately one second, depending on the drive status.
Display Message Description
The setting value is saved correctly.
This parameter is read only. (Write-protected and cannot be

changed.)
Invalid password or no password was input.
The setting value is invalid.
The servo system is running and parameter values cannot be

changed.
This parameter will not be stored in EEPROM (volatile

parameter).
This parameter change will only be valid after cycling power on

the drive.
4.3.2 Abort Setting Display

In parameter mode, pressing the MODE key will abort
parameter changes and return to monitor mode. In parameter
setting mode, pressing the MODE key will return the drive to
parameter mode. After returning to parameter mode, pressing
the MODE key again will abort any parameter setting changes.
4.3.3 Fault Message Display

When the servo drive has a fault, the LCD display will display
ALEnn. ALE indicates the alarm and nn indicates the fault
code. The display range of alarm code nn is 1 to 23. For a list
of drive fault codes, refer to Chapter 10, Troubleshooting.
4
4.3.4 Polarity Setting Display

Positive value display. In parameter setting mode, pressing the UP
or DOWN arrow key will increase or decrease the display value. The
SHIFT key is used to select the digit you wish to edit. (The selected
digit will blink.)
Negative value display. When the selected parameter is greater than
four digits, the lit decimal points are used to indicate a negative
value.
To indicate a negative value, first set the display value, and then
continuously press the SHIFT key until all the decimal points are lit.
Negative value display. When the selected parameter is less than
five digits, first set the display value, and then continuously press
SHIFT key until the negative sign appears.
4.3.5 Monitor Setting Display

When power is applied to the AC servo drive, the LCD display will show the monitor function codes for
approximately one second and then enter the monitor mode. In monitor mode, in order to change the
monitor status, you can press the UP or DOWN arrow keys or change parameter P0-02 directly to
specify the desired monitor status. When power is applied, the monitor status depends on the value of
P0-02. For example, if the value of P0-02 is 2 when the power is applied, the monitor function will be
Pulse counts of the pulse command, the C.P monitor codes will appear first and then the pulse number
will appear.
P0-02
Display Message Description Unit
Setting
Motor feedback pulse number (Absolute

0 pulse
value)
Motor feedback rotation number

1 rev
(Absolute value)
2 Pulse counts of the pulse command pulse
3 Rotation number of the pulse command rev
4 Position error counts pulse
5 Input frequency of the pulse command rpm

4
P0-02
Display Message Description Unit
Setting
6 Motor speed rpm
7 Speed command input volt
8 Speed command input rpm
9 Torque command input volt
10 Torque command input N-m
11 Average load %
12 Peak load %
13 Main circuit voltage volt
14 Ratio of load inertia to Motor inertia times
Motor feedback pulses (Relative value) /

15 pulse
Position latch pulse number
Motor feedback rotation (Relative value)

16 rev
/ Position latch rotation number
4
The following table lists the display examples of monitor value:

Positive value display. No positive sign is displayed to
indicate it is a positive value.
Display value: +1234.
Negative value display (less than five decimal places). The
negative sign is displayed to indicate a negative value.
Display value: -1234.
Negative value display (more than four decimal places). The
lit decimal points are used to indicate a negative value.
Display value: -12345.
Decimal value display.
Display value: 12.34.

4
4.4 General Function Operation

4.4.1 Fault Code Display Operation
After entering the parameter mode P4-00 to P4-04 (Fault Record), press the SET key to display the
corresponding fault code history for the selected parameter. Once in the fault code history display (H1
to H5), press the UP arrow key to display the fault code of H1 to H5 in order. H1 indicates the most
recent fault code; H2 is the fault code that occurred before H1 and so on.
Fault Code Display Example

In this example, the most recently occurred error code is 10.
4
4.4.2 Jog Operation

After entering parameter mode P4-05, the following steps can be used to perform a JOG operation.
1. Press the SET key to display the JOG rpm speed. (The default value is 20 r/min).
2. Press the UP or DOWN arrow keys to increase or decrease the desired JOG speed. The speed
can also be changed by using the SHIFT key to move the cursor to the desired digit (the selected
number will blink) then using the UP and DOWN arrow keys to change the value.
3. Press the SET key when the desired JOG speed is set. The Servo Drive will display "JOG".
4. Press the UP or DOWN arrow keys to jog the motor either CCW or CW. The motor will only rotate
while the arrow key is activated and will stop when the key is released.
5. To change the JOG speed again, press the MODE key. The servo Drive will display P4-05. Repeat
the process from step 1.
Note: JOG operation is effective only when Servo On (when the servo drive is enabled).
Jog Operation Example

The sample display shown in the following figure is adjusted to 100rpm.

4
4.4.3 Position Learning Operation

Use the following steps to perform the position learning operation. Also refer to the example on
page 4-11.
1. Activate the internal position learning function. (Set P2-30 to 4.)
2. Select parameter P4-05 and press the Set key. The LCD display will show the jog speed that will
be used to move the motor to the desired position. The default value is 20 r/min.
3. Press the UP or DOWN arrow key to set the desired moving speed value. In the example, the value
is adjusted to 10 r/min.
4. Press the Set key then JOG o1 will display and the amplifier will enter the position learning mode.
5. While in the position learning mode (display JOGox), pressing the UP or DOWN arrow key will
rotate the Servo motor in forward or reverse direction. The servo motor will immediately stop
running if the UP or DOWN arrow key is released. This operation is available only when the Servo
system is On (Servo On active).
6. After the motor is moved to the desired position, press the Set key. The display JOGo1 will change
to JOGo2 and the absolute position of the servo motor will be stored in memory for the internal
position 01 in parameters P1-15 (rotation numbers) and P1-16 (pulses).
7. In the position learning mode (display JOGox), pressing the Shift key will directly change the x
value of the display JOGox, allowing a quick selection of the particular position to be learned.
8. Repeat this process for each of the eight internal positions you wish to teach.
4
Position Learning Example
The learning position and stored internal positions are listed below:
Learning Position Stored Internal Position

JOGo1 P1-15 (Position rotation number), P1-16 (Position pulse number)

4
4.4.4 Forcing Digital Outputs

For testing, the digital outputs can be forced to be forced (ON or OFF) by using parameter P4-06.
Follow themethod in the following figure to enter the force output diagnostic mode (OP xx where xx
indicates the parameter range from 00 to 1F). Pressing the UP or DOWN arrow key will change the xx
value from 00 to 1F (hexadecimal format) and force digital outputs DO1 to DO5 to be activated (ON) or
inactivated (OFF). The DO function and status are determined by parameters P2-18 to P2-22. This
function is enabled only when the servo drive is disabled (Servo Off).
Force Outputs Diagnostics Mode
Force DO0 ON
Force DO1 ON
Force DO2 ON
Force DO3 ON
Force DO4 ON
Force DO5 ON
4
4.4.5 Digital Input (DI) Diagnostics Mode

The VersaMotion digital amplifier can display the state of the eight digital inputs to facilitate machine
diagnostics and setup.
1. Select parameter P4-07 and press the Set key.
2. The drive display will indicate the ON/OFF state of DI1 to DI8 according to the following diagram.
When a segment is lit, the corresponding digital input is ON.
DI Diagnostics Mode

4
4.4.6 Digital Output (DO) Diagnostic Mode

The VersaMotion digital amplifier can display the state of the five digital outputs to facilitate machine
diagnostics and setup.
1. Select parameter P4-09 and press the Set key.
2. The drive display will indicate the ON/OFF state of DO1 to DO5 according to the following diagram.
When a segment is lit, the corresponding digital input is ON.
DO Diagnostics Mode
Chapter Trial Run and Tuning Procedure
5
This chapter describes how to perform a trial run and tuning for the servo drive and motor.
A trial run without load should be completed first. After the servo motor is running normally without a
load, then perform the tuning procedure with a load.
Page
5.1 Trial Run Without Load 5-2
5.2 Tuning Procedure 5-15
Warning
Do not approach or touch any rotating parts while the motor is running. Failure
to observe this precaution may cause serious personal injury.
Warning
The initial trial run for servo motor should be conducted under no load
conditions (separate the motor from its couplings and belts). Do not operate the
servo motor while it is connected to its mechanical system. Connecting the
motor to its mechanical system may cause damage or result in personal injury
during the trial run. Connect the servo motor only after it has successfully
completed a trial run.
Warning
Do not touch the drive heat sink or the motor during operation as they may
become hot and personal injury may result.
Caution
Frequent power cycling of the drive is not recommended. Do not turn the drive
off and on more than once per minute because high currents within the internal
capacitors may cause damage.
GFK-2480A 5-1
5
5.1 Trial Run without a Load

5.1.1 Inspection without a Load
To prevent accidents and avoid damaging the servo drive and mechanical system, the trial run should
be performed under No Load conditions (with no load connected, including disconnecting all couplings
and belts). Do not run the servo motor for the first time while it is connected to a load or a mechanical
system because damage to the mechanical system or personnel injury may occur. Once it is
determined that the servo motor runs correctly when it is not connected to a load, you can run the servo
motor with the load and the mechanical system connected.
Warning
To prevent accidents, the initial trial run for servo motor should be conducted
under No Load conditions (separate the motor from its couplings and belts).
It is recommended that you perform a trial run without a load first and then a
perform trial run with a load connected. After the servo motor is running
normally without a load, run the servo motor with a load connected.
After power is connected to the servo drive, the charge LED will light, indicating that the drive is ready.
Before the trial run, check the items listed on page 5-3.
5
Inspection before operation (Control power is not applied)

Inspect the servo drive and servo motor to insure they are not damaged.
To avoid an electric shock, be sure to connect the ground terminal of servo drive to the ground
terminal of control panel.
Before making any connection, wait 10 minutes for capacitors to discharge after the power is
disconnected, alternatively, use an appropriate discharge device to discharge.
Ensure that all wiring terminals are correctly insulated.
Ensure that all wiring is correct or damage and or malfunction may result.
Visually check to ensure that there are not any unused screws, metal strips, or any conductive or
inflammable materials inside the drive.
Never put inflammable objects on the servo drive or close to the external regenerative resistor.
Make sure control switch is OFF.
If the electromagnetic brake is to be used, ensure that it is correctly wired.
If required, use an appropriate electrical filter to eliminate noise to the servo drive.
Ensure that the external applied voltage to the drive is correct and matched to the drive rating.
Inspection during operation (Control power is applied)

Ensure that the cables are not damaged, stressed excessively or loaded heavily. When the motor
is running, pay close attention on the connection of the cables and notice that if they are damaged,
frayed or over extended.
Check for abnormal vibrations and sounds during operation. If the servo motor is vibrating or
there are unusual noises while the motor is running, please contact your local distributor or
Technical Support for assistance.
Ensure that all user-defined parameters are set correctly. Since the characteristics of various
machinery equipment are different, in order to avoid accident or cause damage, do not adjust the
parameter abnormally and ensure the parameter setting is not an excessive value.
Ensure to reset some parameters when the servo drive is off (For details, refer to Chapter 7).
Otherwise, it may result in malfunction.
If there is no contact sound or if there are any unusual noises when the relay of the servo drive is
operating, please contact your local distributor or Technical Support for assistance.
Check for abnormal conditions of the power indicators and LED display. If there is any abnormal
condition of the power indicators and LED display, please contact your local distributor or Technical
Support for assistance.
GFK-2480A Trial Run and Tuning Procedure 5-3

5
5.1.2 Applying Power to the Drive

Observe the following steps when applying power supply to the servo drive.
Confirm that the wiring connection between the drive and motor is correct.
- Terminal U, V, W and FG (frame ground) must connect to Red, White, Black and Green wires
(U: Red, V: White, W: Black, FG: Green), or the wires tagged with the same letter designation.
If not connect to the specified cable and terminal, the drive cannot control the motor. The motor
grounding lead, FG must connect to the drive grounding terminal. For more information on
cables, refer to chapter 3.
- Make sure the encoder cable is connected to connector CN2 correctly. If you only want to
execute a JOG operation, it is not necessary to make any connections to the CN1 and CN3
connectors. For more information on the encoder connection (CN2 connector), refer to chapter
3.
Caution
Do not connect the AC input power (R, S, T) to the (U, V, W) output terminals.
This will damage the AC servo drive.
Connect input power.

- Connect power to the servo drive. (Refer to chapter 3.)
Turn the power on
The drive power includes single phase control circuit power (L1, L2) and main circuit power (R, S, T).
When the power is on, the display should be as shown in the following figure:
The default settings of digital inputs DI6, DI7 and DI8 are Reverse Inhibit Limit (CWL), Forward Inhibit
Limit (CCWL) and Emergency Stop (EMGS) respectively. These default settings can be changed using
parameters P2-15 to P2-17. When the value of parameters P2-15 to P2-17 is 0, it indicates the function
of this DI signal is disabled. For more information on parameters P2-15 to P2-17, refer to Chapter 7,
Parameters.
If the parameter P0-02 is set as motor speed (07), the display should be as shown in the following
figure:
If there is no text or character displayed on the LED display, check if the voltage of the control circuit
terminal (L1and L2) is below the specified low voltage limit.
5
Possible Errors and Warnings for Powerup

When the AC servo drive has a fault, the LCD display will display ALEnn. ALE indicates the alarm
and nn indicates the drive fault code. For the list of drive fault codes, please refer to P0-01 in
chapter 7 or refer to Chapter 10, Diagnostics.
ALE02, Over Voltage Alarm
The main circuit voltage has exceeded its maximum allowable value or input power is connected
incorrectly.
Corrective Actions:
Use voltmeter to check whether the input voltage falls within the rated input voltage.
Use voltmeter to check whether the input voltage is within the specified limit.
ALE11, Encoder Error Alarm
Check if the encoder wiring is correct. Check if the encoder wiring (CN2) of servo motor is loose or
incorrect.
Corrective Actions:
Confirm that the encoder connection conforms to the recommended wiring configuration.
Examine the encoder connector and cable for damage.
Inspect to determine if cable connectors are loose.
Check to determine if the encoder is damaged. If so, replace motor with a spare.

5
ALE13, Emergency Stop is activated
Check if any of the digital inputs (DI1DI8) is set to Emergency Stop (EMGS) function.
Corrective Actions:
If an emergency stop function is not required, confirm that none of the digital inputs (DI1DI8)
are set to Emergency Stop (EMGS) by confirming that parameters P2-10 to P2-17 are not set to
21.
If an emergency stop function is required, confirm which of the digital inputs (DI1 to DI8) is set to
Emergency Stop (EMGS) and ensure that the digital input signal is ON.
ALE14, Reverse Limit Switch Error
Check if any of the digital inputs (DI1DI8) is set to Reverse Inhibit Limit (CWL).
Corrective Actions:
If a reverse inhibit limit (Overtravel limit) is not required, confirm that none of the digital inputs
(DI1DI8) are set to Reverse inhibit limit (CWL) by confirming that parameters P2-10 to P2-17 are
not set to 22.
If a reverse inhibit limit (Overtravel limit) is required, confirm which of the digital inputs (DI1DI8)
is set to Reverse inhibit limit (CWL) and check that the digital input signal is ON.
5
ALE15, Forward Limit Switch Error
Check if any of the digital inputs (DI1DI8) is set to Forward Inhibit Limit (CCWL).
Corrective Actions:
If a forward inhibit limit (Overtravel limit) is not required, confirm that none of the digital inputs
(DI1DI8) are set to Forward inhibit limit (CCWL) by confirming that parameters P2-10 to P2-17
are not set to 23.
If a forward inhibit limit (Overtravel limit) is required, confirm which of digital inputs (DI1DI8) is
set to Forward inhibit limit (CCWL and check that the digital input signal is ON.
Note: When Digital Input 1 (DI1) is set to the Servo On (SON) function and DI1 is set to ON the
following fault messages may appear on the display:
ALE01, Overcurrent Alarm
Corrective Actions:
Check the power wiring connections between the servo drive and motor for damage or short
circuits..
Check for solder bridges in the motor power cable connectors.
Remove the short-circuited condition.
ALE03, Undervoltage Alarm
Corrective Actions:
Use voltmeter to check whether input voltage of main circuit is within the specified range.
Note: If there are any unknown fault codes or abnormal display when applying power to the drive or
when the servo on input is activated (without giving any command), please inform your local distributor
or contact Technical Support for assistance.

5
5.1.3 JOG Trial Run without Load

The JOG trial run without load is a convenient way to test the servo drive and motor because the
external I/O wiring is not necessary to perform this function. For safety, it is recommended to that the
JOG speed be set to a low value. Use the following steps to perform a JOG trial run without load.
1. Turn the drive ON using the configuration software. Ensure that the value of parameter P2-30
is set to 1 (Servo On).
2. Set the desired JOG speed using parameter P4-05 (unit: RPM). After the desired JOG speed is
set, press the SET key. The drive will enter into JOG operation mode automatically.
3. Press the UP and DOWN keys to change JOG speed. Press the SHIFT key to select the digit
of the displayed value you wish to change.
4. Press the SET key to lock in the new Jog speed displayed.
5. Pressing the UP key will cause the servo motor to run in the CCW direction. After releasing the
UP key, the motor will stop.
6. Pressing the DOWN key will cause the servo motor to run in the CW direction. After releasing
the DOWN key, the motor will stop.
CW and CCW Definition:
CCW (Counterclockwise): when facing the servo motor shaft, CCW rotation of the shaft is
reverse direction.
CW (Clockwise): when facing the servo motor shaft, CW rotation of the shaft is forward
direction.
7. Press the MODE key, to exit JOG operation mode.
5
Jog Example
In the example below, the JOG speed is adjusted from 20 RPM (Default setting) to 100 RPM.
SET
SET
CCW CW
CCW
Speed
0
CW
Press Release Press CW
If the servo motor does not rotate, ensure that the U, V and W terminals, and encoder are
connected correctly.
If the servo motor does not rotate in the correct direction, ensure that the U, V and W cables are
connected with the correct phase.

5
5.1.4 Speed Trial Run without Load

Before performing the speed trial run, secure the motor to avoid danger from the reacting force when
motor speed changes.
Complete the following steps to perform this operation.
Step 1: Set the value of parameter P1-01 to 02 for speed (S) control mode. Cycle the drive power off
and then on for the new value of P1-01 to become effective.
Step 2: Set the relevant Digital Inputs for speed control mode using the parameter values listed below:
Digital Input Parameter Value Function Function Description CN1 Pin No.
DI1 P2-10=101 SON Servo On DI1=9

DI2 P2-11=109 TRQLM Torque limit enabled DI2=10
DI3 P2-12=114 SPD0 Speed command selection 0 DI3=34
DI4 P2-13=115 SPD1 Speed command selection 1 DI4=8
DI5 P2-14=102 ARST Reset DI5=33
DI6 P2-15=0 Disabled This DI function is disabled -
By default, the DI6 function is reverse inhibit limit, the DI7 function is forward inhibit limit, and
the DI8 function is emergency stop. If parameters P2-15 to P2-17 to are not set to 0 (Disabled),
the Overtravel limit and E-Stop faults, ALE13, 14 and 15, will occur. (For information on fault
messages, refer to chapter 10). Therefore, if these functions are not required, set parameters
P2-15 to P2-17 to 0 (Disabled) as shown.
All digital inputs are user-defined. Refer to the definitions of the DI signal functions before
configuring them (For descriptions of the available DI signal functions, refer to Parameter
Summary in Chapter 7). If any alarm code appears after the parameter setting is completed,
you can cycle power on the drive or set DI5 ON to clear the fault. Refer to Applying Power to
the Drive on page 5-4.
The speed command is selected by two digital inputs, SPD0, SPD1, as shown in the following
table:
Speed DI signal on CN1

Command Source Content Range
Command No. SPD1 SPD0
External analog Voltage between V-REF
S1 0 0 +/-10V
command and GND
S2 0 1 P1-09 05000RPM
Internal speed
S3 1 0 P1-10 05000RPM
parameter
S4 1 1 P1-11 05000RPM
0: indicates OFF (Normally Open); 1: indicates ON (Normally Closed)
5
For example, the speed command settings shown below will be used:
Parameter Setting Input Value Command Rotation Direction
P1-09 is set to 3000 + CW
P1-10 is set to 100 + CW
P1-11 is set to -3000 - CCW
Step 3: Perform the following steps to test the digital input and parameter settings.
1) Use DI1 to enable the servo drive (Servo ON).
2) Set DI3 (SPD0) and DI4 (SPD1) to OFF. The S1 speed command is selected. The S1
command uses the external analog command to control the speed of the motor.
3) Set DI3 (SPD0) to ON and DI4 (SPD1) to OFF. The S2 speed command (P1-09 is set to 3000)
is selected, and the motor speed is 3000 RPM.
4) Set DI4 (SPD1) to ON and DI3 (SPD0) to OFF. The S3 speed command (P1-10 is set to 100)
is selected, and the motor speed is 100 RPM.
5) Set DI3 (SPD0) and DI4 (SPD1) ON. The S4 command (P1-01 is set to 3000) is selected, and
the motor speed is 3000 RPM.
6) Repeat steps (2) through (5) as desired.
7) To stop the speed trial run, use DI1 to disable the servo drive (Servo OFF).

5
5.1.5 Position Trial Run without Load

Before performing the position trial run, secure the motor to avoid danger from the acceleration force
when motor speed changes.
Step 1: Set the value of parameter P1-01 to 01 to configure the amplifier for position (Pr) control mode.
Cycle the drive power off and then on to activate the new control mode.
Step 2: Set the applicable Digital Inputs using the parameter values listed below:
Digital Input Parameter Value Function Function Description CN1 Pin No.
DI1 P2-10=101 SON Servo On DI1=9

DI2 P2-11=108 CTRG Command trigged DI2=10
DI3 P2-12=111 POS0 Position command selection 0 DI3=34
Because POS2 is not the default function of DI15, the value of parameter P2-14 must be
changed to 113.
By default, DI6 is the reverse inhibit limit, DI7 is the forward inhibit limit, and DI8 is emergency
stop. If parameters P2-15 to P2-17 are not set to 0 (Disabled), the Overtravel limit and E-Stop
faults, ALE13, 14 and 15 will occur. (For information on fault messages, please refer to chapter
10.) If these functions are not required, these parameters should be set to P2-15 to P2-17 to 0
(Disabled) before attempting the trial run.
All digital inputs are user-defined and can be set as required by the application. Refer to the
definitions of the DI signal functions before defining them. (For descriptions of the DI signals,
refer to Parameter Summary in Chapter 7). If any alarm code displays after the parameter
changes are completed, cycle power on the drive or activate DI5 to clear the fault. Refer to
Applying Power to the Drive on page 5-4.
For a wiring diagram for the Pr control mode, refer to Position (Pr) Control Mode in chapter 3.
5
The position command is selected by input signals, POS0POS2, as shown in the following
table:
Position Move Speed
POS2 POS1 POS0 CTRG Parameters Description
Command Register
Internal P1-15 Rotation No. (+/- 30000)
0 0 0 P2-36 (V1)
Position 1 P1-16 Pulse No. (+/- max cnt)
0 0 1 P2-37 (V2)
0 1 0 P2-38 (V3)
0 1 1 P2-39 (V4)
1 0 0 P2-40 (V5)
1 0 1 P2-41 (V6)
1 1 0 P2-42 (V7)
1 1 1 P2-43 (V8)
0 indicates OFF (Normally Open); 1 indicates ON (Normally Closed)
You can set the values of these eight groups of commands as required. The position command
mode can be absolute (P1-33=0) or relative (P1-33=1).

5
Position Trial Run Example

Step 1: Select Absolute mode for the position command: Set P1-33 to 1. Cycle power to the drive so
that the new value of P1-33 becomes effective.
Step 2: Set the internal position parameters as shown in the following table.
Position Command Parameter Settings for Parameter Settings
Rotation Numbers Pulse Numbers
Internal Position 1 Set P1-15 to 1 Set P1-16 to 0
Input command Rotation direction

+ CW
- CCW
Step 3: Perform the following steps to test the digital input and parameter settings.
1) Use DI1 to enable the servo drive (Servo ON).
2) With Internal Position 1 selected, set DI2 (CTRG) ON. The motor will rotate one turn in the CW
direction.
3) Set DI3 (POS0) ON to select Internal Position 2, and then set DI2 (CTRG) ON. The motor will
rotate ten turns in the CW direction.
4) Set DI3 (POS0), DI4 (POS1) and DI5 (POS2) ON to select Internal Position 8. Then set DI2
(CTRG) ON. The motor will rotate 10 turns in the CCW direction.
5) Repeat steps (2) through (4) as desired.
6) To stop the position trial run, set DI1 OFF to disable the servo drive (Servo OFF).
5
5.2 Tuning Procedure

Use the following procedure to estimate the ratio of Load Inertia to Servo Motor Inertia
(J_load / J_motor) in JOG mode.
Tuning Procedure Display
1. After wiring is completed, when power is connected to the servo drive, the
LCD display will be in monitor mode and will appear as shown to the right.
2. Press the MODE key to enter parameter mode.
3. Press the SHIFT key twice to select parameter group P2.
4. Press the UP key to view each parameter and select parameter P2-17.
5. Press the SET key to display the parameter value as shown to the right.
6. Press the SHIFT key twice to change the parameter value. Use the UP key
to cycle through the available values and then press the SET key to save the
parameter settings.
7. Press the UP key to view each parameter and select parameter P2-30.
8. Press the SET key to display the parameter value as shown to the right.
9. Select parameter value 1. Use the UP key to cycle through the available
values.
10. Press the SET key to write the parameter value to the drive. The display will
appear as shown to the right.
11. At this point, the servo drive is ON.
12. Press the DOWN key three times to select the ratio of Load Inertia to Servo
Motor Inertia (J_load /J_motor).
13. Press the SET key to display the current ratio of Load Inertia to Servo Motor
Inertia (J_load /J_motor). (The default setting is 5.0.)
14. Press the MODE key to select parameter mode.
15. Press the SHIFT key twice to select parameter group P4.
16. Press the UP key to select parameter P4-05.
17. Press the SET key. The default JOG speed, 20 RPM, will be displayed.
Press the UP and DOWN keys to increase and decrease JOG speed. To
add a digit, press the SHIFT key once.
18. Select the desired JOG speed and press the SET key.

5
Tuning Procedure Display

Pressing the UP key causes forward rotation and pressing the DOWN key causes reverse rotation.
Perform the JOG operation at a low speed first. JOG the motor at a higher speed only after you are
sure the motor is running smoothly.
The ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor) cannot be displayed when the
JOG parameter, P4-05, is selected. To view J_load /J_motor, press the MODE key twice.
To execute the JOG operation again, press the MODE key once and then press the SET key twice
to view the display. Check whether the value of J_load /J_motor is stabilized after repeated
acceleration and deceleration.
5
5.2.1 Tuning Flowchart

Run Without Load confirmed OK
No Is this the first time the

drive has been tuned?
Yes
Remove the drive from the control of the host

controller, perform trial run and estimate the If the value of (J_load / J_motor) is estimated
value of the inertia ratio (J_load /J_motor) incorrectly, the optimum gain can not be adjusted.
Manual Mode Easy Mode AutoMode
Connect to the host (external) controller.

Pay close attention to the wiring of the
CN1 connector.
Power on the drive and use parameters
P4-07 and P4-09 to test and check the
status of the input and output signals. Use parameters P2-23 and P2-24 to suppress the
resonance of the mechanical system.
Use the selected tuning mode to

adjust the gain to obtain the
optimum drive performance.
OK

5
5.2.2 Load Inertia Estimation Flowchart

Make sure the power to
the Servo drive is OFF
Connect the motor to

the mechanical system
the
Power on the Servo Drive
Set parameter P0-02 to 14. The display will show the ratio of
Load inertia to Motor inertia (J_load / J_motor)
Set parameter P2-32 to 0. The drive

will be in Manual mode.
Set P2-32 to 1 to enable the drive

(Servo On.)
Decrease the value of P2-00. Yes Is there resonance

Set P2-06 and P2-00 to the noise ?
same value
No
Enter P4-05 JOG operation mode
Set JOG speed to 20rpm
Press Up (CCW) or Down (CW)

key to perform JOG operation
Is JOG operation No
Check mechanical system
smooth?
Yes
Set higher JOG speed > 200rpm
Accelerate and decelerate the motor

several times.
View the display to see if the inertia ratio (J_load / J_motor) value stabilizes
after the motor accelerates and decelerates a number of times.
Then select the gain adjustment method.
Note:
If you cannot view the inertia ratio (J_load / J_motor) under JOG operation
(P4-05), press the MODE key twice to display the inertia ratio.
To perform the JOG operation again, press the MODE key once and then press
the SET key twice.
5
5.2.3 AutoMode (PI) Tuning

Step 1: Set the Tuning Mode parameter, P2-32, to 2. This setting selects AutoMode (PI) [Continuous
adjustment]
Step 2: Adjust P2-31 Auto Mode Stiffness and Responsiveness Level (Default setting: B=4).
In AutoMode (PI), the value B indicates the speed
loop response. Higher B values increase the
responsiveness of the speed loop.
Increase the B value of P2-31 to increase the responsiveness or reduce the oscillatory
noise.
Adjust the Low Pass Filter Time Constant (P2-25) according to the value of P2-31. Refer to
the table below for recommended values for P2-25, or continuously adjust P2-31 and P2-
25 until satisfactory performance is achieved.
To finish the tuning procedure, set P2-32 to 3 to select AutoMode (PI) In this mode, inertia
ratio (J_load / J_motor) is fixed, but response level can be adjusted.
Recommended Combinations of P2-31 B and P2-25 Values in AutoMode (PI)

Recommended
P2-31 value B Speed Loop Responsive
Value of P2-25
0 20Hz 13
1 30Hz 9
2 40Hz 6
3 60Hz 4
4 85Hz 3
5 120Hz 3
6 160Hz 2
7 200Hz 1
8 250Hz 1
9 and above 300Hz 0

5
AutoMode (PI) Tuning Flowchart

Set P2-32 to 2, then power
Servo off, and Servo on
When P0-02 is set to 14, the display will show the

inertia ratio (J_load / J_motor)
The servo drive receives alternating FWD and REV

commands from the external host controller to cause the
motor to run alternately forward and reverse.
1. Increase P2-31 value B to reduce noise. Set

appropriate value of P2-25 for P2-31 B value. Yes Is there any
resonance noise?
2. Adjust P2-23 and P2-24 to suppress the
resonance of the mechanical system.
No
The measured inertia No

value stabilizes.
Yes
Increase P2-31 value B to increase

Satisfactory the speed loop responsiveness.
No
performance is Refer to Recommended
achieved? Combinations of P2-31 B and
P2-25 Values in AutoMode (PI) to
Yes adjust P2-25.
If the change of (J_load / J_motor) is not

arge, set the Servo off, and then set
P2-32 to 3.
Tuning is complete.
5
5.2.4 AutoMode (PDFF) Tuning

Step 1: Set the Tuning Mode Parameter, P2-32, to 4. This setting selects AutoMode (PDFF)
[Continuous adjustment] )
Step 2: Adjust P2-31 Auto Mode Stiffness and Responsiveness Level (Default setting: B=4)
In AutoMode (PDFF), the value B indicates the
speed loop response setting. Higher B values
increase the responsiveness of the speed loop.
A
B
not used
Increase the B value of P2-31 to increase the responsiveness or reduce the oscillatory noise.
Continuously adjust P2-31 until satisfactory performance is achieved.
To finish the tuning procedure, set P2-32 to 5 to select AutoMode (PDFF). In this mode, inertia ratio
(J_load / J_motor) is fixed, but response level can be adjusted.
AutoMode (PDFF) Tuning Flowchart

Set P2-32 to 4, then power
Servo off, and Servo on.
When P0-02 is set to 14, the display will show the ratio of
Load inertia to Motor inertia (J_load / J_motor)
The servo drive receives alternating FWD and REV

commands from the external host controller to cause the
motor to run alternately forward and reverse.
1. Increase P2-31 value B to reduce noise.

Yes Is there any
Adjust P2-23 and P2-24 to suppress the resonance noise?
2. resonance of the mechanical system.
No
The
No
measured inertia
value stabilizes?
Yes
Increase P2-31 value B to
increase the speed loop
Satisfactory No responsiveness. Refer to
performance is Speed Loop Responsiveness
achieved? for P2-31 Value B Setting in
AutoMode (PDFF).
Yes
If the change in (J_load / J_motor) is

large, set the Servo off, and then set P2-32 to 5.
Tuning is complete.

5
Speed Loop Responsiveness for P2-31 Value B Setting in AutoMode (PDFF)

Speed Loop Speed Loop
P2-31 value B P2-31 value B
Responsiveness Responsiveness
0 20HZ 8 120Hz
1 30 HZ 9 140HZ
2 40 HZ A 160HZ
3 50 HZ B 180HZ
4 60 HZ C 200Hz
5 70 Hz D 220Hz
6 80Hz E 260Hz
7 100Hz F 300HZ
5
5.2.5 Manual Mode Tuning Flowchart
Position Mode
Set P2-00 to a low value to make the position loop

responsiveness lower than the speed loop
responsiveness. The value of the Speed Loop
Integral Gain, P2-06 should be equal to P2-00.
Command the servo motor drive to

make repeated position moves.
Is there No Increase the value

resonance noise ? of P2-04 and
adjust P2-25.
Yes
Reduce P2-04 to 75 percent of the

Speed Loop Proportional Gain
current value.
Did overshoot occur Yes

during position control
operation?
No
1. It may be possible to reduce or eliminate
1. Increase the setting value of P2-00. overshoot by decreasing the value of P2-00
2. Set the value of P2-06 equal to the by a small amount.
value of P2-00. 2. If the overshoot cannot be reduced or eliminated
by decreasing the value of P2-00, decrease the
value of P2-02 and increase the acceleration and
deceleration times.
3. The value of P2-06 should be equal to the

value of P2-00.
Tuning is complete.

5
Speed Mode
Set P2-06 (Speed Integral Compensation) to
a low value.
Command the servo to make

repeated position moves.
Increase the value of the value

the Proportional Speed Loop
Is there No Gain (P2-04) and adjust the
resonance noise?
Low Pass Resonance Filter
Time Constant (P2-25).
Yes
Reduce P2-04 to 75 percent of the

current value.
Increase the setting value of P2-06 (Speed Integral

Compensation).
Note that excessive gain (the value of P2-06 is too

high) may result in vibration or noise.
Tuning is complete.
5.2.6 Limit of Load Inertia Estimation

The acceleration/deceleration time to reach 2000 RPM must be less than 1 second. The motor speed
must be greater than 200 RPM. The load inertia must be a multiple, 100 times or less, of motor inertia.
Large changes in external force and in the inertia ratio must be avoided.
In AutoMode (P2-32 is set to 3 or 5), the amplifier will stop estimating load inertia. The measured load
inertia value will not be saved when the power is turned off. Every time power is applied to the drive,
the value of P1-37 is equal to the initial value of load inertia value. But, the measured inertia value will
be stored in P1-37 automatically when:
Switching AutoMode #2 to AutoMode #3
Switching AutoMode #4 to AutoMode #5
5
5.2.7 Relationship between Tuning Modes and Parameters

Tuning Mode P2-32 AutoSet User-defined Parameter Gain Value
Value Parameter
Manual Mode 0 (Default None P2-00 (Proportional Position Loop Gain) Fixed
setting) P2-04 (Proportional Speed Loop Gain)
P2-06 (Speed Integral Compensation)
P2-25 (Low-pass Filter Time Constant of
Resonance Suppression)
AutoMode (PI) 2 P2-00 P2-31 Value B (Level of Responsiveness) Continuous
[Continuous] P2-04 P2-25 (Low-pass Filter Time Constant of Adjusting
P2-06 Resonance Suppression)
AutoMode (PI) 3 P2-00 P1-37 (Ratio of Load Inertia to Servo Motor Fixed
[Fixed Inertia] (The P2-04 Inertia [J_load / J_motor])
inertia ratio is P2-31 Value B (Level of Responsiveness)
determined by P2-06
P1-37) P2-25 (Low-pass Filter Time Constant of
Resonance Suppression)
AutoMode (PDFF) 4 P2-00 P2-31 Value B (Level of Responsiveness) Continuous
[Continuous] P2-04 Adjusting
P2-06
P2-25
P2-26
AutoMode (PDFF) 5 P2-00 P1-37 (Ratio of Load Inertia to Servo Motor Fixed
[Fixed Inertia] (The P2-04 Inertia [J_load / J_motor])
inertia ratio is P2-31 Value B (Level of Responsiveness)
determined by P2-06
P1-37) P2-25
P2-26
When switching automode #3 to #0, the values of P2-00, P2-04 and P2-06 will change to the value
measured in auto-tuning mode #3.
When switching automode #5 to #0, the values of P2-00, P2-04, P2-06, P2-25 and P2-26 will change to
the value measured in auto-tuning mode #5.

5
5.2.8 Gain Adjustment in Manual Mode

The position and speed response selection depends on the control stiffness of the machinery and the
application conditions. Generally, high reponse is essential for the high speed positioning control and
high precision process systems. However, higher response may result in mechanical resonances of the
system. Therefore, for high response applications, the mechanical system must be designed with
control stiffness to avoid these resonances. When adjusting the response for the first time on a system,
gradually increase the gain values to improve responsiveness until resonance occurs, then decrease
the gain value. The relevant parameters and gain adjustment methods are as follows:
KPP, Parameter P2-00: Proportional Position Loop Gain
This parameter is used to determine the responsiveness of the position loop (position loop
gain). It can be used to increase servo stiffness, increase position loop response and reduce
position error. Increasing the value of KPP increases the position loop response, and reduces
position error and settling time. However, if the KPP value is too high, the system may generate
vibration or noise, or overshoot during positioning. The position loop response is calculated as
follows:
KP
P
P
o
s
i
t
i
on
Lo
o
p
R
es
p
o
n
si
v
en
es
s
(
H
z)
=
2
KVP, Parameter P2-04: Proportional Speed Loop Gain

This parameter is used to determine the response of the speed loop (speed loop gain).
Increasing the value of KVP increases the speed loop response. However, if the KVP value is
too high, it may result in a mechanical resonance in the system. The speed loop response must
be 46 times higher than the position loop response. If position loop response is higher than
the speed loop response, the system may generate vibration or noise, or overshoot during
positioning. The speed loop response is calculated as follows:
KVP
Speed Loop Responsiveness (Hz)=
(1+ (J_load / J_motor)) X2
KVI, Parameter P2-06: Speed Integral Compensation

Increasing the value of KVI reduces speed control deviation. However, if the value is too high, it
may result in vibration of the mechanical system. The recommended value is as follows:
KVI (Parameter P2-06) 1.5 x Speed Loop Responsiveness
5
NLP, Parameter P2-25: Low-pass Filter Time Constant of Resonance Suppression

When the value of (J_load / J_motor) is high, the speed loop response may decrease. In this
case, increase the value of KVP (P2-04) to improve speed loop response. However, increasing
the value of KVP (P2-04), can result in the vibration of the mechanical system. Use this
parameter to suppress or eliminate these resonances. Higher values of NLP will tend to reduce
system resonances. However, if the value is too high, it may cause instability of the speed loop
and overshoot.
The recommended NLP value is as follows:
NLP (Parameter P2-25) 1000

4 x Speed Loop Responsiveness (Hz)
DST, Parameter P2-26: External Anti-Interference Gain

This parameter is used to enhance the anti-interference capability and reduce the occurrence
of overshoot. The default setting is 0 (Disabled).
PFG, Parameter P2-02: Position Feed Forward Gain

This parameter is used to reduce position error and decrease the positioning settling time.
However, if the value is too high, it may cause overshoot. If the value of the electronic gear
ratio (P1-44/P1-45) is greater than 10, the system may also generate vibration or noise.

Chapter Control Modes of Operation
6
VersaMotion servo drives can be programmed to provide six single and five dual modes of operation,
which are summarized on page 6-2.
Page
6.1 Control Mode Summary 6-2
6.2 Position Control Mode 6-4
6.3 Speed Control Mode 6-20
6.4 Torque Control Mode 6-38
6.5 Control Mode Selection 6-43
6.6 Other Operational Selections 6-46
GFK-2480A 6-1
6
6.1 Control Mode Summary

The VersaMotion drives can be programmed to provide six single and five dual modes of operation.
Their operation and description is listed in the following table.
Mode Code Description

Position control for the servo motor is achieved via an external
External Position Control Pt
pulse command.
Position control for the servo motor is achieved via by 8
Internal Position Control Pr commands stored within the servo controller. Execution of the
eight positions is via Digital Input (DI) signals.
Speed control for the servo motor can be achieved via
parameters set within the controller or from an external analog
Speed Control S -10 to +10 Vdc command. Control of the internal speed
parameters is via the Digital Inputs (DI). (A maximum of three
speeds can be stored internally).
Single Speed control for the servo motor is only achieved via
Mode parameters set within the controller. Control of the internal
Internal Speed Control Sz
speed parameters is via the Digital Inputs (DI). (A maximum of
three speeds can be stored internally).
Torque control for the servo motor can be achieved via
parameters set within the controller or from an external analog
Torque Control T -10 to +10 Vdc command. Control of the internal torque
parameters is via the Digital Inputs (DI). (A maximum of three
torque levels can be stored internally).
Tz Torque control for the servo motor is only achieved via
parameters set within the controller. Control of the internal
Internal Torque Control
torque parameters is via the Digital Inputs (DI). (A maximum of
three torque levels can be stored internally).
Pt-S Either Pt or S control mode can be selected via the Digital
Inputs (DI)
Pt-T Either Pt or T control mode can be selected via the Digital
Inputs (DI)
Pr-S Either Pr or S control mode can be selected via the Digital
Dual Mode
Inputs (DI)
Pr-T Either Pr or T control mode can be selected via the Digital
Inputs (DI)
S-T Either S or T control mode can be selected via the Digital
Inputs (DI)
6
Changing the Control Mode

Changing the control mode requires the following steps:
1. Switch the servo drive to Servo Off status. Turning the SON signal of the Digital Input to OFF
completes this action.
2. Set parameter P1-01, Control Mode and Output Direction. (Refer to chapter 7).
3. After the setting is completed, remove power from the drive, then power up the drive.
The following sections describe the operation of each control mode, including control structure,
command source and loop gain adjustment. For additional information on control mode selection, refer
to page 6-43.
GFK-2480A Chapter 6 Control Modes of Operation 6-3

6
6.2 Position Control Mode

The position control modes (Pt or Pr mode) are usually used for applications requiring precision
positioning, such as industry positioning machine, indexing table etc. VersaMotion drives support two
kinds of command sources in position control mode. One is an external pulse train (Pt: Position
Terminals, External Position Control) and the other is internal parameter (Pr: Position Register, i.e.
internal parameters P1-15 to P1-30, Internal Position Control). The external pulse train with direction
which can control the rotation angle of servo motor. The maximum input frequency for the external
pulse command is 500Kpps (Line Driver) or 200Kpps (Open Collector), which is equal to 3000 RPM on
the motor.
In order to provide a convenient position control function, VersaMotion servo drives provide eight
internal preset parameters for position control. There are two methods for setting internal parameters.
The first method is to set different position commands into the eight internal parameters before
operation and then use Digital Inputs POS0POS2 on connector CN1 to perform positioning control.
The other method is to use serial communication to change the values of the eight internal parameters.
To make the servo motor and load operate more smoothly, the servo drives also provide complete
Position Spine Line (P-curve) profile for the position control mode. You can also select two modes of
tuning (Manual/Auto modes) to perform gain adjustment.
6.2.1 Command Source for Position Control Mode (Pt)

The command source for Pt mode is and external pulse train input. Three pulse input types are
supported. Each pulse type can be configured withlogic type positive (+) or negative (-). These
common options are be set by parameter P1-00 as shown below:
P1-00 PTT External Pulse Input Type Communication Addr.: 0100H
Default: 2
Applicable Control Mode: Pt
Unit: N/A
Range: 0 132
Settings:
Value A: Pulse type
A=0: AB quadrature pulse (4x)
A=1: CW + CCW pulse
A=2: Pulse + Direction
Value B: Input pulse filter
B=0: 500Kpps
B=1: 200Kpps
B=2: 150Kpps
B=3: 80Kpps
This setting is used to suppress or reduce the chatter caused by
noise, etc, using a low pass filter. However, if the input pulse filter
frequency is too high, the frequency that exceeds the set value will
be regarded as noise and filtered.
6
Value C: Logic type

0=Positive Logic 1=Negative Logic
Pulse Type
Forward Reverse Forward Reverse
AB quadrature
pulse
CW + CCW pulse
Pulse + Direction
Input pulse interface Max. input pulse Position pulses can be input on
frequency terminals, PULSE (41), /PULSE (43) and
SIGN (37), /SIGN (36). Input can be an
Line driver 500kpps open-collector circuit or line driver circuit.
Open collector 200kpps For wiring details, refer to chapter 3.

6
6.2.2 Command Source for Position Control Mode (Pr)

The command sources for the Pr mode are eight built-in parameters, P1-15, P1-16 to P1-29 and P1-30.
Parameter P1-33 is used to select whether these commands represent Absolute or Incremental
position control. Digital I/O signals (POS0 to POS 2 and CTRG) are used to select one of the eight
position commands and then trigger the execution of that command as shown in the table below:
Position
Command
P1-15 Rotation number (+/- 30000)
P1 0 0 0
P1-16 Pulses (+/- max cnt)
P2 0 0 1
P3 0 1 0
P4 0 1 1
Position
Command
P5 1 0 0
P6 1 0 1
P7 1 1 0
P8 1 1 1
State of POS0POS2: 0 indicates the contact is OFF (Normally Open)
1 indicates the contact is ON (Normally Closed)
CTRG : This input is used to trigger the move selected using the POS0, POS1 and POS2 inputs. The
move is triggered on the rising edge of this digital input.
The difference between incremental and absolute position command types is shown in the following
example.
6
Position Command (Pr) Example

Position command, P1=10 and P2=20. Position command P1 is executed first and then position
command P2 is executed. The difference between absolute and incremental position control is shown
in the following figures.
Absolute Type Incremental Type
20 turns
20 turns
10 turns 10 turns

6
6.2.3 Structure of Position Control Mode
Control Block Diagram

Position Command
Position Command
Processing
(See detail below)
Position Feedback
Position Control Speed Current

Loop Loop
Position Command Processing
GNUM0, GNUM1
Command
1. Absolute position S-curve
CN1 Source control 1st Numerator (N1) (P1-44) Filter
POS0POS2 2. Incremental position
P1-15 P1-34
CTRG control 2nd Numerator (N2) (P2-60)
P1-35
P1-30 P1-33 3rd Numerator (N3) (P2-61) P1-36 Command
selection
4th Numerator (N4) (P2-62) P1-01
Pulse type
Pulse Signal Counter Denominator (P1-45)
selection
P1-00 Electronic gear ratio Low-pass
Filter
INHIBIT P1-08
When the parameters are set to select Pr mode and Pt mode, the electronic gear ratio can be set to
select proper position scaling. VersaMotion drives also provide P-curve and low-pass filters, to provide
smooth motor control. For additional information about these features, refer to 6.2.5 Electronic Gear
Ratio on page 6-13, 6.2.6 Low-pass Filter on page 6-15 and 6.2.4 S-curve Filter for Position Control
on page 6-10.
6
Pulse Inhibit Input Function (INHIBIT)

INHIBIT is activated via a digital input. Refer to the discussions of parameters P2-10 P2-15 and
digital input INHP(07) in chapter 7. When the drive is in position mode, if INHIBIT is activated, the
external pulse input command is inhibited and the motor will stop.
INHIBIT
ON OFF ON
Pulse
command

6
6.2.4 S-curve Filter for Position Control (Jerk Control)

The S-curve filter, also called Jerk Limiting, provides position smoothing of the motion command. Using
the P-curve filter allows the servo motor to run more smoothly in response to a sudden position
command. When the load is changed, the motor usually does not run due to the friction and inertia
change. To optimize performance, increase the Accel/Decel S-curve constant (TSL), Accel time
constant (TACC) and Decel time constant (TDEC) parameters. (See diagram below.) Because the
speed and acceleration are continuous when the position command is changed in the pulse input
mode, the S-curve filter is not necessary.
S-curve characteristics and Time relationship (Acceleration)
6
S-curve characteristics and Time relationship (Deceleration)
Relevant Parameters
P1-34 TACC Acceleration Time Communication Addr.: 0122H
Default: 200 Related Parameters:

Applicable Control Mode: P/S P1-35, P1-36
Unit: ms
Range: 1 20000
Settings:
1st to 3rd step Acceleration time.
It is used to determine the acceleration time from 0 to the rated speed. (When P1-36 is set to
0: Accel/Decel function is disabled, i.e. P1-34, P1-35 is disabled.)
P1-35 TDEC Deceleration Time Communication Addr.: 0123H

Unit: ms
Range: 120000
Settings: 1st to 3rd step Deceleration time.
Used to determine the deceleration time to decelerate from its rated rotation speed to 0.
(When P1-36 is set to 0: Accel/Decel function is disabled, i.e. P1-34, P1-35 is disabled.)

6
P1-36 TSL Accel/Decel S-curve Communication Addr.: 0124H
Pr mode Default: 20 (See Note 2) Related Parameters:

Other mode Default: 0 P1-34, P1-35
Unit: ms
Range: 010000 (0=Disabled)
Settings:
This parameter is used to make the motor run more smoothly when startup and windup.
Using this parameter can improve the motor stability.
1/2TSL 1/2TSL
1/2TSL 1/2TSL
TACC TDEC
TSL: P1-36, Accel /Decel S-curve

TACC: P1-34, Acceleration time
TDEC: P1-35, Deceleration time
Total acceleration time = TACC + TSL
Total deceleration time = TDEC + TSL
Notes:
If the control mode set to use internal parameters (Pr), make sure that the value of P1-36 is not set to
0, or the servo motor will not accelerate or decelerate during operation.
If the control mode is changed to Pr mode and drive power is cycled off and on, parameter P1-36 will
automatically reset to a value of 20.
6
6.2.5 Electronic Gear Ratio
Relevant Parameters
P1-44 GR1 Electronic Gear Ratio (1st Numerator) (N1) Communication Addr.: 012CH

Applicable Control Mode: P P1-45
Unit: Pulse
Range: 1 32767
Settings:
First electronic gear numerator setting. For details, refer to P2-60P2-62.
P1-45 GR2 Electronic Gear Ratio (Denominator) Communication Addr.: 012DH

Applicable Control Mode: P P1-44, P2-60P2-62
Unit: Pulse
Range: 1 32767
Settings:
Electronic gear denominator setting.
Set the electronic gear ratio when the servo drive is Off. An incorrect setting can cause the
motor to run out of control, increasing the risk of personnel injury. Therefore, use the
following procedure when setting P1-44 and P1-45.
Setting the electronic gear ratio (Also see P1-44, and P2-60P2-62):
Po
si
tion f1: Pulse input f2: Position command
P
ul
sei
n p
ut Ncom
m and N: Ratio Numerator 1, 2, 3, 4. Set by parameters
M N
f
1 P1-44 or P2-60P2-63.
f
2 =
f1x M
M: Ratio Denominator. Set by parameter P1-45.
The electronic gear ratio range must be within: 1/50<N/M<200.
If the electronic gear ratio is set too high, the motor may not run smoothly. In this case, use the low-
pass filter to improve motor operation. For example, assume that the electronic gear ratio is equal to 1
and the encoder pulse per revolution is 10000PPR. If the electronic gear ratio is changed to 0.5, the
motor will rotate one pulse when the command from the external controller is two pulses and the motor
will run more smoothly.

6
The gear ratio is also used in positioning mode to scale the motor travel distance per pulse. For
example, in the mechanical configuration shown below, the load (WL) will travel 0.3m per pulse when
no gear ratio is used (1:1). To improve control of the motor, the gear ratio is set to 10:2, making the
motor travel 1m per input pulse.
WL: Working Load
WT: Working Table
Ball Screw Pitch: 3mm

Motor (Encoder Signal Output: A/B, Z)
Encoder PPR: 2500 lines (quadrature pulses)
Electronic Gear Ratio Corresponding travel distance per pulse
When the electronic gear N 1 3mm / rev

ratio is not used
=0.0003mm=0.3m
M 1 10,000pulses/ rev
When the electronic gear N 10000
ratio is used
=0.001mm=(1m)
M 3000
6
6.2.6 Low-pass Filter

Relevant parameters:
P1-08 PFLT Low Pass Filter Time Constant) Communication Addr.: 0108H
Default: 0
Applicable Control Mode: P
Unit: 10ms
Range: 01000 (0: Disabled)
Position
Tar get pos ition
Time (ms)
PF LT

6
6.2.7 Timing Chart for Position Control Mode (Pr)

In Pr mode, the position command source is from eight position values stored a parameters in the
drive. Digital input (DI) signals on the I/O connector, CN1 are used to select and trigger the desired
stored position. Three digital inputs, POS0, POS1 and POS2 select the desired position and the CTRG
input then triggers (starts) the move as shown in the diagram below.
The relationship between DI signals and parameters is described in 6.2.2 Command Source for
Position Control Mode on page 6-6.
P8
P3
Internal position P2
command
P1 1ms
POS0 OFF ON OFF ON
POS1 OFF ON
External I/O signal POS2 OFF ON
CTRG
SON ON
>2ms, can be set by P2-09
6
6.2.8 Position Loop Gain Adjustment

Before performing position control, use the Manual mode (P-32=0) to complete the speed control
settings. (For details, see 6.3.6 Speed Loop Gain Adjustment on page 6-28.) Then, adjust the
Proportional Position Loop Gain, KPP (parameter P2-00) and Position Feed Forward Gain, PFG
(parameter P2-02). Alternatively, use the Auto mode to adjust the gain of both the speed and position
control loops automatically.
1. Proportional Position Loop Gain: Increasing this gain improves the position loop
responsiveness.
2. Position Feed Forward Gain: Increasing this gain reduces the following error during operation.
The position loop responsiveness cannot exceed the speed loop responsiveness, and it is
recommended that the speed loop responsiveness should be at least four times faster than the position
loop responsiveness. This also means that the value of Proportional Speed Loop Gain, KVP, should be
at least four times faster than Proportional Position Loop Gain, KPP.
The equation is shown as follows:
fp< fv
4,
KPP = 2 fp.
where
fv = Speed Loop Responsiveness (Hz)
fp = Position Loop Responsiveness (Hz)
For example, if the desired position loop response is equal to 20 Hz,
KPP = 2 20= 125 rad/s.
Relevant parameters
P2-00 KPP Proportional Position Loop Gain Communication Addr.: 0200H
Default: 35
Unit: rad/s
Range: 01023
Settings:
This parameter is used to set the position loop proportional gain. It can increase stiffness,
increase position loop response and reduce position error. However, if the value is too high, it
may generate motor vibration or noise (instability).

6
P2-02 PFG Position Feed Forward Gain Communication Addr.: 0202H
Default: 5000
Unit: 0.0001
Range: 1020000
This parameter is used to set the position loop feed forward gain. When using the smoothing
constant (P2-03), increasing this gain can reduces position following error. When not using
the smoothing constant, decreasing this gain reduces the occurrence of mechanical
resonances. However, if the value is too high, it may generate motor vibration or noise
(instability).
Position Control Block Diagram
Position Feed Smoothing Constant

Differentiator Forward Gain for
P2-02 Position Feed
Forward Gain P2-03
+
Position Proportional + Maximum Speed
Command + Position Loop Limit P1-55
Gain P2-00 Position Loop
Gain Switching
Rate P2-01 Gain Switching
Control Selection Speed Command
P2-27
Position Encoder
Counter
When the value of Proportional Position Loop Gain, KPP is too high, the position loop
responsiveness will be increased, resulting in low phase margin. If this happens, the motor will
become unstable and oscillate. In this case, decrease the value of KPP until the motor stops
oscillating. A KPP value that is too low will not allow the motor to overcome the external load
forces, resulting in excessive position following error. Adjust feed forward gain, PFG (P2-02) to
reduce the dynamic position following error.
6
Effect of Increaing Position Proportional Gain

Position
Position
KPP command
(3) (1)
Actual position curve

will change from (1) to
(3) when the KPP value
is increased.
Time
Effect of Increasing Position Feed Forward Gain

Position
PFG
Time

6
6.3 Speed Control Mode

The speed control mode (S or Sz) is usually used on applications that require precision speed control.
The VersaMotion servo drives support command sources in speed control mode. One is external
analog speed command and the other is stored internal parameters.
The external analog signal is from an external voltage input, where the applied voltage is proportional
to the speed of the servo motor. There are two methods of using the internal parameters. The first
method is to set different speed commands using the three speed control parameters before operation
and then using SPD0 and SPD1 digital inputs to select the desired speed. The other method is to use
the serial communications to change the value of the speed parameter.
To make the speed command switch more smoothly, VersaMotion series servo drives also provide S-
curve acceleration (jerk control) for the speed control mode. For optimizing the closed-loop speed
control, a gain adjustment function, an integrated PI or PDFF controller, and Manual and Auto tuning
modes (P2-32).
Manual and Auto Tuning modes

Manual Mode: User-defined loop gain adjustment. When using this mode, all auto and auxiliary
functions will be disabled.
Auto Mode: Continuous adjustment of loop gains according to measured inertia, with ten levels of
system bandwidth. The user-defined parameter settings are the default values.
6
6.3.1 Command Source for Speed Control Mode

Speed Control command sources can be:
1. External analog signal: External analog voltage input, -10VDC to +10VDC
2. Internal parameters: P1-09 to P1-11
Speed CN1 DI signal

Command SPD1 SPD0
External analog Voltage between V-
S +/-10 V
S1 0 0 Mode signal REF-GND
Sz N/A Speed command is 0 0
S2 0 1 P1-09 05000 rpm
S3 1 0 Internal parameters P1-10 05000 rpm
S4 1 1 P1-11 05000 rpm
State of SPD0 SPD 1: 0 indicates OFF (normally open); 1 indicates ON (normally closed)
When both SPD0 and SPD1 equal 0 (OFF) and the control mode is Sz, the speed command is
0. Therefore, Sz mode can be used to prevent the zero speed drift problem of an analog
voltage command. If the speed control mode is S, the command is the analog voltage between
the V-REF and GND inputs. The range of the input voltage is from -10V to +10V and the
corresponding motor speed can be adjusted using parameter P1-40.
When at least one of SPD0 and SPD1 is 1 (ON), the internal parameters are used for the
speed command (P1-09 to P1-11). The command is valid (enabled) after either SPD0 or SPD1
is changed.
The speed command described in this section can also be used as a speed limit input command in
the torque control mode (T or Tz mode).

6
6.3.2 Block Diagram for Speed Control Mode
Basic Structure
In the figure above, speed command processing is used to select the command source for speed
control as described on page 6-21, including proportional gain (P1-40) and S-curve filter smoothing.
The speed control block diagram is used to manage the gain parameters for the speed loop and
calculate the current command input provided to motor. The resonance suppression block diagram
is used to suppress resonances of the mechanical system.
Speed command processing is shown in the figure below:
SPD0, SPD1 signal on CN1
Internal S-curve filter

parameter
Command source: P1-34,
Internal parameter P1-09 P1-35,
P1-11 P1-36
Analog command
Proportion filter Command Low-pass
Command source:
A/D Gain P1-34, selection filter
External analog signal
P1-40 P1-35, P1-01 P1-06
P1-36
Analog signal
speed command
The command source is selected according to the state of SPD0, SPD1 and parameter P1-01 (S or Sz
mode). If smoother operation is required, the S-curve and low-pass filter functions described below can
be used.
6
6.3.3 Smoothing Strategy for Speed Control Mode
S-curve Filter (Jerk Limiting)

The S-curve filter is a speed smoothing command that controls the time rate of change of the motor
acceleration/deceleration (jerk) to smooth the speed command change of the motor during acceleration
and deceleration. Using the S-curve filter smooths sudden speed command changes. S-curve filter
parameters include P1-34 Acceleration Time (TACC), P1-35 Deceleration Time (TDEC) and Accel
/Decel S-curve (TSL).
S-Curve Filter Characteristics

Speed
Acceleration Deceleration
Rated Speed
Time (ms)
Torque
Time (ms)
Relevant Parameters
P1-34 TACC Acceleration Time Communication Addr.: 0122H

Unit: ms
Range: 1 20000
Settings:
1st to 3rd step Acceleration time.
Used to determine the acceleration time to accelerate from 0 to rated speed. (When P1-36 is
set to 0, the Accel/Decel function is disabled, i.e. P1-34 and P1-35 are disabled.)

6
P1-35 TDEC Deceleration Time Communication Addr.: 0123H

Unit: ms
Range: 1 20000
Settings:
1st to 3rd step Deceleration time.
Used to determine the time to decelerate from rated speed to 0. (When P1-36 is set to 0. the
Accel/Decel function is disabled, i.e. P1-34 and P1-35 are disabled.)
P1-36 TSL Accel /Decel S-curve Communication Addr: 0124H
Pr mode Default: 20 (See Note 2) Related Parameters:

Other mode Default: 0 P1-34, P1-35
Unit: ms
Range: 0 10000 (0: Disabled)
Settings:
Used to make the motor run more smoothly during speed changes. This parameter can be
adjusted to improve the motor running stability and reduce system mechanical responses.
1/2TSL 1/2TSL
1/2TSL 1/2TSL
TACC TDEC

Notes:
When the command source is internal Position parameters (Pr mode), ensure that the value of
P1-36 is not set to 0 or the motor will not accelerate or decelerate during operation.
When control mode Pr is selected and drive power is cycled, parameter P1-36 will
automatically be reset to 20.
6
Analog Speed Command S-curve Filter

VersaMotion servo drives also provide Analog Speed Command S-curve Filter for the smoothing
response to a sudden change of the analog input signal.
Speed (rpm) Analog speed command Motor Torque
3000
0
1 2 3 4 5 6 7 8 9 Time (sec)
-3000
The analog speed command S-curve filter is used for smoothing of the analog input. The figure above
shows the analog speed command S-curve filter. Note that the ramp of the speed command is different
during acceleration and deceleration. The S-curve filter can be optimized using parameters P1-34, P1-
35 and P1-36 to improve the actual motor performance.
Analog Speed Command Low-pass Filter

The analog speed command low-pass filter is used to eliminate high frequency response and electrical
noise from the analog speed command and includes a smoothing function (filter-time constant).
Relevant Parameters
P1-06 SFLT Low-pass Filter Time Constant Communication Addr: 0106H
Default: 0
Applicable Control Mode: S
Unit: ms
Note: Setting parameter P1-06 to 0 disables this function.
Target Speed
SFLT

6
6.3.4 Analog Speed Input Scaling

The analog voltage between the V_REF and GND inputs determines the motor speed command.
Parameter P1-40 (Max. Analog Speed Command) can be used to adjust the speed control ramp and
range (scaling), as shown in the diagram below.
Speed
5000rpm
The speed control ramp (rpm/V) is
determined by parameter P1-40.
3000rpm
-10 -5
Analog Input Voltage (V)
5 10
-3000rpm
-5000rpm
Relevant Parameters
P1-40 VCM Max. Analog Speed Command / Limit Communication Addr: 0128H
Default: rated speed

Applicable Control Mode: S/T
Unit: rpm
Range: 0 10000
Settings:
In Speed mode, this parameter is used to set the speed at the maximum input voltage (10V)
of the analog speed command.
In Torque mode, this parameter is used to set the speed at the maximum input voltage (10V)
of the analog speed limit.
For example, in speed mode, if P1-40 is set to 3000 and the input voltage is 10V, it indicates
that the speed command is 3000rpm. If P1-40 is set to 3000, but the input voltage is changed
to 5V, then the speed command is changed to 1500rpm.
Speed command / limit = Input voltage x setting/10
6
6.3.5 Timing Chart for Speed Control Mode

S4 (P1-11)
Internal speed
S3 (P1-10)
command
S2 (P1-09)
External analog
voltage or zero (0) S1
SPD0 OFF ON OFF ON
External I/O signal SPD1 OFF ON
SON ON
Notes:
OFF indicates normally open and ON indicates normally closed.
When speed control mode is Sz, the speed command S1=0; when speed control mode is S,
the speed command S1 is the external analog voltage input (Refer to P1-01).
After Servo ON, the speed command can be selected by switching the state of SPD0 SPD1.

6
6.3.6 Speed Loop Gain Adjustment

The speed control mode block diagram is shown in the figure below:
Speed Control Block Diagram
Feed Forward System inertia J

Differentiator
Gain P2-07 (1+P1-37)*JM
+
Proportional + +
+ + Gain P2-04
- + +
Integrator
Switching J_load /J_motor
P2-27
Rate P2-05 P1-37
Proportional
Gain P2-04
Motor
Gain Switching Inertia JM
Control Selection
P2-27 Torque
Current Torque constant Command
Command reciprocal 1/KT
Low-pass
Filter P2-49 Speed Estimator Encoder
There are two modes for gain adjustment, Manual and Auto, which are selected using
parameter P2-32.
Manual Mode: User-defined loop gain adjustment. When using this mode, all auto and auxiliary
functions are disabled. (P2-32=0)
Auto Mode: Continuous adjustment of loop gains according to measured inertia, with ten levels of
system bandwidth. The parameter set by user is default value. (2 P2-32 5)
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Relevant Parameters
P2-32 AUT2 Tuning Mode Selection Communication Addr.: 0220H
Default: 0 Related Section:

Applicable Control Mode: P/S/T Section 5.6
Unit: N/A
Range: 0 5
Settings:
0: Manual mode
2: AutoMode (PI) [Continuous adjustment]
3: AutoMode (PI) [Fixed Inertia Ratio]
4: AutoMode (PDFF) [Continuous adjustment]
5: AutoMode (PDFF) [Fixed Inertia Ratio]
where,
PI: Proportional-Integral control
PDFF: Pseudo-Derivative Feedback and Feedforward
Explanation of Auto-tuning:
1. When switching from mode #2 or #4 to mode #3, the system will store the measured
load inertia value automatically in P1-37. The corresponding tuning parameters can be
set based on this measured load inertia value.
2. When switching from mode #2 or #4 to mode #0, the automatically measured load
inertia value will be cleared, and all parameters will be returned to the original value for
mode #0 manual mode.
3. When switching from mode #0 to mode #3 or #5, enter the appropriate load inertia
value in P1-37.
4. When switching from mode #3 to mode #0, the values of P2-00, P2-04 and P2-06 will
change to the value measured in mode #3.
5. When switching from mode #5 to mode #0, the values of P2-00, P2-04, P2-06, P2-25
and P2-26 will change to the value measured in mode #5.
Manual Mode
WhenTuning Mode Settings parameter P2-32 is set to 0, the users can define the proportional loop
speed loop gain (P2-04), speed integral compensation, (P2-06) feed forward gain (P2-07) and ratio of
load inertia to servo motor Inertia (P1-37).
Proportional gain: Adjust this gain to increase the position loop responsiveness.
Integral gain: Adjust this gain to enhance the low-frequency stiffness of the speed loop and
eliminate the steady state error. This also reduces the value of phase margin, so high integral
gain will result in unstable servo operation.
Feed forward gain: Adjust this gain to decrease the phase delay error

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Relevant Parameters
P2-04 KVP Proportional Speed Loop Gain Communication Addr.: 0204H
Default: 500
Applicable Control Mode: P/S
Unit: rad/s
Range: 0 20000
Settings:
This parameter is used to set the speed loop gain. When the value of proportional speed loop
gain is increased, it can increase the speed loop response. However, if the value is too high,
it may generate vibration or noise (servo instability).
P2-06 KVI Speed Integral Compensation Communication Addr.: 0206H
Default: 100:
Applicable Control Mode: P/S
Unit: N/A
Range: 0 4095
Settings:
This parameter is used to set the integral time of speed loop. When the value of speed
integral compensation is increased, it can improve the speed response ability and decrease
the speed control error. However, if the value is too high, it may generate vibration or noise
(servo instability).
P2-07 KVF Speed Feed Forward Gain Communication Addr.: 0207H
Default: 0
Unit: 0.0001
Range: 0 20000
Settings:
This parameter is used to set the feed forward gain of the speed control loop.
When using speed smooth command, increase gain to reduce speed following error.
When not using speed smooth command, decrease gain to reduce the effect of mechanical
resonances on the system.
In control theory, a step response can be used to explain the effect of proportional gain (KVP), integral
gain (KVI) and feed forward gain (KVF). The diagrams below use frequency domain and time domain
respectively to explain these gain parameters.
6
Frequency Domain
STEP 3: Select the value of KVI. If the phase

margin value is too small, adjust the
value of KVP to obtain approximately
45 of phase margin.

6
Time Domain
Higher values of KVP increase the

responsiveness of the loop and reduce rise time.
However, when the value of phase margin is too
low, steady state error is not reduced but
dynamic following error is reduced.
Higher KVI values increase the low-frequency

gain and reduce the value of steady state error to
nearly 0. However, phase margin is reduced
considerably. KVI can reduce steady state error,
but is not helpful in reducing dynamic
following error.
When the value of KVF is close to 1 and

the feed forward compenstation is more
complete, the dynamic following error will
become very small. However, when the
value of KVF is too high, it may cause
vibration.
6
Equipment such as a spectrum analyzer is needed to analyze the frequency domain method. However,
when using the time domain method, only an oscilloscope is required. Therefore, the time domain
method is generally used with the analog DI/DO provided by the servo drive to adjust what is called a
PI (Proportional and Integral) type controller.
Auto Mode (Continuous adjustment))

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

6
6.3.7 Resonance Suppression

Mechanical system resonance may occur due to excessive system stiffness or gain settings. However,
this kind of resonance condition can be suppressed or often eliminated by using a low-pass filter
(parameter P2-25) and a notch filter (parameter P2-23, P2-24) without changing gain parameters.
P2-23 NCF Notch Filter (Resonance Suppression) Communication Addr.: 0217H
Default: 1000
Applicable Control Mode: P/S/T
Unit: Hz
Range: 50 1000
Settings:
This parameter is used to set the filter frequency necessary to suppress a mechanical
resonance. It can be used to suppress the mechanical resonance of the system. If P2-24 is
set to 0, this parameter is disabled.
Notch Filter Attenuation Rate

P2-24 DPH Communication Addr.: 0218H
(Resonance Suppression)
Default: 0
Unit: dB
Range: 0 32
Settings: 0: Disabled
This parameter sets the amount of attenuation the notch filter imposes on the resonant
frequency set ty P2-23.
Low-pass Filter Time Constant

P2-25 NLP Communication Addr.: 0219H
Default: 2 (1kW and below models)
5 (above 1kW models)
Unit: ms
Range: 0 1000
Settings:
0: Disabled
This parameter is used to set the low-pass filter time constant.
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Speed Control Block Diagram

Feed forward
Differentiator Gain
P2-07 Current Sensor
PI Controller
(Proportional and Current Controller
Integral Controller)
P2-04, P2-06
Low-pass Notch Filter PWM

Filter
P2-23, P2-24
P2-25
Torque
Load
Speed estimator Encoder

6
Low-pass Filter
The figure below shows the resonant open-loop gain.
Gain
Frequency
0dB
When the low-pass filter (parameter P2-25) is increased from 0, the low-pass frequency (BW) will be
reduced (see the figure below). The resonance is reduced, however the frequency response and phase
margin will also decrease.
Gain
0dB Frequency
BW
Notch Filter
Usually, if the frequency of the resonance is known, using a notch filter is recommended to eliminate
the resonance conditions directly (parameter P2-23, P2-24). However, the filters frequency range is
from 50 to 1000Hz and the range of resonant attenuation is 032 dB. Therefore, if the resonant
frequency is out of this range, the low-pass filter (parameter P2-25) must be used to improve the
resonant condition.
Refer to the following figures and explanation to know how to use notch filter and low-pass filter to
improve a resonant condition.
6
Use of Notch Filter to suppress resonance
Resonance
Resonance
Gain conditions
Point Gain Gain
Notch Filter is suppressed
0db
Low-pass Low-pass
Frequency Attenuation Frequency
Rate P2-24
Resonance Frequency Frequency Resonance Frequency

Resonance
Frequency . Frequency Frequency .
P2-23
Use of Low-pass Filter to suppress resonance

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

Resonance
Frequency Frequency .

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6.4 Torque Control Mode

The torque control mode (T or Tz) is usually used on applications that require accurate control of
torque. VersaMotion servo drives support two kinds of command sources in torque control mode:
external analog signal or internal torque parameters.
6.4.1 Command Source for Torque Control Mode

Torque command Sources:
External analog signal: External analog voltage input, -10V to +10V
Internal parameters: P1-12 to P1-14
The command source selection is determined by the Digital Inputs on connector CN1.
DI signal on
Torque CN1 Command Source Content Range
Command
TCM1 TCM0
Voltage between
T External analog signal +/- 10 V
T1 0 0 Mode T-REF-GND
Tz None Torque command is 0 0
T2 0 1 P1-12 +/- 300 %
T3 1 0 Internal parameter P1-13 +/- 300 %
T4 1 1 P1-14 +/- 300 %
State of TCM0 and TCM1: 0: indicates OFF (Normally Open); 1: indicates ON (Normally
Closed)
When TCM0 and TCM1 are both 0 (OFF), and the control mode of operation is Tz, then the
command is 0. Therefore, choose Tz mode to operation torque control to avoid the zero point
drift problem of an analog voltage command. If the control mode of operation is T, then the
torque command is the analog voltage between the T-REF and GND inputs. The range of the
input voltage is from -10V to +10V and the corresponding torque can be scaled using
parameter P1-41.
When at least one of TCM0 and TCM1 is not 0 (OFF), the torque command uses the internal
parameters. The new command selection is valid (enabled) after either TCM0 or TCM1 is
changed.
The torque command that is described in this section not only can be taken as torque command in
torque control mode (T or Tz mode) but also can be the torque limit input in position mode (P mode)
and speed control mode (S or Sz mode).
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6.4.2 Block Diagram for Torque Control Mode
Basic Structure
Output Torque
Torque Command Resonant Suppression + Current Control

Torque
command Processing Block Diagram Block Diagram
-
Current Sensor
The torque command processing is used to select the command source of torque control according to
6.4.1 Command Source for Torque Control Mode, including maximum analog torque command
(parameter P1-41) and smoothing strategy of torque control mode. The current control block diagram is
used to manage the gain parameters of the servo drive and calculate the current input provided to
motor instantaneously. The function and structure of torque command processing is shown in the figure
below:
TCM0,TCM1 signal of CN1
(Command source: Internal

Internal parameter) parameter
P1-12
~1-14
Proportion Command Low-pass

(Command source: A/D Gain selection filter
External analog signal) P1-41 P1-01 P1-07
Analog signal
The command source is selected according to the state of TCM0, TCM1 and parameter P1-01 (T or
Tz). Whenever the command signal needs to be more smoothly, we recommend the users to use
proportional gain (scalar) and low-pass filter to adjust torque.

6
6.4.3 Smoothing Strategy of Torque Control Mode

Smooth Constant of Analog Torque Command
P1-07 TFLT Communication Addr.: 0107H
(Low-pass Filter)
Default: 0
Applicable Control Mode: T
Unit: ms
Note: If the value of parameter P1-07 is set to 0, it indicates the function of this parameter is disabled
and the command is just By-Pass.
Target Speed
TFLT
6
6.4.4 Analog Torque Input Scaling

The analog voltage between T_REF and GND controls the motor torque command. Using with
parameter P1-41 can adjust the torque control ramp and its range.
300%
The torque control ramp is
determined by parameter P1-41
100%
-10 -5
Torque command
5 10 Analog Input Voltage (V)
-100%
-300%
P1-41 TCM Max. Analog Torque Command / Limit Communication Addr.: 0129H
Default: 100
Unit: %
Range: 0 1000
Settings:
In Torque mode, this parameter is used to set the output torque at maximum input voltage
(10V) of analog torque command.
In Position and Speed mode, this parameter is used to set output torque at maximum input
voltage (10V) of analog torque limit
For example, in torque mode, if P1-41 is set to 100 and the input voltage is 10V, it indicates
that the torque command is 100% rated torque. If P1-41 is set to 100, but the input voltage is
changed to 5V, then the torque command is changed to 50% rated torque.
Torque command / limit = Input voltage x setting/10 (%)

6
6.4.5 Timing Chart for Speed Control Mode

T4
Internal speed T3
command
T2
External analog
voltage or zero (0) T1
TCM0 OFF ON OFF ON
TCM1 OFF ON
External I/O signal
SON ON
Notes:
OFF indicates normally open and ON indicates normally closed.
When torque control mode is Tz, the torque command T1=0; when torque control mode is T,
the speed command T1 is external analog voltage input (Refer to P1-01).
After Servo ON, the users can select command according to the state of TCM01.
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6.5 Control Mode Selection

VersaMotion drives provide Pt-S, Pr-S, S-T, Pt-T and Pr-T modes. You can also select one of the
following dual modes.
1. Speed / Position mode selection: Pt-S, Pr-S
2. Speed / Torque mode selection: S-T
3. Torque / Position mode selection: Pt-T, Pr-T
Mode Name Code Description
Pt-S 06 Either Pt or S control mode can be selected via the Digital Inputs (DI)
Pt-T 07 Either Pt or T control mode can be selected via the Digital Inputs (DI)
Dual Mode Pr-S 08 Either Pr or S control mode can be selected via the Digital Inputs (DI)
Pr-T 09 Either Pr or T control mode can be selected via the Digital Inputs (DI)
S-T 10 Either S or T control mode can be selected via the Digital Inputs (DI)
Sz and Tz mode selection is not provided. In order to avoid using too much DI inputs, we recommend
that the users can use external analog signal as input command in speed and torque mode to reduce
the use of DI inputs (SPD01 or TCM01). In position mode, we recommend that the users can use
Pt mode to input pulse to reduce the use of DI inputs (POS02).
For a list of default pin numbers of the DI/DO signals, refer to CN1 Terminal Signal Identification in
chapter 3.
6.5.1 Speed / Position Control Mode Selection
Pt-S Mode / Pr-S Mode

The command source of Pt-S mode is from external input pulse. The command source of Pr-S mode is
from internal parameters (P1-15 to P1-30). The speed command can be the external analog voltage or
internal parameters (P1-09 to P1-11). The speed and position mode switching is controlled by the S-P
signal. The selection will be more complicated when the position of Pr-S mode and speed command
are both selected through DI signal.
The following figure provides a timing chart of speed / position control mode selection.
Timing of Speed/Position Control Mode Selection

CTRG
S-P
POS0-2 NOT CARE POS0-2 VALID POS0-2 NOT CARE
SPD0-1 VALID SPD01 NOT CARE SPD0-1 VALID
Speed control mode Position control mode Speed control mode

6
In speed mode (when S-P is ON), speed command is selected by SPD01 and CTRG is disabled at
this time. When switching to the position mode (when S-P is OFF), the position command is not
determined (it needs to wait that CTRG is on the rising edge), so the motor stops running. Once CTRG
is on the rising edge, position command will be selected according to POS02 and the motor will
immediately move to the determined position. After S-P is ON, it will immediately return to speed mode.
For the relationship between DI signal and selected command in each mode, refer to the introduction of
single mode.
6.5.2 Speed / Torque Control Mode Selection
S-T Mode
The speed command can be the external analog voltage or internal parameters (P1-09 to P1-11) and
SPD0SPD 1 is used to select speed command. The same as speed command, the torque command
can be the external analog voltage or internal parameters (P1-12 to P1-14) and TCM01 is used to
select torque command. The speed and torque mode switching is controlled by the S-T signal.
The following figure provides a timing chart of speed / torque control mode selection.
Timing of Speed/Torque Control Mode Selection

S-T
NOT CARE SPD0-1 VALID NOT CARE
TCM0-1 VALID NOT CARE TCM0-1 VALID
Torque control mode Speed control mode Torque control mode
In torque mode (when S-T is ON), torque command is selected by TCM0 TCM1. When switching to
the speed mode (when S-T is OFF), the speed command is selected by SPD0SPD1, and then the
motor will immediately rotate following the command. After S-T is ON again, it will immediately return to
torque mode.
6.5.3 Torque / Position Control Mode Selection
Pt-T Mode / Pr-T Mode:

The command source of Pt-T mode is from external input pulse. The command source of Pr-T mode is
from internal parameters (P1-15 to P1-30). The torque command can be the external input pulse or
internal parameters (P1-12 to P1-14). The torque and position mode switching is controlled by T-P
signal. The selection will be more complicated when the position of Pr-T mode and torque command
are both selected through DI signal.
The following figure provides a timing chart of speed / position control mode selection.
6
Timing of Torque/Position Control Mode Selection

CTRG
T-P
POS0-2 NOT CARE POS0-2 VALID POS0-2 NOT CARE
TCM0-1 VALID TCM0~1 NOT CARE TCM0-1 VALID
Torque control mode Position control mode Torque control mode
In position mode (when T-P is ON), the motor will start to count pulse and operate following the
external pulse command. When switching to the torque mode (when T-P is OFF), it will stop counting
pulse even if the pulse command is continuously sent out. The torque command is determined by
TCM01 and the motor will rotate following the command. After T-P is ON again, it will immediately
return to position mode.
For the relationship between DI signal and selected command in each mode, refer to the introduction of
single mode.

6
6.6 Others
6.6.1 Speed Limit
The max. servo motor speed can be limited by using parameter P1-55 no matter in position, speed or
torque control mode.
The command source of speed limit command is the same as speed command. It can be the external
analog voltage but also can be internal parameters (P1-09 to P1-11). For more information on speed
command source, refer to 6.3.1 Command Source for Speed Control Mode on page 6-21.
The speed limit only can be used in torque mode (T mode) to limit the servo motor speed. When the
torque command is the external analog voltage, there should be surplus DI signal that can be treated
as SPD01 and be used to select speed limit command (internal parameter). If there is not enough DI
signal, the external voltage input can be used as speed limit command. When the Disable / Enable
Speed Limit Function Settings in parameter P1-02 is set to 1, the speed limit function is activated.
The following figure illustrates the timing of the speed limit function.
Disable / Enable Speed Limit Function
Settings in parameter P1-02 is set to 1
Disable / Enable Speed Limit Function
SPD0~1 INVALID SPD0~1 VALID

Command Source Selection of Speed Limit
6.6.2 Torque Limit

The command source of torque limit command is the same as torque command. It can be the external
analog voltage but also can be internal parameters (P1-12 to P1-14). For more information of torque
command source, refer to 6.3.1 Command Source for Speed Control Mode on page 6-21.
The torque limit only can be used in position mode (Pt and Pr mode) and speed mode (S mode) to limit
the output torque of servo motor. When the position command is the external pulse and speed
command is the external analog voltage, there should be surplus DI signal that can be treated as
TCM0 TCM1 used to select torque limit command (internal parameter). If there is not enough DI
signal, the external voltage input can be used as torque limit command. When the Disable / Enable
Torque Limit Function Settings in parameter P1-02 is set to 1, the torque limit function is activated.
The following figure illustrates the timing of the torque limit function.
Disable / Enable Torque Limit Function
Disable / Enable Torque Limit Function
TCM0~1 INVALID TCM0~1 VALID
Command Source Selection of Torque Limit
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6.6.3 Regenerative Resistor
Built-in Regenerative Resistor

When the output torque of servo motor in reverse direction of motor rotation speed, it indicates that
there is a regenerative power returned from the load to the servo drive. This power will be transmitted
into the capacitance of DC Bus and result in rising voltage. When the voltage has risen to some high
voltage, the servo system need to dissipate the extra energy by using a regenerative resistor. The
servo drive provides a built-in regenerative resistor and the users also can connect to external
regenerative resistor if more regenerative capacity is needed.
The following table shows the specifications of the servo drives built-in regenerative resistor and the
amount of regenerative power (average value) that it can process.
Built-in Regenerative Resistor Specifications

Resistance () Regenerative Power
Servo Capacity (W) Min. Allowable
(parameter processed by built-in
Drive (kW) (parameter P1-53) Resistance ()
P1-52) regenerative resistor (W)
0.1 40 60 30 40
0.2 40 60 30 40
0.4 40 60 30 20
0.75 40 60 30 20
1.0 40 60 30 20
1.5 40 60 30 20
2.0 20 120 60 10
3.0 2.0 120 60 10
When the regenerative power exceeds the processing capacity of the servo drive, install an external
regenerative resistor.
When using a regenerative resistor:
1. Make sure that resistance (parameter P1-52) and capacity (parameter P1-53) are set correctly.
2. When using an external regenerative resistor, ensure that its resistance value is the same as the
resistance of the built-in regenerative resistor. If combining multiple small-capacity regenerative
resistors in parallel to increase the regenerative resistor capacity, make sure that the total
resistance complies with the specifications listed in the above table.
3. In general, when the amount of regenerative power (average value) that can be processed is used
at or below the rated load ratio, the resistance temperature will increase to 120C or higher (on
condition that when the regeneration continuously occurred). For safety reasons, forced air cooling
should be used to reduce the temperature of the regenerative resistors. The regenerative resistors
should also be used with thermal switches. For the load characteristics of the regenerative
resistors, check with the manufacturer.

6
External Regenerative Resistor

When using external regenerative resistor, connect it to P and C, and make sure the circuit between P
and D is open. We recommend the users should use the external regenerative resistor that the
resistance value following the above table (Built-in Regenerative Resistor Specifications). We ignore
the dissipative power of IGBT (Insulated Gate Bipolar Transistor) in order to let the users easily
calculate the capacity of regenerative resistor. In the following sections, we will describe Regenerative
Power Calculation Method and Simple Calculation Method for calculating the regenerative power
capacity of external regenerative resistors.
Regenerative Power Calculation Method
(1) Without Load

When there is no external load torque, if the servo motor repeats operation, the returned regenerative
power generated when braking will transmitted into the capacitance of DC bus. After the capacitance
voltage exceeds some high value, the regenerative resistor can dissipate the remained regenerative
power. Use the table and procedure described below to calculate the regenerative power.
Servo Drive Rotor Inertia Regenerative power from empty Max. regenerative power
(kW) J (kg. m2) load 3000rpm to stop Eo (joule) of capacitance Ec(joule)
0.1 0.03E-4 0.15 3
0.2 0.18E-4 0.89 4
0.4 0.34E-4 1.68 8
0.75 1.08E-4 5.34 14
1.0 2.60E-4 12.86 18
1.5 3.60E-4 17.80 18
2.0 4.70E-4 23.24 21
3.0 11.6E-4 57.36 28
2
Eo = J x wr /182 (joule) , Wr : rpm
If the load inertia is N motor inertia, the regenerative power will be (N+1) x E0 when servo motor
brakes from 3000rpm to 0. Then, the regenerative resistor can dissipate: (N+1) x E0 - Ec (joule). If the
time of repeat operation cycle is T sec, then the regenerative power = 2 x ((N+1) x E0 - Ec) / T. The
calculating procedure is as follows:
Step Procedure Equation and Setting Method

Set the capacity of regenerative
1 Change the value of P1-53 to maximum
resistor to the maximum
2 Set the operation cycle T Input by the users
3 Set motor speed wr Input by the users or read via P0-02 Drive State Display
4 Set load/motor inertia ratio N Input by the users or read via P0-02 Drive State Display
Calculate the max. regenerative power
5 Eo = J x wr2/182
Eo
Set the regenerative power Ec that can
6 Refer to the table above
be absorbed
Calculate the required regenerative
7 2 x (N+1) x EoEc/ T
power capacity
6
For example:
If we use 400W servo drive, the time of repeat operation cycle is T = 0.4 sec, maximum motor speed is
3000rpm, the load inertia = 7 motor inertia, then the necessary the power of regenerative resistor
= 2 x ( (7+1) 1.68 - 8) / 0.4 = 27.2W.
If the calculation result is smaller than regenerative power, we recommend the users to use the built-in
60W regenerative resistor. Usually the built-in regenerative resistor provided by the servo drive can
meet the requirements of an application when the external load inertia is not excessive.
When the regenerative resistors capacity is too small, the accumulated power will be larger and the
temperature will increase. The fault, ALE05 may occur if the temperature is too high. The following
figure shows the operation of regenerative resistor.
(2) With Load

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

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

Selection of the proper resistance value for the load is strongly recommended.

6
For example:
When the external load torque is +70% of the rated torque and rotation speed reaches 3000 rpm, if
using 400W servo drive (rated torque: 1.27Nt-m), you should connect an external regenerative resistor
that provides a power rating of:
2 x (0.7 x 1.27) x (3000 x 2 x / 60) = 560W, 40.
Simple Calculation Method

The users can select the adequate regenerative resistors according to the allowable frequency required
by actual operation and the allowable frequency when the servo motor runs without load. The allowable
frequency when the servo motor run without load is the maximum frequency that can be operated
during continuous operation when servo motor accelerate from 0rpm to rated speed and decelerate
from rated speed down to 0rpm. The allowable frequencies when the servo motor run without load are
summarized in the following table.
Allowable frequency when the servo motor run without load (times/min)
400W 400W
100W 200W 300W 500W 600W 750W
Motor Series (60mm) (80mm)
01 02 03 04 04 05 06 07
Allowable Frequency
- - - 1275 519 43 41 319
(times/min)
1.0kW 1.0KW 2.0kW 2.0KW 2.0KW 3.0 KW
900W 1.5KW
Motor Series (100mm) (130mm) (100mm) (130mm) (180mm) (180mm)
09 10 10 15 20 20 20 30
Allowable Frequency
31 137 42 31 82 24 10
(times/min)
( ): motor frame size in millimeters.
When the servo motor runs with load, the allowable frequency will change according to the changes of
the load inertia and rotation speed. Use the following equation to calculate the allowable frequency.
2
Allowable frequency when serv o motor run without load Rated s peed times
Allowable fr equency = x
m+ 1 Operating speed mi n.
m = load/motor inertia ratio
6
Refer to the table below to select a regenerative resistor according to the allowable frequency:
Allowable frequency when the servo motor runs without load (times/min)
Motor Series 400W 400W
100W 200W 300W
Regenerative (60mm) (80mm)
Resistors 01 02 03 04 04
BR400W040 - - - 8608 3279
BR1K0W020 - - - 21517 8765
Motor Series 1.0kW
500W 600W 750W 900W
Regenerative (100 mm)
Resistors 05 06 07 09 10
BR400W040 291 283 2128 213 925
BR1K0W020 729 708 5274 533 2312
Motor Series 1.0KW 2.0kW 2.0KW 2.0KW
1.5KW
Regenerative (130mm) (100mm) (130mm) (180mm)
Resistors 10 15 20 20 20
BR400W040 283 213 562 163 68
BR1K0W020 708 533 1363 408 171
ECMA Series 3.0kw
(180mm)
Regenerative
30
Resistors
BR400W040
BR1K0W020

6
6.6.4 Analog Monitor

User can use analog monitor to observe the required analog voltage signals. VersaMotion drives
provide two analog channels, they are PIN No. 15 and 16 of CN1 connector. The parameters relative to
analog monitor are shown below.
P0-03 MON Analog Monitor Output Communication Addr.: 0003H

Applicable Control Mode: P/S/T Section 4.3.5
Unit: N/A
Range: 00 55
Settings:
AB: (A: CH1; B: CH2)

0: Motor speed (+/-8 V/maximum rotation speed)
1: Motor torque (+/-8 V/maximum torque)
2: Pulse command frequency (+8 Volts /650Kpps)
3: Speed command (+/-8 Volts /maximum speed command)
4: Torque command (+/-8 Volts /maximum torque command)
5: V_BUS voltage (+/-8 Volts /450V)
Note: For the setting of analog output voltage proportion, refer to the P1-04 and P1-05
Example: P0-03 = 01(CH1 is speed analog output)
Motor rotation speed = (Max. rotation speed V1/8) P1-04/100, when the output voltage
value of CH1 is V1.
6
P1-03 AOUT Pulse Output Polarity Setting Communication Addr.: 0103H

Applicable Control Mode: P/S/T Section 3.3.3
Unit: N/A
Range: 0 1
Settings:
Monitor analog output polarity
A=0: MON1(+), MON2(+)
A=1: MON1(+), MON2(-)
A=2: MON1(-), MON2(+)
A A=3: MON1(-), MON2(-)
B
not used
Pulse output polarity
B=0: Forward output
B=1: Reverse output
P1-04 Analog Monitor Output Proportion 1 (CH1) Communication Addr.: 0104H
Default: 100
Unit: % (full scale)
Range: 0 100
P1-05 Analog Monitor Output Proportion 2 (CH2) Communication Addr.: 0105H
Default: 100
Range: 0100
P4-20 DOF1 Analog Monitor Output Drift Adjustment (CH1) Communication Addr.: 0414H
Default: Factory setting

Unit: mV
Range: -800800
This parameter cannot be reset.

6
P4-21 DOF2 Analog Monitor Output Drift Adjustment (CH2) Communication Addr.: 0415H
Default: Factory setting

Unit: mV
Range: -800800
For example, to observe the analog voltage signal of channel 1, if the monitor output setting range is
8V per 325Kpps, you must change the value of parameter P1-04 (Analog Monitor Output Proportion 1)
to 50 (=325Kpps/Max. input frequency). Related parameters include P0-03 (A=3) and P1-03 (A=03,
output polarity setting). In general, when the output voltage value of channel 1 is V1, the pulse
command frequency is equal to (Max. input frequency V1/8) P1-04/100.
Because there is an offset value of analog monitor output voltage, the zero voltage level of analog
monitor output does not match the zero point. Use the Analog Monitor Output Drift Adjustment, DOF1
(parameter P4-20) and DOF2 (parameter P4-21) to improve this condition. The maximum output
voltage range of analog monitor output is 8V. If the output voltage exceeds its limit, it is still within the
range of 8V. The drive provides 10bits of resolution, approximated to 13mv/LSB.
8V
DOF
-8V
6
6.6.5 Electromagnetic Brake

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

ON
SON
OFF OFF
(DI Input)
ON
BRKR OFF OFF
(DO Output)
MBT1(P1-42) MBT2(P1-43)
ZSPD(P1-38)
Motor Speed
BRKR Output Timing Explanation

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

6
Electromagnetic Brake Wiring Diagram

Servo Drive Servo Motor
When emergency stop signal
DOX: (DOX+, DOX-) is activated, this circuit breaker
X=1,2,3,4,5 will be enabled.
DO1: ( 7, 6) Do not connect
DO2: ( 5, 4) VDD-COM+
DO3: ( 3, 2) Motor
DO4: ( 1, 26)
DO5: (28, 27) Brake 1
DOX+ Brake
Relay VDD
DOX- DC24V for Brake
DC24V
Ensure the polarity (+, -) Encoder
of Diode is correct or it
may damage the drive. Brake 2
Notes:
Refer to Chapter 3, Connections and Wiring for wiring information.
The BRKR signal is used to control the brake operation. The VDD DC24V power supply of the
servo drive can be used to power the relay coil (Relay). When BRKR signal is ON, the
motor brake will be activated.
Note that the coil of brake has no polarity.
The power supply for brake is DC24V. Never use it for VDD, the +24V source voltage.
6
Timing Charts of Control Circuit Power and Main Circuit Power

L1, L2
Control Circuit
Power 1 sec
5V
Control Circuit
Power
> 0msec
R, S, T
Main Circuit
Power 800ms
BUS Voltage
READY
2 sec
SERVO
READY
SERVO ON
(DI Input) 1 msec (min)+ P2-09) Response Filter Time of Digital Input (
SERVO ON
(DO Output)
Position \ Speed \ Input available

Torque Command
Input

Chapter Parameters
7
Page
7.1 Definitions 7-2
7.2 Parameter Summary 7-3
7.3 Detailed Parameter Listings 7-20
7.3.1 Group 0: P0-xx, Monitor Parameters 7-20
7.3.2 Group 1: P1-xx Basic Parameters 7-27
7.3.3 Group 2: P2-xx Extension Parameters 7-52
7.3.4 Group 3: P3-xx Communication Parameters 7-80
7.3.5 Group 4: P4-xx Diagnosis Parameters 7-84
7.4 Input Function Definitions 7-92
7.5 Output Function Definitions 7-97
GFK-2480A 7-1
7
7.1 Definitions
There are following five groups for drive parameters:
Group 0: Monitor parameter (example: P0-xx)
Group 1: Basic parameter (example: P1-xx)
Group 2: Extension parameter (example: P2-xx)
Group 3: Communication parameter (example: P3-xx)
Group 4: Diagnosis parameter (example: P4-xx)
Abbreviation of control modes:

Pt : Position control mode (command from external signal)
Pr : Position control mode (command from internal signal)
S : Speed control mode
T : Torque control mode
Explanation of symbols
* Read-only register, such as P0-00, P0-01, P4-00.
Parameter cannot be set when Servo On (when the servo drive is enabled).
Examples: P1-00 and P2-32.
Parameter is effective only after the servo drive is restarted (after switching power off and on).
Examples: P1-01 and P1-33.
Parameter values are not retained when power is off. Example: P3-06.
7
7.2 Parameter Summary

7.2.1 Parameters Listed by Group
Group 0: P0-xx, Monitor Parameters

Parameter Name Function Default Unit Control Mode
Pt Pr S T
P0-00* VER Firmware Version Factory setting N/A
P0-01* ALE Drive Fault Code N/A N/A
P0-02 STS Drive Status 00 N/A
P0-03 MON Analog Monitor Output 01 N/A
P0-04 CM1 Status Monitor 1 0 N/A
P0-09 MAP0 Block Data Read / Write Register 0 407H N/A
P0-10 MAP1 Block Data Read / Write Register 1 10FH N/A
P0-17 Reserved
* For definitions of symbols (marked after parameter), see page 7-2.
GFK-2480A Parameters 7-3

7
Group 1: P1-xx, Basic Parameters

Control
Parameter Name Function Default Unit Mode
Pt Pr S T
P1-00 PTT External Pulse Input Type 2 N/A
pulse
P1-01 CTL Control Mode and Output Direction 0 r/min
N.M
P1-02 PSTL Speed and Torque Limit 0 N/A
P1-03 AOUT Pulse Output Polarity Setting 0 N/A
Analog Monitor Output Proportion 1
P1-04 MON1 100 %
(CH1)
P1-05 MON2 100 %
(CH2)
Accel / Decel Smooth Constant of
P1-06 SFLT Analog Speed Command (Low-pass 0 ms
Filter)
Smooth Constant of Analog Torque
P1-07 TFLT 0 ms
Command (Low-pass Filter)
Smooth Constant of Position Command
P1-08 PFLT 0 ms
(Low-pass Filter)
P1-09 SP1 1st 3rd Speed Command
100 300 r/min
P1-11 SP3 1st 3rd Speed Limit
P1-12 1st 3rd Torque Command
TQ1 3 100 %
P1-14 1st 3rd Torque Limit
PO1H
1st 8th Position command for Rotation 0 N/A
P1-15 PO8H
P1-30 PO1L
1st 8th Position command for Pulse 0 N/A
PO8L
P1-31 Reserved
P1-32 LSTP Motor Stop Mode Selection 0 N/A
P1-33 POSS Position Control Mode (Pr) 0 N/A
P1-34 TACC Acceleration Time 200 ms
P1-35 TDEC Deceleration Time 200 ms
P1-36 TSL Accel / Decel S-curve 0 ms
Ratio of Load Inertia to Servo Motor
P1-37 GDR 5.0 times
Inertia
P1-38 ZSPD Zero Speed Range Setting 10 r/min
P1-39 SSPD Target Motor Speed 3000 r/min
P1-40 VCM Max. Analog Speed Command or Limit rated speed r/min
P1-41 TCM Max. Analog Torque Command / Limit 100 %
P1-42 MBT1 On Delay Time of Electromagnetic Brake 0 ms
7
Control
Pt Pr S T
OFF Delay Time of Electromagnetic
P1-43 MBT2 0 ms
Brake
Electronic Gear Ratio (1st Numerator)
P1-44 GR1 1 pulse
(N1)
P1-45 GR2 Electronic Gear Ratio (Denominator) 1 pulse
P1-46 GR3 Encoder Output Pulse Number 1 pulse
P1-47 HMOV Homing Mode 00 N/A
P1-48 HSPD1 1st Speed Setting of High Speed Homing 1000 r/min
2nd Speed Setting of Low Speed
P1-49 HSPD2 50 r/min
Homing
P1-50 HOF1 Homing Offset Rotation Number 0 rev
P1-51 HOF2 Homing Offset Pulse Number 0 pulse
P1-52 RES1 Regenerative Resistor Value N/A Ohm
P1-53 RES2 Regenerative Resistor Capacity N/A Watt
P1-54 PER Positioning Completed Width 100 pulse
P1-55 MSPD Maximum Speed Limit rated speed r/min
P1-56 OLW Output Overload Warning 120 %
P1-62 Reserved
Group 2: P2-xx, Extension Parameters

Control
Pt Pr S T
P2-00 KPP Proportional Position Loop Gain 35 rad/s
P2-01 PPR Position Loop Gain Switching Rate 100 %
P2-02 PFG Position Feed Forward Gain 5000 0.0001
Smooth Constant of Position Feed
P2-03 PFF 5 ms
Forward Gain
P2-04 KVP Proportional Speed Loop Gain 500 rad/s
P2-05 SPR Speed Loop Gain Switching Rate 100 %
P2-06 KVI Speed Integral Compensation 100 N/A
P2-07 SFG Speed Feed Forward Gain 0 0.0001
P2-08 PCTL Special Factory Setting 0 N/A
P2-09 DRT Bounce Filter 2 2ms
P2-10 DI1 Digital Input Terminal 1 (DI1) 101 N/A

7
Control
Pt Pr S T
P2-18 DO1 Digital Output Terminal 1 (DO1) 101 N/A
P2-23 NCF Notch Filter (Resonance Suppression) 1000 Hz
P2-24 DPH 0 dB
P2-25 NLP 2 or 5 ms
P2-26 DST External Anti-Interference Gain 0 0.001
P2-27 GCC Gain Switching Control Selection 0 N/A
P2-28 GUT Gain Switching Time Constant 10 10ms
pulse
P2-29 GPE Gain Switching Condition 10000 Kpps
r/min
P2-30 INH Auxiliary Function 0 N/A
Auto Mode Stiffness and
P2-31 AUT1 44 N/A
Responsiveness Level
P2-32 AUT2 Tuning Mode Selection 0 N/A
P2-33 INF Easy Setting of Input Filter 0 N/A
P2-34 SDEV Overspeed Warning Condition 5000 r/min
P2-35 PDEV Excessive Error Warning Condition 30000 pulse
P2-36 POV1 Moving Speed Setting of 1st 8th
1000 r/min
P2-43 POV8 Positions
P2-44 DOM Digital Output Mode Setting 0 N/A
P2-45 DOD Combination Output Signal Delay Time 1 4ms
P2-46 FSN Feed Step Number 6 N/A
P2-47 PED Position Deviation Clear Delay Time 0 20ms
Backlash Compensation of Feed Step 0
P2-48 BLAS pulse
Control
Speed Detection Filter and Jitter
P2-49 SJIT 0 sec
Suppression
7
Control
Pt Pr S T
P2-50 CCLR Pulse Deviation Clear Mode 0 N/A
P2-51 SRON Servo ON 0 N/A
P2-52 ATM0 Timer 0 of Auto Mode 0 sec
Electronic Gear Ratio (2nd Numerator)
P2-60 GR4 1 pulse
(N2)
Electronic Gear Ratio (3rd Numerator)
P2-61 GR5 1 pulse
(N3)
Electronic Gear Ratio (4th Numerator)
P2-62 GR6 1 pulse
(N4)
P2-63 TSCA Proportion Value Setting 0 times
P2-64 TLMOD Torque Limit Mixed Mode 0 N/A
P2-65 GBIT Special Function 0 N/A
Group 3: P3-xx, Communication Parameters

Control
Pt Pr S T
P3-00 ADR Communication Address Setting 1 N/A
P3-01 BRT Transmission Speed 1 bps
P3-02 PTL Communication Protocol 0 N/A
P3-03 FLT Transmission Fault Treatment 0 N/A
P3-04 CWD Communication Time Out Detection 0 sec
P3-05 CMM Communication Selection 0 N/A
P3-06 SDI Digital Input Communication Function 0 N/A
P3-07 CDT Communication Response Delay Time 0 0.5ms

7
Group 4: P4-xx, Diagnosis Parameters

Control
Pt Pr S T
P4-00* ASH1 Fault Record (N) 0 N/A
P4-01* ASH2 Fault Record (N-1) 0 N/A
P4-05 JOG JOG Operation 20 r/min
P4-06 FOT Force Output Control 0 N/A
P4-07 ITST Multi Function Digital Input N/A N/A
P4-08 PKEY Digital Keypad Input of Servo Drive N/A N/A
P4-09* MOT Multi Function Digital Output N/A N/A
P4-10 CEN Adjustment Function 0 N/A
Factory
P4-11 SOF1 Analog Speed Input Drift Adjustment 1 N/A
setting
Factory
P4-12 SOF2 Analog Speed Input Drift Adjustment 2 N/A
setting
Factory
P4-13 TOF1 Analog Torque Drift Adjustment 1 N/A
setting
Factory
P4-14 TOF2 Analog Torque Drift Adjustment 2 N/A
setting
Current Detector Drift Adjustment (V1 Factory
P4-15 COF1 N/A
phase) setting
Current Detector Drift Adjustment (V2 Factory
P4-16 COF2 N/A
phase) setting
Current Detector Drift Adjustment (W1 Factory
P4-17 COF3 N/A
phase) setting
Current Detector Drift Adjustment (W2 Factory
P4-18 COF4 N/A
phase) setting
Factory
P4-19 TIGB IGBT NTC Calibration N/A
setting
Analog Monitor Output Drift Adjustment
P4-20 DOF1 0 mV
(CH1)
Analog Monitor Output Drift Adjustment
P4-21 DOF2 0 mV
(CH2)
P4-22 SAO Analog Speed Input Offset 0 mV
P4-23 TAO Analog Torque Input Offset 0 mV
7
7.2.2 Parameters Listed by Function
Monitoring and General Use Functions

Control Related
Mode Section of
Parameter Name Function Default Unit
User
Pt Pr S T Manual
Factory
P0-00* VER Firmware Version N/A ` ---
setting
P0-01* ALE Drive Fault Code N/A N/A 10.1
P0-02 STS Drive Status 00 N/A 4.3.5
P0-03 MON Analog Monitor Output 01 N/A 4.3.5
P0-04 CM1 Status Monitor 1 0 N/A 4.3.5
P0-09 MAP0 Block Data Read / Write Register 0 407H N/A ---
P0-10 MAP1 Block Data Read / Write Register 1 10FH N/A ---
P0-17 Reserved
P1-03 AOUT Pulse Output Polarity Setting 0 N/A
P1-04 MON1 100 % 6.4.4
(CH1)
P1-05 MON2 100 % 6.4.4
(CH2)

7
Smooth Filter and Resonance Suppression Functions

Control Related
Mode Section of
User
Pt Pr S T Manual
Accel / Decel Smooth Constant of
P1-06 SFLT Analog Speed Command (Low-pass 0 ms 6.4.3
Filter)
Smooth Constant of Analog Torque
P1-07 TFLT 0 ms 6.4.3
Smooth Constant of Position
P1-08 PFLT 0 ms 6.2.6
P1-34 TACC Acceleration Time 200 ms 6.3.3
P1-35 TDEC Deceleration Time 200 ms 6.3.3
P1-36 TSL Accel / Decel S-curve 0 ms 6.3.3
Notch Filter (Resonance
P2-23 NCF 1000 Hz 6.3.7
Suppression)
P2-24 DPH 0 dB 6.3.7
P2-25 NLP 2 or 5 ms 6.3.7
P2-33 INF Easy Setting of Input Filter 0 N/A 6.3.6
Speed Detection Filter and Jitter
P2-49 SJIT 0 sec ---
Suppression
7
Gain and Switch Functions

Control Related
Mode Section of
User
Pt Pr S T Manual
P2-00 KPP Proportional Position Loop Gain 35 rad/s 6.2.8
P2-01 PPR Position Loop Gain Switching Rate 100 % ---
P2-02 PFG Position Feed Forward Gain 5000 0.0001 6.2.8
Smooth Constant of Position Feed
P2-03 PFF 5 ms ---
Forward Gain
P2-04 KVP Proportional Speed Loop Gain 500 rad/s 6.3.6
P2-05 SPR Speed Loop Gain Switching Rate 100 % ---
P2-06 KVI Speed Integral Compensation 100 N/A 6.3.6
P2-07 SFG Speed Feed Forward Gain 0 0.0001 6.3.6
P2-26 DST External Anti-Interference Gain 0 0.001 ---
P2-27 GCC Gain Switching Control Selection 0 N/A ---
P2-28 GUT Gain Switching Time Constant 10 10ms ---
pulse
P2-29 GPE Gain Switching Condition 10000 Kpps ---
r/min
Auto Mode Stiffness and
P2-31 AUT1 44 N/A 6.3.6
Responsiveness Level
P2-32 AUT2 Tuning Mode Selection 0 N/A 6.3.6

7
Position Control Functions

Control Related
Mode Section of
User
Pt Pr S T Manual
pulse
P1-01 CTL Control Mode and Output Direction 0 r/min 6.1
N.M
P1-02 PSTL Speed and Torque Limit 0 N/A 6.6
P1-46 GR3 Encoder Output Pulse Number 1 pulse ---
rated
P1-55 MSPD Maximum Speed Limit r/min ---
speed
P1-12 TQ1 1st 3rd Torque Command
100 % 6.4.1
P1-14 3 1st 3rd Torque Limit
P2-50 CCLR Pulse Deviation Clear Mode 0 N/A ---
External pulse control command (Pt mode)
P1-00 PTT External Pulse Input Type 2 N/A 6.2.1
Electronic Gear Ratio (1st
P1-44 GR1 1 pulse 6.2.5
Numerator) (N1)
P1-45 GR2 Electronic Gear Ratio (Denominator) 1 pulse 6.3.6
Electronic Gear Ratio (2nd
P2-60 GR4 1 pulse ---
Numerator) (N2)
Electronic Gear Ratio (3rd
P2-61 GR5 1 pulse ---
Numerator) (N3)
Electronic Gear Ratio (4th
P2-62 GR6 1 pulse ---
Numerator) (N4)
Internal pulse control command (Pr mode)
PO1H
1st 8th Position command for

Rotation
P1-15 P1- PO8H
0 N/A 6.2.2
30 PO1L
1st 8th Position command for

Pulse
PO8L
POV1
P2-36 P2- Moving Speed Setting of 1st 8th
1000 r/min 6.2.2
43 Position
POV8
P1-33 POSS Position Control Mode (Pr) 0 N/A 6.2.2
P1-47 HMOV Homing Mode 00 N/A 12.8
1st Speed Setting of High Speed
P1-48 HSPD1 1000 r/min 12.8
Homing
2nd Speed Setting of Low Speed
P1-49 HSPD2 50 r/min 12.8
Homing
P1-50 HOF1 Homing Offset Rotation Number 0 rev ---
7
Control Related
Mode Section of
User
Pt Pr S T Manual
P1-51 HOF2 Homing Offset Pulse Number 0 pulse ---
Delay Time of Internal Position 0
P1-62 COKT ms ---
Command Completed Output Signal
Combination Output Signal Delay 1
P2-45 DOD 4ms 12.6
Time
P2-46 FSN Feed Step Number 6 N/A 12.6
P2-47 PED Position Deviation Clear Delay Time 0 20ms 12.6
Backlash Compensation of Feed 0
P2-48 BLAS pulse 12.6
Step Control
P2-52 ATM0 Timer 0 of Auto Mode 0 sec 12.6
P2-53 ATM1 Timer 1 of Auto Mode 0 sec ---

7
Speed Control Functions

Control Related
Mode Section of
User
Pt Pr S T Manual
pulse
N.M
rated
speed
P1-09 SP1 1st 3rd Speed Command 100
r/min 6.3.1
P1-11 SP3 1st 3rd Speed Limit 300
100 % 6.6.2
P1-14 TQ3 1st 3rd Torque Limit
Max. Analog Speed Command or rated
P1-40 VCM r/min 6.3.4
Limit speed
Max. Analog Torque Command /
P1-41 TCM 100 % ---
Limit
P2-63 TSCA Proportion Value Setting 0 times ---
P2-64 TLMOD Torque Limit Mixed Mode 0 N/A ---
7
Torque Control Functions

Control Related
Mode Section of
User
Pt Pr S T Manual
pulse
N.M
rated
speed
P1-09 SP1 1st 3rd Speed Command 100
r/min 6.6.1
P1-11 SP3 1st 3rd Speed Limit 300
100 % 6.4.1
P1-14 TQ3 1st 3rd Torque Limit
Max. Analog Speed Command or rated
P1-40 VCM r/min ---
Limit speed
Max. Analog Torque Command /
P1-41 TCM 100 % 6.4.4
Limit

7
Digital I/O and Relative Input Output Setting Functions

Control Related
Mode Section of
User
Pt Pr S T Manual
P2-09 DRT Bounce Filter 2 2ms
7.4 Input
P2-12 DI3 Digital Input Terminal 3 (DI3) 116 N/A Function
P2-13 DI4 Digital Input Terminal 4 (DI4) 117 N/A Definitions,
p. 7-92
7.5 Output
P2-19 DO2 Digital Output Terminal 2 (DO2) 103 N/A Function
P2-20 DO3 Digital Output Terminal 3 (DO3) 109 N/A Definitions,
p. 7-97
r
P1-38 ZSPD Zero Speed Range Setting 10 ---
r/min
P1-39 SSPD Target Motor Speed 3000 r/min ---
On Delay Time of Electromagnetic
P1-42 MBT1 0 ms 6.5.5
Brake
OFF Delay Time of Electromagnetic
P1-43 MBT2 0 ms 6.5.5
Brake
P1-54 PER Positioning Completed Width 100 pulse ---
P1-56 OLW Output Overload Warning 120 % ---
7
Communication Functions
Control Related
Mode Section of
User
Pt Pr S T Manual
P3-00 ADR Communication Address Setting 1 N/A 8.2
P3-01 BRT Transmission Speed 1 bps 8.2
P3-02 PTL Communication Protocol 0 N/A 8.2
P3-03 FLT Transmission Fault Treatment 0 N/A 8.2
P3-04 CWD Communication Time Out Detection 0 sec 8.2
P3-05 CMM Communication Selection 0 N/A 8.2
Digital Input Communication
P3-06 SDI 0 N/A 8.2
Function
Communication Response Delay
P3-07 CDT 0 0.5ms ---
Time

7
Diagnosis Functions
Control Related
Mode Section of
User
Pt Pr S T Manual
P4-00* ASH1 Fault Record (N) 0 N/A 4.4.1
P4-01* ASH2 Fault Record (N-1) 0 N/A 4.4.1
P4-05 JOG JOG Operation 20 r/min 4.4.2
P4-06 FOT Force Output Control 0 N/A 4.4.4
P4-07 ITST Multi Function Digital Input N/A N/A 4.4.5
P4-08 PKEY Digital Keypad Input of Servo Drive N/A N/A ---
P4-09* MOT Multi Function Digital Output N/A N/A 4.4.6
P4-10 CEN Adjustment Function 0 N/A ---
Analog Speed Input Drift Adjustment Factory
P4-11 SOF1 N/A ---
1 setting
Analog Speed Input Drift Adjustment Factory
P4-12 SOF2 N/A ---
2 setting
Factory
P4-13 TOF1 Analog Torque Drift Adjustment 1 N/A ---
setting
Factory
P4-14 TOF2 Analog Torque Drift Adjustment 2 N/A ---
setting
Current Detector Drift Adjustment Factory
P4-15 COF1 N/A ---
(V1 phase) setting
P4-16 COF2 N/A ---
(V2 phase) setting
P4-17 COF3 N/A ---
(W1 phase) setting
P4-18 COF4 N/A ---
(W2 phase) setting
Factory
P4-19 TIGB IGBT NTC Calibration N/A ---
setting
Analog Monitor Output Drift
P4-20 DOF1 0 mV 6.4.4
Adjustment (CH1)
Analog Monitor Output Drift
P4-21 DOF2 0 mV 6.4.4
Adjustment (CH2)
P4-22 SAO Analog Speed Input Offset 0 mV ---
P4-23 TAO Analog Torque Input Offset 0 mV ---
7
Other Functions
Control Related
Mode Section of
User
Pt Pr S T Manual
P1-31 Reserved ---
P1-32 LSTP Motor Stop Mode Selection 0 N/A ---
Ratio of Load Inertia to Servo Motor
P1-37 GDR 5.0 times 6.3.6
Inertia
P1-52 RES1 Regenerative Resistor Value NA Ohm 6.6.3
P1-53 RES2 Regenerative Resistor Capacity NA Watt 6.6.3
P1-57 Reserved ---
P1-58 Reserved ---
P1-59 Reserved ---
P1-60 Reserved ---
P1-61 Reserved ---
P2-08 PCTL Special Factory Setting 0 N/A ---
P2-30 INH Auxiliary Function 0 N/A ---
P2-34 SDEV Overspeed Warning Condition 5000 r/min ---
P2-35 PDEV Excessive Error Warning Condition 30000 pulse ---
P2-51 SRON Servo ON 0 N/A 12.6
P2-63 TSCA Proportion Value Setting 0 times ---
P2-65 GBIT Special Function 0 N/A ---

7
7.3 Detailed Parameter Listings

7.3.1 Group 0: P0-xx, Monitor Parameters
P0 - 00* VER Firmware Version Communication Addr.: 0000H
Default: Factory setting Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: N/A
P0 - 01* ALE Drive Fault Code Communication Addr.: 0001H
Default: Factory setting Related Section:

Applicable Control Mode: ALL Chapter 10
Unit: N/A
Range: 00 23
Settings:
01: Overcurrent 21: DSP to MCU command write-in error
02: Overvoltage 22: Input power phase loss
03: Undervoltage 23: Pre-overload warning
04: Z Pulse shift
05: Regeneration error
06: Overload
07: Overspeed
08: Abnormal pulse control command
09: Excessive deviation
10: Watch dog fault
11: Position detector fault
12: Adjustment error
13: Emergency stop
14: Reverse limit error
15: Forward limit error
16: IGBT temperature error
17: Memory error
18: DSP communication error
19: Serial communication error
20: Serial communication time out
7
P0 - 02 STS Drive Status Communication Addr.: 0002H

Applicable Control Mode: ALL Section 4.3.5
Unit: N/A
Range: 00 16
Settings:
00: Motor feedback pulse number (absolute value) [pulse]
01: Motor feedback rotation number (absolute value) [rev]
02: Pulse counts of pulse command [pulse]
03: Rotation number of pulse command [rev]
04: Position error counts [pulse]
05: Input frequency of pulse command [Kpps]
06: Motor speed r/min]
07: Speed input command [Volt]
08: Speed input command [r/min]
09: Torque input command [Volt]
10: Torque input command [%]
11: Average load [%]
12: Peak load [%]
13: Main circuit voltage [volt]
14: Ratio of load inertia to motor inertia [time]
15: Motor feedback pulse number (relative value) / Position latch pulse number [pulse]
16: Motor feedback rotation number (relative value) / Position latch rotation number [rev]

7
P0 - 03 MON Analog Monitor Output Communication Addr.: 0003H

Unit: N/A
Range: 00 55
Settings:
AB: (A: CH1; B: CH2)
0: Motor speed (8V / maximum motor speed)
1: Motor torque (8 V/maximum torque)

2: Pulse command frequency (+8 Volts / 650Kpps)
3: Speed command (8 Volts / maximum speed command)
4: Torque command (8 Volts / maximum torque command)
5: V_BUS voltage (8 Volts / 450V)

Note: To set analog output voltage proportion, refer to P1-04 and P1-05.
Example:
P0-03 = 01(CH1 is speed analog output)
Motor speed = (Max. motor speed V1/8) P1-04/100, when the output voltage value of
CH1 is V1.
7
P0 - 04 CM1 Status Monitor 1 Communication Addr.: 0004H

Unit: N/A
Range: 0 16
Settings:
Select the desired drive status through communication setting or the keypad (refer to P0-02).
The drive status can be read from the communication address of this parameter via
communication port.
For example:
Set P0-04 to 1 and then all consequent reads of P0-04 will return the motor feedback rotation
number in revolution.

Unit: N/A
Range: 0 16
Settings: See P0-04 for explanation.

Unit: N/A
Range: 0 16

7

Unit: N/A
Range: 0 17
Settings:
The drive status can be read from the communication address of this parameter using the
communication port. If users set this parameter to 17, the status of DI signal can be read.

Unit: N/A
Range: 0 17
Settings:
The drive status can be read from the communication address of this parameter via
communication port. If users set this parameter to 17, the status of DO signal can be read.
P0 - 09 MAP0 Block Data Read / Write Register 0 Communication Addr.: 0009H
Default: 407H Related Section: N/A

Unit: N/A
Range: 100H 417H
Settings:
Set the register address in HEX that users want to read and write by using the keypad.
Users can enter the desired register address (0100H 0417H) into P0-09 to P0-16 (0009H
0010H). Then, users can read and write up to 8 continuous specified block data from the
communication address 0009H to 0010H through the communication port.
For example, if setting P0-09 to 407 by using the keypad, when the users read and write the
data from communication address 0009H, it means that the read and write value is the value
of parameter P4-07.
7
P0 - 10 MAP1 Block Data Read / Write Register 1 Communication Addr.: 000AH
Default: 10FH Related Section: N/A

Unit: N/A
Range: 100H 417H
P0 - 11 MAP2 Block Data Read / Write Register 2 Communication Addr.: 000BH

Unit: N/A
Range: 100H 417H
P0 - 12 MAP3 Block Data Read / Write Register 3 Communication Addr.: 000CH

Unit: N/A
Range: 100H 417H
P0 - 13 MAP4 Block Data Read / Write Register 4 Communication Addr.: 000DH

Unit: N/A
Range: 100H 417H

7
P0 - 14 MAP5 Block Data Read / Write Register 5 Communication Addr.: 000EH

Unit: N/A
Range: 100H 417H
P0 - 15 MAP6 Block Data Read / Write Register 6 Communication Addr.: 000FH

Unit: N/A
Range: 100H 417H
P0 - 16 MAP7 Block Data Read / Write Register 7 Communication Addr.: 0010H

Unit: N/A
Range: 100H 417H
P0 - 17 Reserved Communication Addr.: 0011H
7
7.3.2 Group 1: P1-xx Basic Parameters

P1 - 00 PTT External Pulse Input Type Communication Addr.: 0100H

Applicable Control Mode: Pt Section 6.2.1
Unit: N/A
Range: 0 132
Settings:
Value A: Pulse type
A=0: AB phase pulse (4x)
A=1: CW + CCW pulse
A
B A=2: Pulse + Direction
C Value B: Input pulse filter
not used B=0: 500Kpps
B=1: 200Kpps
B=2: 150Kpps
B=3: 80Kpps
This setting is used to suppress or reduce the chatter
caused by the noise, etc. However, if the instant input
pulse filter frequency is too high, the frequency that
exceeds the value will be regarded as noise and
filtered.
Value C: Logic type
0=Positive Logic 1=Negative Logic
Pulse Type
Forward Reverse Forward Reverse
AB phase pulse
CW + CCW pulse
Pulse + Direction
Input pulse interface Max. input pulse frequency

Line driver 500Kpps
Open collector 200Kpps
Other setting: Reversed

7
P1 01 CTL Control Mode and Output Direction Communication Addr.: 0101H

Applicable Control Mode: ALL Section 6.1
Unit: pulse (P mode), r/min (S mode), N.M (T mode)
Range: 0 1110
Settings:
A: Control mode settings
B: Torque output direction settings

A
C=1: When switching to different mode,
B
DIO (P2-10 P2-22) can be reset to be
C
D the default value of the mode you switch to.
not used C=0: When switching to different mode, the
value of DIO (P2-10 P2-22) will remain
the same and will not be changed.
Control Mode Settings Torque Output Direction Settings

Pt Pr S T Sz Tz 0 1
00
01
Forward
02
03
04
05 Reverse
06
07
08
09
10
Pt: Position control mode (command from external signal)

Pr: Position control mode (command from internal signal)
S: Speed control mode (external signal / internal signal)
T: Torque control mode (external signal / internal signal)
Sz: Zero speed / internal speed command
Tz: Zero torque / internal torque command
7
P1 - 02 PSTL Speed and Torque Limit Communication Addr.: 0102H

Unit: N/A
Range: 0 11
Settings:
A
B
not used
A=0: Disable speed limit function
A=1: Enable speed limit function (It is available in torque mode)
Other: Reserved
(0)
Vref
Speed Limit
P1-09(1) Command
P1-10(2)
P1-11(3)
SPD0
SPD1
B=0: Disable torque limit function
B=1: Enable torque limit function (It is available in position and speed mode)
Other: Reserved
(0)
Tref
Torque Limit
P1-12(1) Command
P1-13(2)
P1-14(3)
TCM0
TCM1

7
P1 - 03 AOUT Pulse Output Polarity Setting Communication Addr.: 0103H

Unit: N/A
Range: 0 1
Settings:
A: Monitor analog output polarity B: Position pulse output polarity

A=0: MON1(+), MON2(+) B=0: Forward output
A=1: MON1(+), MON2(-) B=1: Reverse output
A=2: MON1(-), MON2(+)
A=3: MON1(-), MON2(-)
P1 - 04 MON1 Analog Monitor Output Proportion 1 (CH1) Communication Addr.: 0104H

Range: 0 100
P1 - 05 MON2 Analog Monitor Output Proportion 2 (CH2) Communication Addr.: 0105H

Range: 0 100
7
Accel / Decel Smooth Constant of Analog Speed

P1 - 06 SFLT Communication Addr.: 0106H
Applicable Control Mode: S Section 6.3.3
Unit: ms
Smooth Constant of Analog Torque Command

P1 - 07 TFLT Communication Addr.: 0107H
(Low-pass Filter)
Applicable Control Mode: T Section 6.4.3
Unit: ms
Smooth Constant of Position Command (Low-

P1 - 08 PFLT Communication Addr.: 0108H
pass Filter)
Applicable Control Mode: Pt Section 6.2.6
Unit: 10ms
1st Speed Command

P1 - 09 SPD1 Communication Addr.: 0109H
1st Speed Limit
Applicable Control Mode: S, T Section 6.3.1
Unit: r/min
Range: -5000 +5000
Settings:
1st Speed Command
In Speed mode, this parameter is used to set speed 1 of internal speed command. For the
decimal place setting of internal speed command, refer to P2-63.
1st Speed Limit
In Torque mode, this parameter is used to set speed limit 1 of internal speed command.

7
2nd Speed Command

P1 - 10 SPD2 Communication Addr.: 010AH
2nd Speed Limit
Unit: r/min
Range: -5000 +5000
Settings:
2nd Speed Command
2nd Speed Limit
3rd Speed Command

P1 - 11 SPD3 Communication Addr.: 010BH
3rd Speed Limit
Unit: r/min
Range: -5000 +5000
Settings:
3rd Speed Command
3rd Speed Limit
7
1st Torque Command

P1 - 12 TQ1 Communication Addr.: 010CH
1st Torque Limit
Applicable Control Mode: T, P/S Section 6.4.1
Unit: %
Range: -300 +300
Settings:
1st Torque Command
In Torque mode, this parameter is used to set torque 1 of internal torque command.
1st Torque Limit
In Position and Speed mode, this parameter is used to set torque limit 1 of internal torque
command.
Digital output signal TQL is activated when the drive has detected that the motor has reached
the torques limits set by either the parameters P1-12 P1-14 of via an external analog
voltage.
2nd Torque Command

P1 - 13 TQ2 Communication Addr.: 010DH
2nd Torque Limit
Unit: %
Range: -300 +300
Settings:
2nd Torque Command
2nd Torque Limit
command.
voltage.

7
3rd Torque Command

P1 - 14 SPD3 Communication Addr.: 010EH
3rd Torque Limit
Unit: %
Range: -300 +300
Settings:
3rd Speed Command
3rd Speed Limit
command.
voltage.
P1 - 15 PO1H 1st Position Command for Rotation Communication Addr.: 010FH

Applicable Control Mode: Pr Section 6.2.2
Unit: rev
Range: -30000 +30000
Settings:
This parameter is used to set rotation cycle number of internal position 1.
P1 - 16 PO1L 1st Position Command for Pulse Communication Addr.: 0110H

Unit: pulse
Range: +/-max. cnt/rev
Settings:
This parameter is used to set rotation pulse number of internal position 1.
Stroke1 = PO1H (cnt/rev) + PO1L
7
P1 - 17 PO2H 2nd Position Command for Rotation Communication Addr.: 0111H

Unit: rev
Range: -30000 +30000
Settings:
P1 - 18 PO2L 2nd Position Command for Pulse Communication Addr.: 0112H

Unit: pulse
Settings:
P1 - 19 PO3H 3rd Position Command for Rotation Communication Addr.: 0113H

Unit: rev
Range: -30000 +30000
Settings:
P1 - 20 PO3L 3rd Position Command for Pulse Communication Addr.: 0114H

Unit: pulse
Settings:

7
P1 - 21 PO4H 4th Position Command for Rotation Communication Addr.: 0115H

Unit: rev
Range: -30000 +30000
Settings:
P1 - 22 PO4L 4th Position Command for Pulse Communication Addr.: 0116H

Unit: pulse
Settings:

Unit: rev
Range: -30000 +30000
Settings:
P1 - 24 PO5L 5th Position Command for Pulse Communication Addr.: 0118H

Unit: pulse
Settings:
7

Unit: rev
Range: -30000 +30000
Settings:
P1 - 26 PO6L 6th Position Command for Pulse Communication Addr.: 011AH

Unit: pulse
Settings:
P1 - 27 PO7H 7th Position Command for Rotation Communication Addr.: 011BH

Unit: rev
Range: -30000 +30000
Settings:
P1 - 28 PO7L 7th Position Command for Pulse Communication Addr.: 011CH

Unit: pulse
Settings:

7
P1 - 29 PO8H 8th Position Command for Rotation Communication Addr.: 011DH

Unit: rev
Range: -30000 +30000
Settings:
P1 - 30 PO8L 8th Position Command for Pulse Communication Addr.: 011EH

Unit: pulse
Settings:
P1 - 31 Reserved Communication Addr.: 012FH
7
P1 - 32 LSTP Motor Stop Mode Selection Communication Addr.: 0120H
Default: 0 Related Section: N/A

Unit: N/A
Range: 0 11
Settings:
This parameter is used to select servo motor stop mode.
When a fault occurs (except for CWL, CCWL, EMGS and serial communication error), it is
used to set servo motor stop mode.
A=0: Stop instantly
A=1: Decelerate to stop
B=0: Use dynamic brake when Servo Off (when the servo drive is Off).
B=1: Allow servo motor to coast to stop when Servo Off (when the servo drive is Off).
P1 - 33 POSS Position Control Mode (Pr) Communication Addr.: 0121H

Unit: N/A
Range: 0 6
Settings: This parameter determines the specific type of position control for Pr mode with the
internal INDEX number. Refer to chapters 6 and 12 for explanation and examples.
0: Absolute position mode
1: Incremental positioning mode
2: Forward operation search feed step mode
3: Reverse operation search feed step mode
4: Short-pass search feed step mode
5: Continuous auto-running positioning mode (Absolute)
6: Continuous auto-running positioning mode (Incremental)
7: One-cycle auto-running positioning mode (Absolute)
8: One-cycle auto-running positioning mode (Incremental)
A change to this parameter is registered in the drive only after a power cycle.

7
P1 - 34 TACC Acceleration Time Communication Addr.: 0122H

Applicable Control Mode: Pr, S P1-35, P1-36, Section 6.3.3
Unit: ms
Range: 1 20000
Settings:
1st to 3rd step acceleration time.
It is used to determine the acceleration time to accelerate from 0 to its rated speed. (When
P1-36 is set to 0 the Accel/Decel function is disabled, i.e. P1-34, P1-35 is disabled.)
P1 - 35 TDEC Deceleration Time Communication Addr.: 0123H

Applicable Control Mode: Pr, S P1-34, P1-36, Section 6.3.3
Unit: ms
Range: 1 20000
Settings:
1st to 3rd step deceleration time.
It is used to determine the deceleration time to decelerate from its rated speed to 0. (When
P1-36 is set to 0, the Accel/Decel function is disabled, i.e. P1-34, P1-35 is disabled.)
7
P1 - 36 TSL Accel / Decel S-curve Communication Addr.: 0124H
Pr mode Default: 20 (See Note 2) Related Section:

Other mode Default: 0 P1-34, P1-35, Section 6.3.3
Unit: ms Section 6.2.4 (Pr mode),
Range: 0 10000 (0: Disabled) Section 6.3.3 (S mode)
Settings:
This parameter is used to make the motor run more smoothly during startup and windup.
Using this parameter can improve motor running stability.

Notes:
If the control of the servo motor is achieved via internal parameters, the command curve should be
defined by the users. Therefore, when the command source is internal parameter, ensure that the
value of P1-36 is not set to 0 or the servo motor will not accelerate or decelerate during operation.
If you change the control mode to Pr mode and cycle power, the servo drive will automatically set
the value of parameter P1-36 to 20.
P1 - 37 GDR Ratio of Load Inertia to Servo Motor Inertia Communication Addr.: 0125H
Default: 5.0 Related Section: N/A

Unit: times
Settings:
Range: 0 200.0
Settings: Ratio of load inertia to servo motor inertia: (J_load /J_motor)

7
P1 - 38 ZSPD Zero Speed Range Setting Communication Addr.: 0126H

Unit: r/min
Range: 0 200
Settings:
This parameter is used to set output range of zero speed signal (ZSPD).
ZSPD is activated when the drive senses the motor speed is equal to or below the Zero
Speed Range setting as defined in parameter P1-38.
For Example, at default ZSPD will be activated when the drive detects the motor rotating at
speed at or below 10 r/min. ZSPD will remain activated until the motor speed increases
above 10 r/min.
P1 - 39 SSPD Target Motor Speed Communication Addr.: 0127H

Unit: r/min
Range: 0 5000
Settings:
When the target motor speed reaches its preset value, digital output (TSPD) is enabled.
When the forward and reverse speed of servo motor is equal to or greater than the value, the
motor will reach the target speed, and then TSPD signal will output.
TSPD is activated once the drive has detected the motor has reached the Target Motor
Speed setting as defined in parameter P1-39. TSPD will remain activated until the motor
speed drops below the Target Motor Speed.
7
P1 - 40 VCM Max. Analog Speed Command or Limit Communication Addr.: 0128H
Default: rated speed Related Section:

Applicable Control Mode: S/T Section 6.3.4, P1-55
Unit: r/min
Range: 0 10000
Settings:
In Speed mode, this parameter is used to set the speed at the maximum input voltage (10V)
of the analog speed command.
In Torque mode, this parameter is used to set the speed at the maximum input voltage (10V)
of the analog speed limit.
For example, in speed mode, if P1-40 is set to 3000 and the input voltage is 10V, it indicates
that the speed command is 3000 r/min. If P1-40 is set to 3000, but the input voltage is
changed to 5V, then the speed command is changed to 1500 r/min.
Speed command / limit = Input voltage x setting/10
P1 - 41 TCM Max. Analog Torque Command / Limit Communication Addr.: 0129H

Unit: %
Range: 0 1000
Settings:
In Torque mode, this parameter is used to set the output torque at maximum input voltage
(10V) of analog torque command.
In Position and Speed mode, this parameter is used to set output torque at maximum input
voltage (10V) of analog torque limit.
For example, in torque mode, if P1-41 is set to 100 and the input voltage is 10V, it indicates
that the torque command is 100% rated torque. If P1-41 is set to 100, but the input voltage is
changed to 5V, then the torque command is changed to 50% rated torque.
Torque command / limit = Input voltage x setting/10 (%)

7
P1 - 42 MBT1 On Delay Time of Electromagnetic Brake Communication Addr.: 012AH

Unit: ms
Range: 0 1000
Settings:
Used to set the period of time between when the servo drive is On (Servo On) and when
electromagnetic brake output signal (BRKR) is activated.
P1 - 43 MBT2 OFF Delay Time of Electromagnetic Brake Communication Addr.: 012BH

Unit: ms
Range: 0 1000
Settings:
Used to set the period of time between when the servo drive is Off (Servo Off) and when
electromagnetic brake output signal (BRKR) is inactivated.
ON
SON OFF OFF
ON
BRKR OFF OFF
MBT1(P1-42) MBT2(P1-43)
Motor ZSPD
Speed (P1-38)
Notes:
1) When MBT2 delay time has not finished and motor speed is lower than the value of
P1-38, the electromagnetic brake interlock signal (BRKR) is ON.
2) When MBT2 delay time has finished and motor speed is still higher than the value of
P1-38, the electromagnetic brake interlock signal (BRKR) is ON.
7
P1 - 44 GR1 Electronic Gear Ratio (1st Numerator) (N1) Communication Addr.: 012CH

Applicable Control Mode: Pt, Pr Section 6.2.5
Unit: Pulse
Range: 1 32767
Settings:
Multiple-step electronic gear numerator setting. Refer to P2-60 P2-62.
P1 - 45 GR2 Electronic Gear Ratio (Denominator) Communication Addr.: 012DH

Unit: Pulse
Range: 1 32767
Settings:
Electronic gear denominator setting.
Set the electronic gear ratio when the servo drive is OFF. As the wrong setting can cause
motor to run out of control lead to personnel injury, observe the following rule when setting
P1-44, P1-45.
The electronic gear ratio setting (Also see P1-44, P2-60 P2-62):
Position f1: Pulse input f2: Position command

Pulse input N command N: Numerator 1, 2, 3, 4, the value of P1-44 or
M N
f1 f2 = f1 x M P2-60 P2-63
M: Denominator, the value of P1-45
The electronic gear ratio must be within: 1/50<N/M<200.

7
P1 - 46 GR3 Encoder Output Pulse Number Communication Addr.: 012EH

Unit: Pulse
Range: 1 125 (when E=0); 10020 12500 (when E=1)
Settings:
This parameter is used to set the pulse number of encoder outputs, which directly represents
the encoder output pulse number per motor revolution.
For example:
If P1-46 is set to 1250, it indicates that the encoder output pulse number is 1250 pulses per
motor revolution.
If P1-46 is set to 500, it indicates that the encoder output pulse number is 500 pulses per
motor revolution.
7
P1 - 47 HMOV Homing Mode Communication Addr.: 012FH

Unit: N/A
Range: 00 1225
Settings:
A=0: Forward homing (CCWL as Home)
A=1: Reverse homing (CWL as Home)
A=2: Forward homing (ORGP as Home)
A=3: Reverse homing (ORGP as Home)
A=4: Forward to find Z-phase pulse and regard Z-
phase pulse as Home
A=5: Reverse to find Z-phase pulse and regard Z-
phase pulse as Home
B=0: Return to find Z-phase pulse during homing
B=1: Do not return and go forward to find Z-phase pulse during homing
B=2: Positioning at home sensor position or Z-phase pulse during homing (it only can
be used when A=2, 3, 4 or 5)
C=0: Disable homing function.
C=1: Enable homing function automatically after power supplies to the servo drive.
C=2: Enable homing function by SHOM.
D=0: After detecting Home, the motor will decelerate and return to Home.
D=1: After detecting Home, the motor will decelerate and stop in the forward
direction.
Other: Reserved
Example:
Power supplies to the servo drive, after servo on, immediately perform the homing function
and use CCWL as Home.
1: Refer to P1-01 for forward and reverse direction
2: CWL and CCWL (7.4 Input Function Definitions, p. 7-92) should be assigned to internal
input contacts (refer to P2-10 P2-17) and connected to the external limit switch
corresponding to the internal contact.
3: Set the value of P1-47 to 100.
4: Restart power on again, after servo on, the drive will immediately perform homing function
automatically according to the assigned direction.
Note: When using CWL and CCWL as Home, these two inputs will return to limit stop protect
function after homing function is completed. It is recommended to set CWL and CCWL at the terminal
of equipment to avoid these two inputs may be triggered during normal operation.

7
P1 - 48 HSPD1 1st Speed Setting of High Speed Homing Communication Addr.: 0130H

Unit: r/min
Range: 1 2000
Settings:
HSP1
Z pulse HSP2
P1 - 49 HSPD2 2nd Speed Setting of Low Speed Homing Communication Addr.: 0131H

Unit: r/min
Range: 1 500
Settings: Refer to P1-48.
P1 - 50 HOF1 Homing Offset Rotation Number Communication Addr.: 0132H

Unit: rev
Range: -30000 +30000
7
P1 - 51 HOF2 Homing Offset Pulse Number Communication Addr.: 0133H

Unit: pulse
Settings:
When the value of HOF1, HOF2 (P1-50, P1-51) is set to 0, Home will be determined as
Z-phase pulse or ORGP according to P1-47. If the value of HOF1, HOF2 (P1-50, P1-51) is
not 0, Home will be determined as Z-phase pulse or ORGP plus one offset pulse as new
Home (HOF1 x 10000 + HOF2).
P1 - 52 RES1 Regenerative Resistor Value Communication Addr.: 0134H
Default: 40 (1kW and below), 20 (above 1kW) Related Section:

Unit: Ohm
Range: 10 750
P1 - 53 RES2 Regenerative Resistor Capacity Communication Addr.: 0135H
Default: 60 (1.5kW and below), 120 (above 1.5kW) Related Section:

Unit: Watt
Range: 30 1000
P1 - 54 PER Positioning Completed Width Communication Addr.: 0136H

Applicable Control Mode: Pt , Pr
Unit: Pulse
Range: 0 10000
Settings:
This parameter is used to set the width of pulse output range in which TPOS (positioning
completed signal) will activate. For example, at the factory default setting, TPOS will activate
when the motor is within -99 pulses of the target position, then deactivate after it reaches +99
pulses from the desired position.

7
P1 - 55 MSPD Maximum Speed Limit Communication Addr.: 0137H
Default: rated speed Related Section: N/A

Unit: r/min
Range: 0 Max. speed
Settings:
This parameter is used to set maximum motor speed. The default setting is rated speed.
P1 - 56 OLLV Output Overload Warning Communication Addr.: 0138H

Unit: %
Range: 0 120
Settings:
This parameter is used to set output overload level. When the motor has reached the output
overload level set by parameter P1-56, the motor will send a warning to the drive. After the
drive has detected the warning, the DO signal OLW will be activated.
tOL = Permissible Time for Overload x the value of parameter P1-56
When overload accumulated time (continuously overload time) exceeds the value of tOL, the
overload warning signal will output, i.e. DO signal, OLW will be ON. However, if the overload
accumulated time (continuously overload time) exceeds the permissible time for overload,
the overload alarm (ALE06) will occur.
For example:
If the value of parameter P1-56 (Overload Warning Level) is 60%, when the permissible time
for overload exceeds 8 seconds at 200% rated output, the overload fault (ALE06) will be
detected and shown on the LED display.
At this time, tOL = 8 x 60% = 4.8 seconds
Result:
When the drive output is at 200% rated output and the drive is continuously overloaded for
4.8 seconds, and the overload warning signal will be ON (DO code is 10, i.e. DO signal OVW
will be activated). If the drive is continuously overloaded for 8 seconds, the overload alarm
will be detected and shown on the LED display (ALE06). Then, Servo Fault signal will be ON
(DO signal ALRM will be activated).
7
P1 - 58 Reserved Communication Addr.: 013AH
P1 - 59 Reserved Communication Addr.: 013BH
P1 - 60 Reserved Communication Addr.: 013CH
P1 - 61 Reserved Communication Addr.: 013DH
P1 - 62 Reserved Communication Addr.: 013EH
P1 - 63 Reserved Communication Addr.: 013FH

7
7.3.3 Group 2: P2-xx Extension Parameters

P2 - 00 KPP Proportional Position Loop Gain Communication Addr.: 0200H

Unit: rad/s
Range: 0 1023
Settings:
This parameter is used to set the position loop gain. It can increase stiffness, expedite
position loop response and reduce position error. However, if the value is too high, it may
generate vibration or noise.
P2 - 01 PPR Position Loop Gain Switching Rate Communication Addr.: 0201H

Applicable Control Mode: Pt, Pr
Unit: %
Range: 10 500
Settings:
This parameter is used to set the position gain switching rate when the gain switching
condition is satisfied. Refer to P2-27 for gain switching control selection settings and refer to
P2-29 for gain switching condition settings.
P2 - 02 PFG Position Feed Forward Gain Communication Addr.: 0202H

Unit: 0.0001
Range: 10 20000
Settings:
This parameter is used to set the feed forward gain when executing the position control
command. When using position smoothing, increased gain can reduce position track
deviation. When not using position smoothing, decreased gain can reduce resonance in the
mechanical system. However, a value that is too high, may cause motor vibration or noise.
7
P2 - 03 PFF Smooth Constant of Position Feed Forward Gain Communication Addr.: 0203H

Unit: ms
Range: 2 100
Settings:
When using position smooth command, increased gain can improve position track deviation.
When not using position smooth command, decreased gain can improve the resonance
condition of mechanical system.
P2 - 04 KVP Proportional Speed Loop Gain Communication Addr.: 0204H

Unit: rad/s
Range: 0 20000
Settings:
This parameter is used to set the speed loop gain. When the value of proportional speed loop
gain is increased, it can expedite speed loop response. However, if the value is too high, it
may generate vibration or noise.
P2 - 05 SPR Speed Loop Gain Switching Rate Communication Addr.: 0205H

Unit: %
Range: 10 500
Settings:
This parameter is used to set the speed gain switching rate when the gain switching condition
is satisfied. Refer to P2-27 for gain switching control selection settings and refer to P2-29 for
gain switching condition settings.

7
P2 - 06 KVI Speed Integral Compensation Communication Addr.: 0206H

Unit: N/A
Range: 0 4095
Settings:
This parameter is used to set the integral time of speed loop. When the value of speed
integral compensation is increased, it can improve the speed response ability and decrease
the speed control deviation. However, if the value is too high, it may generate vibration or
noise.
P2 - 07 SFG Speed Feed Forward Gain Communication Addr.: 0207H

Unit: 0.0001
Range: 0 20000
Settings:
This parameter is used to set the feed forward gain when executing speed control command.
When using speed smooth command, increased gain can improve speed track deviation.
When not using speed smooth command, decreased gain can improve the resonance
condition of mechanical system.
7
P2 - 08 PCTL Special Factory Setting Communication Addr.: 0208H

Unit: N/A
Range: 0 65536
This parameter can be used to reset all parameters to their original factory settings and
enable some parameter functions.
Settings:
Reset parameter settings:

10: Users can reset all parameter values to factory defaults. All parameter values will be
reset after cycling power to the servo drive.
Enable parameter functions:

20: If P2-08 is set to 20, then the parameter P4-10 is enabled.
22: If P2-08 is set to 22, then the parameters P4-11 P4-19 are enabled.
1. Users may lock the parameters and protect parameters against change by
unauthorized personnel.
Parameter Lock (Password Input):
Enter 5-digit password (your password should be at least five characters long).
Confirm your password again and then, the password input is completed. (The
highest digit of your password number should be at least 1).
Set parameters:
Enter correct password, and then you can unlock the parameters and change them.
Password Decode:
First, enter correct password, and set P2-08 to 0(zero) twice continuously.

7
P2 - 09 DRT Bounce Filter Communication Addr.: 0209H

Unit: 2ms
Range: 0 20
Settings:
For example, if P2-09 is set to 5, the bounce filter time is 5 x 2ms=10ms.
When there are too much vibration or noises around environment, increasing this value
(bounce filter time) can improve reliability. However, if the time is too long, it may affect the
response time.
P2 - 10 DI1 Digital Input Terminal 1 (DI1) Communication Addr.: 020AH

Applicable Control Mode: ALL 7.4 Input Function Definitions, p. 7-92
Unit: N/A
Range: 0 147
Settings:
This parameter is used to determine the function and status of DI1.
A: DI Function Settings: For the values of P2-10
P2-17, refer to 7.4 Input Function Definitions, p.
7-92
B: DI Enabled Status Settings
C: DI Enabled Status Setting:
0: Normally closed (contact b)
1: Normally open (contact a)
Cycle power on the servo drive after parameters have been changed.
P2 - 11 DI2 Digital Input Terminal 2 (DI2) Communication Addr.: 020BH

Unit: N/A
Range: 0 147
7
P2 - 12 DI3 Digital Input Terminal 3 (DI3) Communication Addr.: 020CH

Unit: N/A
Range: 0 145
P2 - 13 DI4 Digital Input Terminal 4 (DI4) Communication Addr.: 020DH

Unit: N/A
Range: 0 147
P2 - 14 DI5 Digital Input Terminal 5 (DI5) Communication Addr.: 020EH

Unit: N/A
Range: 0 147
P2 - 15 DI6 Digital Input Terminal 6 (DI6) Communication Addr.: 020FH

Unit: N/A
Range: 0 147

7
P2 - 16 DI7 Digital Input Terminal 7 (DI7) Communication Addr.: 0210H

Unit: N/A
Range: 0 147
P2 - 17 DI8 Digital Input Terminal 8 (DI8) Communication Addr.: 0211H

Unit: N/A
Range: 0 147
P2 - 18 DO1 Digital Output Terminal 1 (DO1) Communication Addr.: 0212H

Applicable Control Mode: ALL 7.5 Output Function Definitions, p. 7-97
Unit: N/A
Range: 0 112
Settings:
This parameter is used to determine the function and status of DO1.
A: DO Function Settings: For the value of P2-18
P2-22, refer to 7.5 Output Function Definitions
B: DO Enabled Status Settings:
0: Normally closed (contact b)
1: Normally open (contact a)
Cycle power on the servo drive after parameters have been changed.
7

Unit: N/A
Range: 0 112

Unit: N/A
Range: 0 112

Unit: N/A
Range: 0 112

Unit: N/A
Range: 0 112

7
P2 - 23 NCF Notch Filter (Resonance Suppression) Communication Addr.: 0217H

Unit: Hz
Range: 50 1000
Settings:
This parameter is used to set the mechanical systems resonance frequency. It can be used
to suppress resonance in the mechanical system. If P2-24 is set to 0, this parameter is
disabled.

P2 - 24 DPH Communication Addr.: 0218H
Unit: dB
Range: 0 32
Settings: 0: Disabled

P2 - 25 NLP Communication Addr.: 0219H
Default: 2 (1kW and below models) or Related Section:
5 (above 1kW models) Section 6.3.7
Unit: ms
Range: 0 1000
Settings:
0: Disabled
This parameter is used to set low-pass filter time constant or resonance suppression.
7
P2 - 26 DST External Anti-Interference Gain Communication Addr.: 021AH

Unit: 0.001
Range: 0 30000
Settings:
0: Disabled
In AutoMode (PDFF) mode (parameter P2-32 is set to 4 or 5), the value of this parameter is
automatically determined by the system.
P2 - 27 GCC Gain Switching Control Selection Communication Addr.: 021BH

Unit: N/A
Range: 0 4
Settings:
Gain Switching Condition Settings:
0: Disabled
1: Gain switching DI signal (GAINUP) is On. (See 7.4 Input Function Definitions on page
7-92.)
2: In position mode, position deviation is higher than the value of P2-29.
3: Position command frequency is higher than the value of P2-29.
4: Servo motor speed is higher than the value of P2-29.
P2 - 28 GUT Gain Switching Time Constant Communication Addr.: 021CH

Unit: 10ms
Range: 0 1000
Settings:
0: Disabled
This parameter is used to set the time constant when switching the smooth gain.

7
P2 - 29 GPE Gain Switching Condition Communication Addr.: 021DH

Unit: Pulse, Kpps, r/min
Range: 0 30000
Settings:
0: Disabled
This parameter is used to set the value of gain switching condition (pulse error, Kpps, r/min)
selected in P2-27. The value will be different depending on the different gain switching
condition.
P2 - 30 INH Auxiliary Function Communication Addr.: 021EH

Unit: N/A
Range: 0 5
Settings:
0: Normal operation of Digital Inputs SON, CW, and CCW.
1: Force the servo drive to be Servo On (ignore CW and CCW signal)
2: Ignore CW digital input signal
3: Ignore CCW digital input signal
4: Internal position learning function
5: After setting P2-30 to 5, the values of all parameters will lost (not remain in memory) at
power-down. When the parameters data are no more needed, using this mode can allows
users not to save parameters data into memory without damaging the EEPROM. Ensure to
set P2-30 to 5 when the communication control function is used.
Note: Set P2-30 to 0 during normal operation. The value of P2-30 will return to 0 automatically after
power cycling the servo drive.
7
P2 - 31 AUT1 Auto Mode Stiffness and Responsiveness Level Communication Addr.: 021FH

Applicable Control Mode: ALL Section 5.6, Section 6.3.6
Unit: N/A
Range: 0 FF
Settings:
This parameter allows the users to set the responsiveness level of auto-tuning mode. Users
can control the responsiveness according to application condition. When the value is higher,
the responsiveness is higher.
A: No function
B: Responsiveness level of auto-tuning mode
0 FF: 0 indicates the lowest setting and F indicates the highest setting (total 16 settings
available).
Notes:
1) This parameter is activated by P2-32.
2) Refer to Section 5.6 for the tuning procedure and related settings.

7
P2 - 32 AUT2 Tuning Mode Selection Communication Addr.: 0220H

Applicable Control Mode: ALL Section 5.6, Section 6.3.6
Unit: N/A
Range: 0 5
Settings:
0: Manual mode
1: Not used
2: AutoMode (PI): Continuous adjustment
3: AutoMode (PI): Inertia ratio (J_load / J_motor) is fixed, but response level can be adjusted.
4: AutoMode (PDFF): Continuous adjustment
5: AutoMode (PDFF): Inertia ratio (J_load / J_motor) is fixed, but response level can be
adjusted.
PI: Proportional - Integral control
PDFF: Pseudo-Derivative Feedback and Feedforward
Explanation of Auto-tuning:
1. When switching mode #2 or #4 to #3, the system will save the measured load inertia
value automatically and memorized in P1-37. Then, set the corresponding parameters
according to this measured load inertia value.
2. When switching mode #2 or #4 to #0, it indicates all automatically measured load
inertia value will be aborted, and all parameters will be returned to their original values in
#0 manual mode.
3. When switching mode #0 to #3 or #5, enter the appropriate load inertia value in P1-37.
4. When switching mode #3 to #0, the value of P2-00, P2-04 and P2-06 will change to the
value measured in #3 auto-tuning mode.
5. When switching mode #5 to #0, the value of P2-00, P2-04, P2-06, P2-25 and P2-26 will
change to the value measured in #5 auto-tuning mode.
7
P2 - 33 INF Easy Setting of Input Filter Communication Addr.: 0221H

Unit: N/A
Range: 00 19
Settings:
A: Speed selection
A= 0 Lo w s pe e
d
A A
=9 H
ig
h s
pee
d
B B=1: Enable this function
not used
P2 - 34 SDEV Overspeed Warning Condition Communication Addr.: 0222H

Unit: r/min
Range: 1 5000
Settings: This parameter is used to set the over speed condition of the drive fault code.
(See P0-01)
P2 - 35 PDEV Excessive Error Warning Condition Communication Addr.: 0223H

Unit: pulse
Range: 1 30000
Settings:
This parameter is used to set the excessive error condition of the drive fault code.
(See P0-01)
For the Proportion Value Setting of the excessive error warning condition, refer to P2-63.

7
P2 - 36 POV1 Moving Speed Setting of 1st Position Communication Addr.: 0224H

Unit: r/min
Range: 1 5000
Settings:
When the value of P2-36 to P2-43 is higher than 3000 r/min, set P1-55 to its maximum value.
P2 - 37 POV2 Moving Speed Setting of 2nd Position Communication Addr.: 0225H

Unit: r/min
Range: 1 5000
P2 - 38 POV3 Moving Speed Setting of 3rd Position Communication Addr.: 0226H

Unit: r/min
Range: 1 5000
P2 - 39 POV4 Moving Speed Setting of 4th Position Communication Addr.: 0227H

Unit: r/min
Range: 1 5000
7

Unit: r/min
Range: 1 5000

Unit: r/min
Range: 1 5000
P2 - 42 POV7 Moving Speed Setting of 7th Position Communication Addr.: 022AH

Unit: r/min
Range: 1 5000
P2 - 43 POV8 Moving Speed Setting of 8th Position Communication Addr.: 022BH

Unit: r/min
Range: 1 5000

7
P2 - 44 DOM Digital Output Mode Setting Communication Addr.: 022CH

Applicable Control Mode: Pr Section 12.6
Unit: N/A
Range: 0 1
Settings:
This parameter determines that the digital output equals the value of P2-18 P2-22 or
INDEX positions when using feed step control function and in internal auto running mode
(See Chapter 12 for explanation).
0: General output mode, digital output function is defined by the value of P2-18 P2-22.
1: Combination output mode
When the users want to use feed step control function, this output mode must be selected.
Otherwise, the feed step control function can not be used normally. (Refer to Section 12.6)
When the users want to use internal auto running mode function, this output mode must be
selected. Otherwise, the output signal can not be converted to combination output signal
normally. (Refer to Section 12.7)
P2 - 45 DOD Combination Output Signal Delay Time Communication Addr.: 022DH

Unit: 4ms
Range: 0 250
Settings:
This parameter can be used only when P2-44 is set to 1. The users can use this parameter to
set the ON time delay when positioning is completed.
P2 - 46 FSN Feed Step Number Communication Addr.: 022EH

Unit: sec
Range: 2 32
7
P2 - 47 PED Position Deviation Clear Delay Time Communication Addr.: 022FH

Unit: 20ms
Range: 0 250
Settings:
This function is disabled when its value is set to 0.
P2 - 48 BLAS Backlash Compensation of Feed Step Control Communication Addr.: 0230H

Unit: pulse
Range: 0 10312
Settings:
A
B
A: Pulse Number Settings
0 312, the pulse number of backlash compensation
Actual pulse number of backlash compensation of motor output shaft is equal to the
number of value A x electronic gear ratio
B: Polarity Settings
B=0: Forward compensation
B=1: Reverse compensation
Note: After modifying the value, execute the home sensor function. After executing the home sensor
function, perform the control function.

7
P2 - 49 SJIT Speed Detection Filter and Jitter Suppression Communication Addr.: 0231H

Unit: sec
Range: 0 119
Settings:
A: Speed Detection Filter Constant

Speed Detection Frequency
Value of A Filter Time (ms)
of Low-pass Filter (Hz)
0 500 2.0
1 450 2.2
2 400 2.5
3 350 2.8
4 300 3.3
5 250 4.0
6 200 5.0
7 150 6.6
8 100 10.0
9 80 12.5
B: Enable/Disable Jitter Suppression Function
B=0: Disable Jitter Suppression function
B=1: Enable Jitter Suppression function
When this function is enabled, it can suppress the jitter created when the motor stops at a
position.
C: Enable Speed Estimation Smooth Function
C=0: Disable Speed Estimation Smooth function
C=1: Enable Speed Estimation Smooth function
When this function is enabled, it can enhance the motor performance and reduce any
intermittent or mechanical noise when the motor is running.
7
P2 - 50 CCLR Pulse Deviation Clear Mode Communication Addr.: 0232H

Unit: N/A
Range: 0 2
Settings:
For digital input functions, refer to 7.4 Input Function Definitions on page 7-92.
This pulse deviation clear function is enabled when a digital input is set to pulse clear
function (CCLR mode, DI function is set to 4).
0: Clear position pulse deviation number (available in Pt and Pr mode only)
When this input is triggered, the position accumulated pulse number will be clear to 0.
1: Clear motor feedback pulse and rotation number (available in Pt and Pr mode only)
When this input is triggered, the count pulse and rotation number will be clear to 0. This
zero point will be regarded as the Home of the motor.
2: Clear remaining position pulses and interrupt the motor operation (available Pr mode only).
If CCLR signal is ON when the motor is running, the motor will decelerate first and stop
according to the deceleration time, which is set by parameters P1-34 P1-36 and the
remaining pulses will be aborted. When TRIG signal is ON again, the motor will continue to
move forward and reach the target position that is set currently.
3: Reserved.
Cle ar
Next movin g
r emai ning co mmand
puls es
Speed
P2
P1
Posi tion
DI=T RI G
DI=CCLR Time

7
P2 - 51 SRON Servo ON Communication Addr.: 0233H

Unit: N/A
Range: 0 1
Settings:
0: Servo ON (SON) is activated via Digital Input signal
1: Servo ON (SON) is activated when control power is applied the servo drive (not via Digital
Input signal)
Servo ON (SON) is "ON" with control power applied to the servo drive, there may be a fault
condition or not. The servo is not ready to run.
Servo ready (SRDY) is "ON" where the servo is ready to run, NO fault / alarm exists. (P2-51
should turn servo ready SRDY off / on)
P2 - 52 ATM0 Timer 0 of Auto Mode Communication Addr.: 0234H

Applicable Control Mode: Pr
Unit: sec
Range: 0 120.00

Unit: sec
Range: 0 120.00

Unit: sec
Range: 0 120.00
7

Unit: sec
Range: 0 120.00

Unit: sec
Range: 0 120.00

Unit: sec
Range: 0 120.00
P2 - 58 ATM6 Timer 6 of Auto Mode Communication Addr.: 023AH

Unit: sec
Range: 0 120.00
P2 - 59 ATM7 Timer 7 of Auto Mode Communication Addr.: 023BH

Unit: sec
Range: 0 120.00

7
P2 - 60 GR4 Electronic Gear Ratio (2nd Numerator) (N2) Communication Addr.: 023CH

Unit: pulse
Range: 1 32767
Settings:
The electronic gear numerator value can be set via GNUM0, GNUM1 (refer to 7.4 Input
Function Definitions on page 7-92.).
When GNUM0 and GNUM1 are not defined, the default gear numerator value is set by
P1-44.
To set the gear numerator value using GNUM0 and GNUM1, set P2-60 P2-62 after the
servo motor has been stopped.
GNUM0, GNUM1
1st Numerator (N1) (P1-44)

Pulse
Pulse 2nd Numerator (N2) (P2-60) Error
Smooth Filter
3rd Numerator (N3) (P2-61) (P1-08)
4th Numerator (N4) (P2-62)

Feed Back Pulse
Denominator (P1-45)
P2 - 61 GR5 Electronic Gear Ratio (3rd Numerator) (N3) Communication Addr.: 023DH

Unit: pulse
Range: 1 32767
7
P2 - 62 GR6 Electronic Gear Ratio (4th Numerator) (N4) Communication Addr.: 023EH

Unit: pulse
Range: 1 32767
P2 - 63 TSCA Proportion Value Setting Communication Addr.: 023FH

Applicable Control Mode: Pt, S
Unit: times
Range: 0 11
Settings:
A
B
not used
Value A: decimal place setting of internal speed command.
0: When value A is set to 0, the unit of P1-09 P1-11 is 1 r/min (No decimal place setting)
1: When value A is set to 1, the unit of P1-09 P1-11 is 0.1 r/min (One decimal place
setting)
If P1-09 is set to 1234, and value A is set to 0, then the internal speed is 1234r/min.
If P1-09 is set to 1234, and value A is set to 1, then the internal speed is 123.4r/min.
Value A is available for internal speed command only, not available for speed limit command.
Value B: The Proportion Value Setting (scaling) for Position Excessive Error Warning (P2-35)
0: When B is set to 0, the unit of P2-35 is 1 pulse
1: When B is set to 1, the unit of P2-35 is 100 pulses
If P2-35 is set to 1000, and value B is set to 0, the position excessive error warning pulse is
1000 pulses.
If P2-35 is set to 1000, and value B is set to 1, the position excessive error warning pulse is
100,000 pulses.

7
P2 - 64 TLMOD Torque Limit Mixed Mode Communication Addr.: 0240H

Applicable Control Mode: Pt, Pr, S
Unit: N/A
Range: 0 3
Settings:
PL: Positive Limit
NL: Negative Limit
Tref: Torque Analog Input Voltage
Tpl: Actual PL value in Torque Limit
Mixed Mode
Tnl: Actual NL value in Torque Limit
Mixed Mode
0: Disabled
1: Torque limit mixed mode (No polarity)
If |Tref|<PL, Tpl = |Tref|
If |Tref|>PL, Tpl = PL
If |Tref|<NL, Tnl = |Tref|
If |Tref|>NL, Tnl = NL
2: Torque limit mixed mode (Positive)
If 0<Tref<PL, Tpl = Tref
If Tref>PL, Tpl = PL
If Tref<0, Tpl,Tnl = 0
3: Torque limit mixed mode (Negative)
If Tref>0, Tpl,Tnl = 0
If -NL<Tref<0, Tnl = -Tref
If Tref<-NL, Tnl = NL
This parameter can allow the users to set two different kinds of torque limit command
sources when limiting torque. We call it Torque Limit Mixed Mode.
The torque limit function is activated by parameter P1-02 or via digital input TRQLM, TLLM or
TRLM.
If the users use TRQLM or P1-02 to activate torque limit function, the torque limit command
source can be analog input or internal parameters (P1-12 to P1-14) depending on which way
you use to activate torque limit function. At this time, the limits of PL and NL in the figure
above are specified as the torque limit that determined by the torque limit command source.
If the users use TLLM or TRLM to activate torque limit function, the torque limit command
source can be parameter P1-12 (NL) or P1-13 (PL).
7
P2 - 65 GBIT Special Function Communication Addr.: 0241H

Applicable Control Mode: Pr, Pt, S
Unit: N/A
Range: 0 3
Settings:
Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
B1 B0
Bit 0: DI SPD0/SPD1 speed command trigger mode

0: by level
1: by rising edge
Bit 1: DI TCM0/TCM1 torque command trigger mode
0: by level
1: by rising edge
When the servo drive is rising-edge triggered, the internal commands work as follows:
A: Execute internal command 1
B: Execute internal command 2
C: Execute internal command 3
D: Execute internal command 3
Bit4 Bit3 Bit2

Fast DI (digital input) function. When this function is activated, the function of P2-17(DI8) will
become invalid and change to Fast DI (digital input) function. When Bit3Bit5 are all set to 0,
this fast DI (digital input) function is disabled.
Bit2: Fast DI contact type
0: normal open or rising edge trigger
1: normal close or falling edge trigger

7
Bit3 Bit4: Fast DI function definition

Bit4 Bit3 Function
0 0 Disable fast DI function
0 1 Fast position latch for DI8 :
When fast position latch function is enabled, the users can get latch
position from LED panel by setting P0-02=15 (latch pulses) or setting
P0-02=16 (latch turns). The users also can get the position through
the communication by setting P0-04 P0-08.
1 0 Fast DI INHIBIT for DI8

Response time of the normal DI is 0.4 0.6ms
Response time of this fast DI is 0.0 0.1ms
Bit5: Reserved. Must be set to 0.
Bit6
Bit6: Abnormal pulse command detection
0: enable abnormal pulse command detection
1: disable abnormal pulse command detection,
If the detection function is disabled, the ALE08 will not come out when the pulse frequency is
higher than 570Kpps.
Bit7 Bit9: Reserved. Must be set to 0.
Bit10
Bit10: DI ZCLAMP function selection
0: Locked at the position when ZCLAMP conditions are satisfied.
1: Speed command is forced to 0 r/min when ZCLAMP conditions are satisfied.
How to select these two functions?
If the users want to use the edge of a D1 signal to stop the motor at the desired position and
do not care the speed deceleration curve, then set Bit10 of P2-65 to 0.
If the users want to eliminate the analog voltage offset to stop the motor at low voltage and
they want to keep the acceleration and deceleration speed curve, then set Bit10 of P2-65 to
1.
When the following conditions are all met, ZCLAMP function will be activated.
Condition1: Speed mode
Condition2: DI ZCLAMP is activated.
Condition3: External analog speed command or internal registers speed command is less
than parameter P1-38.
Bit11 Bit15: Reserved. Must be set to 0.
7

7
7.3.4 Group 3: P3-xx Communication Parameters

P3 - 00 ADR Communication Address Setting Communication Addr.: 0300H

Unit: N/A
Range: 1 254
Settings:
If the AC servo drive is controlled by RS-232/485/422 communication, each drive (or device)
must be uniquely identified and addressed between 1 and 254. Access to program this
number is via parameter P3-00.
One servo drive only can set one address. If the address is duplicated, there will be a
communication fault.
Notes:
1) When the address of host (external) controller is set to 0, it is with broadcast function.
Then, the servo drive will receive from host (external) controller only and will not
respond to host (external) controller no matter the address is matching or not.
2) When the address of host (external) controller is set to 255, it is with auto-respond
function. Then, the servo drive will receive from and respond to host (external)
controller both no matter the address is matching or not.
P3 - 01 BRT Transmission Speed Communication Addr.: 0301H

Unit: bps
Range: 0 5
Settings:
0: Baud rate 4800 (data transmission speed: bits / second)
This parameter is used to set the desired transmission speed between the computer and AC
servo drive. Users can set this parameter and control transmission speed to reach the
maximum baud rate of 115200 bps.
7
P3 - 02 PTL Communication Protocol Communication Addr.: 0302H

Unit: N/A
Range: 0 8
Settings:
0: Modbus ASCII mode, <7,N,2>
1: Modbus ASCII mode, <7,E,1 >
2: Modbus ASCII mode, <7,O,1>
3: Modbus ASCII mode, <8,N,2 >
4: Modbus ASCII mode, <8,E,1>
6: Modbus RTU mode, <8,N,2>
7: Modbus RTU mode, <8,E,1>
8: Modbus RTU mode, <8,O,1>
This parameter is used to set the communication protocol. The alphanumeric characters
represent the following: 7 or 8 is the number of data bits; N, E or O refer to the parity bit, Non,
Even or Odd; the 1 or 2 is the numbers of stop bits.
P3 - 03 FLT Transmission Fault Treatment Communication Addr.: 0303H

Applicable Control Mode: P, S, T Section 8.2
Unit: N/A
Range: 01
Settings:
0: Display fault and continue operating
1: Display fault and stop operating
This parameter is used to determine the operating sequence once a communication fault has
been detected. If '1' is selected, the drive will stop operating upon detection the
communication fault. The mode of stopping is set by parameter P1-32.

7
P3 - 04 CWD Communication Time Out Detection Communication Addr.: 0304H

Unit: N/A
Range: 020
Settings:
0: Disabled
This parameter is used to set the maximum permissible time before detecting a fault due to
communication time out. When this parameter is set to a value greater than 0, it indicates this
function is enabled. However, if not communicating with the servo in this period of time, the
servo drive will assume the communication has failed and show the communication error
fault message.
P3 - 05 CMM Communication Selection Communication Addr.: 0305H

Unit: N/A
Range: 02
Settings:
0: RS-232
1: RS-422
2: RS-485
Multiple communication modes RS232, RS-485, RS-422 cannot be used within one
communication ring.
7
P3 - 06 SDI Digital Input Communication Function Communication Addr.: 0306H

Applicable Control Mode: ALL P4-07, Section 8.2
Unit: N/A
Range: 0FFFF
Settings:
This parameter determines how the Digital Inputs (DI) accept commands and signals. If the
Digital Input Contact Control parameter for the DI 1 DI 8 is set to "0", command is external,
and via CN1; if it is set to "1" the DI signal is via communication.
Bit 0 Bit 7 correspond to DI1 DI8. The least significant bit (Bit0) shows DI1 status and
the most significant bit (Bit7) shows DI8 status. The DI9 DI16 for software communication
correspond to CTRG / POS0 / POS1 / POS2 / ARST / SHOM / JOGU / JOGD.
The Digital Input Control Contact parameter, P3-06 also works in conjunction with the Multi
Function Digital Input parameter P4-07, which has several functions. See section 8.2 for
details.
P3 - 07 CDT Communication Response Delay Time Communication Addr.: 0307H

Unit: 0.5ms
Range: 0255
Settings:
This parameter is used to delay the communication time that servo drive responds to host
controller (external controller).

7
7.3.5 Group 4: P4-xx Diagnosis Parameters

P4 - 00* ASH1 Fault Record (N) Communication Addr.: 0400H

Unit: N/A
Range: N/A
Settings:
The latest fault record.
P4 - 01* ASH2 Fault Record (N-1) Communication Addr.: 0401H

Unit: N/A
Range: N/A

Unit: N/A
Range: N/A

Unit: N/A
Range: N/A

Unit: N/A
Range: N/A
7
P4 - 05 JOG JOG Operation Communication Addr.: 0405H

Unit: r/min
Range: 05000
Settings:
JOG operation command:
1. Operation Test
(1) Press the SET key to display the JOG r/min speed. (The default value is 20 r/min).
(2) Press the UP or DOWN arrow keys to increase or decrease the desired JOG speed.
(This also can be undertaken by using the SHIFT key to move the cursor to the desired
unit column (the effected number will flash) then changed using the UP and DOWN
arrow keys).
(3) Press the SET when the desired JOG speed is displayed. The Servo Drive will display
"JOG".
(4) Press the UP or DOWN arrow keys to jog the motor either CCW or CW. The motor will
rotate only while the arrow key is activated.
(5) To change JOG speed again, press the MODE key. The servo Drive will display
"P4-05". Press the SET key and the JOG r/min speed will be displayed again. Refer to
#(2) and #(3) to change speed.
2. DI Signal Control
Set the value of DI signal as JOGU and JOGD (refer to 7.4 Input Function Definitions on
page 7-92).
Users can perform JOG run forward and run reverse control.
3. Communication Control
To perform a JOG Operation via communication command, use communication address
0405H
(1) Enter 0 3000 for the desired JOG speed
(2) Enter 4998 to JOG in the CCW direction
(3) Enter 4999 to JOG in the CW direction
(4) Enter 5000 to stop the JOG operation
Note: If the communication write-in frequency is too high, set P2-30 to 5.

7
P4 - 06
FOT Force Output Control Communication Addr.: 0406H


Unit: N/A
Range: 00x1F
Settings:
0: Disabled.
When the value of P4-06 is a non-zero value, it indicates this function is enabled.
This parameter is used to check if there is any damage DO terminal. This parameter is not
effective when the servo drive is enabled (Servo ON).
Note: When users select P4-06 and press the Set key, the display will show OP xx. xx stands for
the parameter range from 00 to 1F (For the example display, refer to Section 4.4.4).
P4 - 07 ITST Multi Function Digital Input Communication Addr.: 0407H

Applicable Control Mode: ALL P3-06, Section 4.4.5,
Unit: N/A Section 8.2
Range: 0FFFF
Settings:
See P3-06 and Section 8.2 for setting method.
External Control: Display the status of DI input signal
Communication Control: Read the status of input signal (upon software)
For the status of DI input signal, refer to P2-10P2-17.
The contents of P4-07 is "read only" via the drive keypad or the communication software and
will display the state on or off of the six Digital Inputs which have been set in accordance to
P3-06. The least significant bit (Bit 0) stands for Digital Inputs 1 (DI 1) and the most
significant bit (Bit7) stands for Digital Inputs 8 (DI 8).
P4 - 08 PKEY Digital Keypad Input of Servo Drive Communication Addr.: 0408H
Default: N/A Related Section: N/A

Unit: N/A
Range: N/A
7
P4 - 09 MOT Multi Function Digital Output Communication Addr.: 0409H

Unit: N/A
Range: 00x1F
Settings:
External Control: Display the status of DO output signal
Communication Control: Read the status of output signal
For status of the DO signal, refer to P2-18P2-22.
P4 - 10 CEN Adjustment Function Communication Addr.: 040AH

Unit: N/A
Range: 06
Settings:
0: Reserved
1: Execute analog speed input drift adjustment
2: Execute analog torque input drift adjustment
3: Execute current detector (V phase) drift adjustment
4: Execute current detector (W phase) drift adjustment
5: Execute drift adjustment of the above 14
6: Execute IGBT NTC calibration
This adjustment function is enabled after parameter P2-08 is set to 20.
When executing any adjustment, the external wiring connected to analog speed or torque
must be removed and the servo system should be off (Servo off).

7
P4 - 11 SOF1 Analog Speed Input Drift Adjustment 1 Communication Addr.: 040BH

Unit: N/A
Range: 032767
Settings:
This adjustment function is enabled after parameter P2-08 is set to 22. This is an auxiliary
adjusting function, although this parameter allows the users can execute manual adjustment,
we still do not recommend the users to change the default setting manually.
P4 - 12 SOF2 Analog Speed Input Drift Adjustment 2 Communication Addr.: 040CH

Unit: N/A
Range: 032767
P4 - 13 TOF1 Analog Torque Drift Adjustment 1 Communication Addr.: 040DH

Unit: N/A
Range: 032767
Settings:
P4 - 14 TOF2 Analog Torque Drift Adjustment 2 Communication Addr.: 040EH

Unit: N/A
Range: 032767
7
P4 - 15 COF1 Current Detector Drift Adjustment (V1 phase) Communication Addr.: 040FH

Unit: N/A
Range: 032767
Settings:
P4 - 16 COF2 Current Detector Drift Adjustment (V2 phase) Communication Addr.: 0410H

Unit: N/A
Range: 032767
P4 - 17 COF3 Current Detector Drift Adjustment (W1 phase) Communication Addr.: 0411H

Unit: N/A
Range: 032767
P4 - 18 COF4 Current Detector Drift Adjustment (W2 phase) Communication Addr.: 0412H

Unit: N/A
Range: 032767

7
P4 - 19 TIGB IGBT NTC Calibration Communication Addr.: 0413H

Unit: N/A
Range: 17
Settings:
o
When executing this auto adjustment, ensure to cool the servo drive to 25 C.
P4 - 20 DOF1 Analog Monitor Output Drift Adjustment (CH1) Communication Addr.: 0414H
Default: Factory setting Related Section:

Unit: mV
Range: -800800
Settings:
P4 - 21 DOF2 Analog Monitor Output Drift Adjustment (CH2) Communication Addr.: 0415H

Unit: mV
Range: -800800
Settings:
P4 - 22 SAO Analog Speed Input Offset Communication Addr.: 0416H

Unit: mV
Range: -50005000
Settings:
The users can use this parameter to adjust analog speed input offset value manually.
7
P4 - 23 TAO Analog Torque Input Offset Communication Addr.: 0417H

Applicable Control Mode: T
Unit: mV
Range: -50005000
Settings:
The users can use this parameter to adjust analog torque input offset value manually.
P4 - 26 Reserved Communication Addr.: 041AH

7
7.4 Input Function Definitions

Sign Value Digital Input Function Description
SON 01 Servo On. Switch servo to "Servo Ready". Check parameter P2-51.
ARST 02 Alarm Reset. A number of Faults (Alarms) can be cleared by activating ARST.
Gain switching in speed and position mode. When GAINUP is activated (P2-27 is set
GAINUP 03
to 1), the gain is switched to the gain multiplied by fluctuation
Pulse clear (see P2-50). When CCLR is activated, the parameter P2-50 Pulse
Deviation Clear Mode is executed.
0: Clear position pulse deviation number (available in Pt and Pr mode only)
1: Clear motor feedback pulse and rotation number (available in Pt and Pr mode only)
CCLR 04
2: Clear remaining position pulses and interrupt the motor operation (available Pr
mode only).
3: Clear remaining position pulses and interrupt the motor operation. After the motor is
stopped, activate TPOS signal (available Pr mode only).
Zero speed CLAMP. When this signal is On and the motor speed value is below the
value of P1-38, it is used to lock the motor in the instant position while ZCLAMP is On.
Speed
Command
Setting value of
P1-38 (Zero speed)
ZCLAMP 05 ZCLAMP
input signal
OFF ON
Motor Speed
Setting value of
P1-38 (Zero speed)
Time
Command input reverse control. When the drive is in Pr, Speed and Torque mode, and
CMDINV 06
CMDINV is activated, the motor is in reverse rotation.
Position command pause (Internal position control only). When the drive is in Pr mode
HOLD 07
and HOLD is activated, the motor will pause.
Command triggered (available in Pr mode only). When the drive is in Pr mode and
CTRG is activated, the drive will command the motor to move the stored position that
CTRG 08
correspond the POS 0, POS 1, POS 2 settings. Activation is triggered on the rising
edge of the pulse.
Torque limit enabled. When the drive is in speed and position mode, and TRQLM is
TRQLM 09 activated, it indicates the torque limit command is valid. The torque limit command
source is internal parameter or analog voltage.
7

Speed limit enabled. When the drive is in torque mode and TRQLM is activated, it
SPDLM 10 indicates the speed limit command is valid. The speed limit command source is
internal parameter or analog voltage.
POS0 11 Position command selection 0 2
POS1 12 When the Pr mode is selected, the 8 stored positions are programmed via a
combination of the POS 0, POS 1, and POS 2 commands.
Command No. POS2 POS1 POS0 CTRG Parameter
P1-15
P1 OFF OFF OFF
P1-16
P1-17
P2 OFF OFF ON
P1-18
P1-19
P3 OFF ON OFF
P1-20
P1-21
POS2 13 P4 OFF ON ON
P1-22
P1-23
P5 ON OFF OFF
P1-24
P1-25
P6 ON OFF ON
P1-26
P1-27
P7 ON ON OFF
P1-28
P1-29
P8 ON ON ON
P1-30
SPD0 14 Speed command selection 0 1
Command DI signal of CN1
No. SPD1 SPD0
External
Voltage between
S analog +/-10 V
V-REF and GND
S1 OFF OFF command
Mode
Speed command
Sz None 0
SPD1 15 is 0
S2 05000
OFF ON P1-09
r/min
S3 05000
ON OFF Internal parameter P1-10
r/min
S4 05000
ON ON P1-11
r/min
TCM0 16 Torque command selection 0 1

7
Command DI signal of CN1

No. TCM1 TCM0
Analog Voltage between
T +/-10 V
command V-REF and GND
T1 OFF OFF
Mode
TCM1 17 Torque command
Tz None 0
is 0
T2 OFF ON P1-12 0 300 %
T3 ON OFF Internal parameter P1-13 0 300 %
T4 ON ON P1-14 0 300 %
S-P 18 Speed / Position mode switching (OFF: Speed, ON: Position)
S-T 19 Speed / Torque mode switching (OFF: Speed, ON: Torque)
T-P 20 Torque / Position mode switching (OFF: Torque, ON: Position)
Emergency stop. It should be contact b and normally ON or a fault (ALE13) will
EMGS 21
display.
Reverse inhibit limit. It should be contact b and normally ON or a fault (ALE14) will
CWL 22
display.
Forward inhibit limit. It should be contact b and normally ON or a fault (ALE15) will
CCWL 23
display.
Reference Home sensor. When ORGP is activated, the drive will command the motor
ORGP 24
to start to search the reference Home sensor. [see P1-47]
Torque limit - Reverse operation (Torque limit function is valid only when P1-02 is
TLLM 25
enabled)
Torque limit - Forward operation (Torque limit function is valid only when P1-02 is
TRLM 26
enabled)
Move to Home. When SHOM is activated, the drive will command the motor to move
SHOM 27
to Home. [see P1-47]
INDEX0 28 Feed step selection input 0 (bit 0)
INDEX1 29 Feed step selection input 1 (bit 1) When the drive is in Pr mode, if users set P1-33 to
2, 3 and 4 (Feed step control mode), feed step
control function are provided (132 steps). [see
INDEX3 31 Feed step selection input 3 (bit 3) section 12.6 Feed Step Control]
7

MD0 33 Feed step mode input 0 (bit 0) Mode function:
MD1 34 Feed step mode input 1 (bit 1) MDPn Status MD1 MD0 Explanation
MDP0 35 Manually continuous operation Torque
1 OFF OFF
decrease
Feed step
2 OFF ON
OFF position mode
3 ON OFF Homing mode
Emergency
4 ON ON
stop
MDP1 36 Manually single step operation
X X Dont care
CW manual
OFF ON
operation
ON
CCW manual
ON OFF
operation
X X Dont care
Forward JOG input. When JOGU is activated, the motor will JOG in forward direction.
JOGU 37
[see P4-05]
Reverse JOG input. When JOGD is activated, the motor will JOG in reverse direction.
JOGD 38
[see P4-05]
Available when the drive is in Pr mode
Step up input. When STEPU is activated, and users must set P1-33 to 5 and 6.
STEPU 39
the motor will run to next position. (Internal auto running mode) [see section
12-7 Internal Auto Running Mode]
Step down input. When STEPD is activated,
STEPD 40
the motor will run to previous position.
Step back input. When STEPB is activated,
STEPB 41
the motor will return to first position.
Auto run input. When AUTOR is activated, Available when the drive is in Pr mode
the motor will run automatically according to and users must set P1-33 to 5 and 6.
internal position command. For interval time (Internal auto running mode) [see section
setting (Timer 0 7), see parameters 12-7 Internal Auto Running Mode]
AUTOR 42
P2-52 to P2-59. If the timer is not set, the
internal position command will not be
executed. The motor will run according to
the next internal position command.
GNUM0 43 Electronic gear ratio (Numerator) selection 0 [see P2-60 P2-62]

7

Electronic gear ratio (Numerator) selection 1 [see P2-60 P2-62]
GNUM0, GNUM1
1st Numerator (N1) (P1-44)

GNUM1 44 Pulse
Pulse 2nd Numerator (N2) (P2-60) Error
Smooth Filter
3rd Numerator (N3) (P2-61) (P1-08)
4th Numerator (N4) (P2-62)

Denominator (P1-45) Feed Back Pulse
Pulse inhibit input. When the drive is in position mode, if INHP is activated, the
INHP 45
external pulse input command is not valid.
Notes:
1. 1117: Single control mode, 1820: Dual control mode
2. When P2-10 to P2-17 is set to 0, it indicates input function is disabled.
7
7.5 Output Function Definitions

Sign Value Digital Output Function Description
Servo ready. SRDY is activated when the servo drive is ready to run. All fault and
SRDY 01
alarm conditions, if present, have been cleared.
Servo On. SON is activated when control power is applied the servo drive. The drive
may or may not be ready to run as a fault / alarm condition may exist.
SON 02 Servo ON (SON) is ON with control power applied to the servo drive, there may be a
fault condition or not. The servo is not ready to run. Servo ready (SRDY) is ON
where the servo is ready to run, NO fault / alarm exists. (P2-51 should turn servo
ready SRDY off / on)
At Zero speed. ZSPD is activated when the drive senses the motor is equal to or
below the Zero Speed Range setting as defined in parameter P1-38. For Example, at
ZSPD 03 default ZSPD will be activated when the drive detects the motor rotating at speed at or
below 10 r/min. ZSPD will remain activated until the motor speed increases above 10
r/min.
At Speed reached. TSPD is activated once the drive has detected the motor has
TSPD 04 reached the Target Motor Speed setting as defined in parameter P1-39. TSPD will
remain activated until the motor speed drops below the Target Motor Speed.
At Positioning completed.
When the drive is in Pt mode, TPOS will be activated when the position error is equal
to or less than the value of P1-54.
TPOS 05 When the drive is in Pr mode, TPOS will be activated when the drive detects that the
position of the motor is in a P1-54 to +P1-54 band of the target position.
For Example, at factory default TPOS will activate once the motor is in -99 pulses
range of the target position, then deactivate after it reaches +99 pulses range of the
desired position.
At Torques limit. TQL is activated when the drive has detected that the motor has
TQL 06 reached the torques limits set by either the parameters P1-12 P1-14 of via an
external analog voltage.
Servo alarm (Servo fault) activated. ALRM is activated when the drive has detected a
fault condition. (However, when Reverse limit error, Forward limit error, Emergency
ALRM 07
stop, Serial communication error, and Undervoltage these fault occur, WARN is
activated first.)
Electromagnetic brake control. BRKR is activated (Actuation of motor brake). (Refer to
parameters P1-42 P1-43)
BRKR 08

7
Sign Value Digital Output Function Description

Homing completed. HOME is activated when the servo drive has detected that the
HOME 09 HOME sensor (Digital Input 24) has been detected and the home conditions set in
parameters P1-47, P1-50, and P1-51 have been satisfied.
Output overload warning. OLW is activated when the servo drive has detected that the
motor has reached the output overload level set by parameter P1-56.
tOL = Permissible Time for Overload x value of P1-56
When overload accumulated time (continuously overload time) exceeds the value of
tOL, the overload warning signal will output, i.e. DO signal, OLW will be ON. However,
if the overload accumulated time (continuously overload time) exceeds the permissible
time for overload, the overload alarm (ALE06) will output.
For example:
OLW 10 If the value of parameter P1-56 (Output Overload Warning Level) is 60%, when the
permissible time for overload exceeds 8 seconds at 200% rated output, the overload
fault (ALE06) will be detected and shown on the LED display.
At this time, tOL = 8 x 60% = 4.8 seconds
Result:
When the drive output is at 200% rated output and the drive is continuously
overloaded for 4.8 seconds, and the overload warning signal will be ON (DO code is
10, i.e. DO signal OLW will be activated). If the drive is continuously overloaded for 8
seconds, the overload alarm will be detected and shown on the LED display (ALE06).
Then, Servo Fault signal will be ON (DO signal ALRM will be activated).
Servo warning activated. WARN is activated when the drive has detected Reverse
WARN 11 limit error. Forward limit error, Emergency stop, Serial communication error, and
Undervoltage these fault conditions.
Note: When P2-18 to P2-22 is set to 0, it indicates output function is disabled.
Chapter MODBUS Communications
8
Page
8.1 Communication Hardware Interface 8-2
8.2 Communication Parameter Settings 8-6
8.3 MODBUS Communication Protocol 8-10
8.4 Communication Parameter Write-Out/Read-In 8-19
GFK-2480A 8-1
8
8.1 Communication Hardware Interface

VersaMotion drives have three modes of communication: RS-232, RS-485, and RS-422. All aspects of
control, operation and monitoring as well as programming of the controller can be achieved via
communication. However, only one communication mode can be used at a time. Users can select the
desired communication mode via parameter P3-05.
Refer to the following sections for connections and limitations.
8.1.1 RS-232
Configuration
AC Servo Drive
Personal Computer /
PLC or Controller
Connected to CN3
RS232
8
Cable Connection
Max. 15m
D-9 plug Servo CN3

for PC Connector
3(Tx) 4(Rx)
2(Rx) 2(Tx)
5(GND) 1(GND)
7(RTS)
8(CTS)
6(DSR)
4(DTR)
1(CD)
Notes:
1) Recommended maximum cable length is 15m (50ft.). Note that RFI / EME noise should be kept
to a minimum, communication cable should kept apart from high voltage wires. If a
transmission speed of 38400 bps or greater is required, the maximum length of the
communication cable is 3m (9.84ft.), which will ensure the correct and desired baud rate.
2) The number shown in the previous figure indicates the terminal number of each connector.
GFK-2480A Chapter 8 MODBUS Communications 8-3

8
8.1.2 RS-485/RS-422
Configuration
AC Servo Drive
Personal Computer /
PLC or Controller Connected to CN3
RS-485 / 422 Converter
Cable Connection
RS-485 Converter/Connector Servo1 CN3 Connector
485+ 3
Data+ 5
485- 4
Data- 6
Vs
Servo2 CN3 Connector
GND
485+ 3
5
485- 4
Power Supply 6
(if required)
When using a DVP PLC,

an extra power supply is Servo254 CN3 Connector
not required.
485+ 3
5
485- 4
6
8
Notes:
1) Recommended maximum cable length is 100m (39.37inches) when the servo drive is installed
in a location where there are only a few interferences. Note that RFI/EME noise should be kept
to a minimum; communication cable should kept apart from high voltage wires. If a
transmission speed of 38400 bps or greater is required the maximum length of the
communication cable is 15m (50ft.), which will ensure the correct and desired baud rate.
2) The number shown in the previous figure indicates the terminal number of each connector.
3) The power supply should provide a +12V and higher DC voltage.
4) Use a REPEATER if more than 32 synchronous axes are required.
5) For the terminal identification of CN3, refer to Serial Communication Connector CN3 in
chapter 3.

8
8.2 Communication Parameter Settings

The following describes the communication addresses for the communication parameters.
For communication parameters, refer to Chapter 7. Communication Addresses 0301, 0302, and 0305
have to be set identically for all the drives and devices to communicate correctly.
0300H Range: 1 to 254
Communication Default: 1
Address Setting
Note: If the AC servo drive is controlled by RS-232/485/422 communication, each drive (or device)
must be uniquely identified and addressed between 1 and 254. Access to program this number is via
parameter P3-00.
RS-485/RS-422
01 02 03 254 maximum
Personal Computer /
PLC or Controller
0301H Default: 1
Transmission Range: 05
Speed
Settings:
(bits/second)
0: Baud rate 4800
1: Baud rate 9600 (default)
2: Baud rate 19200
3: Baud rate 38400
4: Baud rate 57600
5: Baud rate 115200
This parameter is used to set the desired transmission speed between the computer and AC servo
drive. Users can set this parameter and control transmission speed to reach the maximum baud rate of
115200 bps.
8
0302H Default: 0
Communication Range: 08
Protocol
Settings:
0: Modbus ASCII mode, <7,N,2> (default)
1: Modbus ASCII mode, <7,E,1 >
3: Modbus ASCII mode, <8,N,2 >
4: Modbus ASCII mode, <8,E,1>
6: Modbus RTU mode, <8,N,2>
7: Modbus RTU mode, <8,E,1>
8: Modbus RTU mode, <8,O,1>
This parameter is used to set the communication protocol. The alphanumeric characters represent the
following: 7 or 8 is the number of data bits; N, E or O refer to the parity bit, Non, Even or Odd; the 1 or 2
is the numbers of stop bits.
0303H Default: 0
Transmission Fault Range: 01
Treatment
Settings:
0: Display fault and continue operating (default)
1: Display fault and stop operating
This parameter is used to determine the operating sequence once a communication fault has been
detected. If '1' is selected the drive will stop operating upon detection the communication fault. The
mode of stopping is set by parameter P1-32.
0304H Watch Dog Timer (It is not recommended to change the factory default
setting if not necessary)
Communication
Time Out Detection Range: 0 to 20 sec.
Default: 0 (Function is disabled.)
When this parameter is set to any value over 0, it indicates that the timer is enabled. The value set in
this parameter is the communication time and the communication time out detection should be
completed within the time. Otherwise, a communication error will occur.
For example, if the value set in this parameter is 5, it indicates that the communication time out
detection will be activated once in five seconds or a communication error will occur.

8
0305H Communication selection:

Communication Default: 0
Mode
Range; 02
Settings:
0: RS-232 (default)
1: RS-422
2: RS-485
Multiple communication modes RS232, RS-485, RS-422 cannot be used within one
communication ring.
0306H Digital Input Contact Control:
Digital Input Default: 0
Communication
Range: 0 to FFFF (hexadecimal number)
Function
The setting of this parameter determines how the Digital Inputs (DI) accept commands and signals.
Input commands or signals through the DI can be either from an external source, through the CN 1
interface connector, or via communication, (RS-232, RS-485, RS-422). If the Digital Input Contact
Control parameter for the DI 1 DI 8 is set to "0", command is external, and via CN1; if it is set to "1"
(decimal number) the DI signal is via communication. Each of the eight Digital Inputs are accessed
individually and can be set independently of each other. They can be programmed either via the drive's
keypad or via communication and computer UI. If they are programmed via the keypad a hexadecimal
number is entered; if programmed via communication or UI a decimal or hexadecimal number can be
used. In both methods of programming, a single number is used for all eight Digital Inputs. The
following example shows how each DI is addressed and converted to a single decimal or hexadecimal
number.
The eight Digital Inputs are noted from the right, DI 1 to left, DI 8 with their desired input command or
signal method, 0 or 1. Once all eight Digital Inputs have been noted this binary number is converted to
a decimal or hexadecimal number and entered into P3-06.
Bit 8 7 6 5 4 3 2 1
Decimal value 128 64 32 16 8 4 2 1
Input DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1
State 1 1 0 1 1 0 0 0 = D8 Hex
(Keypad, Communication or UI)
(External CN1 or = 216 Dec (Communication or UI only)

Communication)
For display layout of the Digital Signal selection, Digital Input (DI) Diagnostics Mode in chapter 4.
The Digital Input Control Contact parameter, P3-06 also works in conjunction with the Multi Function
Digital Input parameter P4-07, which has several functions.
8
The contents of P4-07 is "read only" via the drive keypad and will display the state on or off ("blank" or
"|") of the eight Digital Inputs which have been set in accordance to P3-06. For Example; if P3-06 has
been set to 0 (All DI is external and via the CN 1 interface) and the P4-07 display is indicating the
following:
_ | | | _ _ _ | (for the manual this picture should be similar to the one shown on page
4-8 (Ch 4.4.5))
The Digital Inputs 1, 5, 6, & 7 are "on" (high) and Digital Inputs 2, 3, 4, & 8 are "off" (low).
If the contents of P4-07 is being read via communication the output will be a decimal number that will
represent the "binary" display. Therefore in the previous example the decimal number being read would
be 113.
However, in the communication mode the user can write to P4-07 to turn the Digital Inputs either "on" or
"off". Again this achieved by sending a decimal or hexadecimal number that corresponds to the binary
representation of the Digital Inputs being addressed. Therefore in the previous example 113 or 71 hex
would be sent to 407H to switch on Digital Inputs 1, 5, 6, & 7. Remember, previous to this P3-06 would
have been set to either 255 / FF or 113 / 71 (This sets the Digital Inputs 1, 5, 6, & 7 to communication).
0307H Default: 0
Communication Range: 0 255
Response Delay
Time
This parameter is used to delay the communication time that servo drive respond to host controller
(external controller)

8
8.3 MODBUS Communication Protocol

When using RS-232/485/422 serial communication interface, each servo drive has a pre-assigned
communication address specified by parameter P3-00. The computer then controls each AC servo
drive according to its communication address. The servo drives can be set up to communicate on a
MODBUS networks using on of the following modes: ASCII (American Standard Code for Information
Interchange) or RTU (Remote Terminal Unit). Users can select the desired mode along with the serial
port communication protocol in parameter P3-02.
8.3.1 Code Description:
ASCII Mode:
Each 8-bit data is the combination of two ASCII characters. For example, a 1-byte data: 64 Hex, shown
as 64 in ASCII, consists of 6 (36Hex) and 4 (34Hex).
The following table shows the available hexadecimal characters and their corresponding ASCII codes.
Character 0 1 2 3 4 5 6 7
ASCII code 30H 31H 32H 33H 34H 35H 36H 37H
Character 8 9 A B C D E F
ASCII code 38H 39H 41H 42H 43H 44H 45H 46H
RTU Mode:
Each 8-bit data is the combination of two 4-bit hexadecimal characters. For example, a 1-byte data: 64
Hex.
Data Format:
10-bit character frame (For 7-bit character)
7N2
Start Stop Stop
bit 0 1 2 3 4 5 6
bit bit
7-data bits
10-bits character frame
7E1
Start Even Stop
bit 0 1 2 3 4 5 6 parity bit
7-data bits
8
7O1
Start Odd Stop
bit 0 1 2 3 4 5 6 parity bit
7-data bits
11-bit character frame (For 8-bit character)

8N2
Start Stop Stop
bit 0 1 2 3 4 5 6 7
bit bit
8-data bits
8E1
Start Even Stop
bit 0 1 2 3 4 5 6 7
parity bit
8-data bits
8O1
Start Odd Stop
bit 0 1 2 3 4 5 6 7
parity bit
8-data bits
8.3.2 Communication Protocol:
ASCII Mode:
STX Start character: (3AH)
ADR Communication address: 1-byte consists of 2 ASCII codes
CMD Command code: 1-byte consists of 2 ASCII codes
DATA(n-1)
. Contents of data: n word = n x 2-byte consists of n x 4 ASCII codes, n12
DATA(0)
LRC Command code: 1-byte consists of 2 ASCII codes
End 1 End code 1: (0DH)(CR)
End 0 End code 0: (0AH)(LF)
For information on each of these fields, see Protocol Details on page 8-12.

8
RTU Mode:
STX A silent interval of more than 10ms
ADR Communication address: 1-byte
CMD Command code: 1-byte
DATA(n-1)
. Contents of data: n word = n x 2-byte, n12
DATA(0)
CRC Command code: 1-byte
End 1 A silent interval of more than 10ms
For information on each of these fields, see Protocol Details on page 8-12.
Protocol Details
STX (Communication Start)

ASCII Mode: : character
RTU Mode: A silent interval of more than 10ms
ADR (Communication Address)

The valid communication addresses are in the range of 1 to 254.
For example, communication to AC servo drive with address 16 decimal:
ASCII Mode: ADR=1,0 => 1=31H0=30H
RTU Mode: ADR = 10H
CMD (Command Codes) and DATA (Data Characters)

The format of data characters depends on the command code. The available command codes and
examples for AC servo drive are described as follows:
Command code: 03H, read N words. The maximum value of N is 10.
For example, reading continuous 2 words from starting address 0200H of AC servo drive with address
01H.
8
ASCII Mode:
Command Message Response Message
STX : STX :
0 0
ADR ADR
1 1
0 0
CMD CMD
3 3
0 Number of data 0
Starting data 2 (Count by byte) 4'

address 0 0
0 Contents of 0
starting data
0 address 0200H B
0 1
Number of data
0 1
2 Contents of F
second data
F address 0201H 4
LRC Check
8 0
End 1 (0DH)(CR) E
LRC Check
End 0 (0AH)(LF) 8
End 1 (0DH)(CR)
End 0 (0AH)(LF)
RTU Mode:
ADR 01H ADR 01H

CMD 03H CMD 03H
Starting data 02H (Upper bytes) Number of data

04H
address 00H (Lower bytes) (Count by byte)
Number of data 00H Contents of 00H (Upper bytes)

starting data
(Count by word) 02H address 0200H B1H (Lower bytes)
CRC Check Low C5H (Lower bytes) Contents of 1FH (Upper bytes)
second data
CRC Check High B3H (Upper bytes) address 0201H 40H (Lower bytes)
CRC Check Low A3H (Lower bytes)

CRC Check High D4H (Upper bytes)

8
Command code: 06H, write 1 word

For example, writing 100 (0064H) to starting data address 0200H of a servo drive with address 01H.
ASCII Mode:
STX : STX :
0 0
ADR ADR
1 1
0 0
CMD CMD
6 6
0 0
Starting data 2 Starting data 2'

address 0 address 0
0 0
0 0
0 0
Content of data Content of data
6 6
4 4
9 9
LRC Check LRC Check
3 3
End 1 (0DH)(CR) End 1 (0DH)(CR)
End 0 (0AH)(LF) End 0 (0AH)(LF)
RTU Mode:
ADR 01H ADR 01H

CMD 06H CMD 06H
Starting data 02H (Upper bytes) Starting data 02H (Upper bytes)
address 00H (Lower bytes) address 00H (Lower bytes)
00H (Upper bytes) 00H (Upper bytes)
Content of data Content of data
64H (Lower bytes) 64H (Lower bytes)
CRC Check Low 89H (Lower bytes) CRC Check Low 89H (Lower bytes)
CRC Check High 99H (Upper bytes) CRC Check High 99H (Upper bytes)
8
LRC (ASCII Mode):

LRC (Longitudinal Redundancy Check) is calculated by summing up, module 256, the values of the
bytes from ADR to last data character then calculating the hexadecimal representation of the 2s-
complement negation of the sum.
For example, reading 1 word from address 0201H of a servo drive with address 01H.
STX :
0
ADR
1
0
CMD
3
0
2
Starting data address
0
1
0
0
Number of data
0
1
F
LRC Check
8
End 1 (0DH)(CR)
End 0 (0AH)(LF)
01H+03H+02H+01H+00H+01H = 08H, the 2s complement negation of 08H is F8H.
Hence, we can know that LRC CHK is F,8.
CRC (RTU Mode):

CRC (Cyclical Redundancy Check) is calculated by the following steps:
1. Load a 16-bit register (called CRC register) with FFFFH.
2. Exclusive OR the first 8-bit byte of the command message with the low order byte of the 16-bit
CRC register, putting the result in the CRC register.
3. Extract and examine the LSB. If the LSB of CRC register is 0, shift the CRC register one bit to the
right. If the LSB of CRC register is 1, shift the CRC register one bit to the right, then Exclusive OR
the CRC register with the polynomial value A001H.
4. Repeat step 3 until eight shifts have been performed. When this is done, a complete 8-bit byte will
have been processed, then perform step 5.
5. Repeat step 2 to step 4 for the next 8-bit byte of the command message.
Continue doing this until all bytes have been processed. The final contents of the CRC register are the
CRC value.

8
Notes:
1) When transmitting the CRC value in the message, the upper and lower bytes of the CRC value
must be swapped, i.e. the lower order byte will be transmitted first.
2) For example, reading 2 words from address 0101H of the AC servo drive with address 01H.
The final content of the CRC register from ADR to last data character is 3794H, then the
command message is shown as follows. What should be noticed is that 94H have to be
transmitted before 37H.
Command Message
ADR 01H
CMD 03H
Starting data address 01H (Upper byte)
01H (Lower bytes)
Number of data 00H (Upper bytes)
(Count by word) 02H (Lower bytes)
CRC Check Low 94H (Lower bytes)
CRC Check High 37H (Upper bytes)
End1, End0 (Communication End)
ASCII Mode:
In ASCII mode, (0DH) stands for character \r (carriage return) and (0AH) stands for character \n (new
line), they indicate communication end.
8
RTU Mode:
In RTU mode, a silent interval of more than 10ms indicates communication end.
The following is an example of CRC generation using C language. The function takes two arguments:
unsigned char* data;
unsigned char length
The function returns the CRC value as a type of unsigned integer.
unsigned int crc_chk(unsigned char* data, unsigned char length) {
int j;
unsigned int reg_crc=0xFFFF;
while( length-- ) {
reg_crc^= *data++;
for (j=0; j<8; j++ ) {
if( reg_crc & 0x01 ) { /*LSB(bit 0 ) = 1 */
reg_crc = (reg_crc >> 1)^0xA001;
} else {
reg_crc = (reg_crc>>1);
}
}
}
return reg_crc;
}

8
PC communication program example:

#include<stdio.h>
#include<dos.h>
#include<conio.h>
#include<process.h>
#define PORT 0x03F8 /* the address of COM 1 */
#define THR 0x0000
#define RDR 0x0000
#define BRDL 0x0000
#define IER 0x0001
#define BRDH 0x0001
#define LCR 0x0003
#define MCR 0x0004
#define LSR 0x0005
#define MSR 0x0006
unsigned char rdat[60];
/* read 2 data from address 0200H of a servo drive with address 1 */
unsigned char tdat[60]={:,0,1,0,3,0,2,0,0,0,0,0,2,F,8,\r,\n};
void main() {
int I;
outportb(PORT+MCR,0x08); /* interrupt enable */
outportb(PORT+IER,0x01); /* interrupt as data in */
outportb(PORT+LCR,( inportb(PORT+LCR) | 0x80 ) );
/* the BRDL/BRDH can be access as LCR.b7 == 1 */
outportb(PORT+BRDL,12);
outportb(PORT+BRDH,0x00);
outportb(PORT+LCR,0x06); /* set prorocol
<7,E,1> = 1AH, <7,O,1> = 0AH
<8,N,2> = 07H <8,E,1> = 1BH
<8,O,1> = 0BH */
for( I = 0; I<=16; I++ ) {
while( !(inportb(PORT+LSR) & 0x20) ); /* wait until THR empty */
outportb(PORT+THR,tdat[I]); /* send data to THR */
}
I = 0;
while( !kbhit() ) {
if( inportb(PORT+LSR)&0x01 ) { /* b0==1, read data ready */
rdat[I++] = inportb(PORT+RDR); /* read data from RDR */
}
}
}
8
8.4 Communication Parameter Write-in and Read-out

There are following five groups for parameters:
Group 0: Monitor parameter (example: P0-xx)
Group 1: Basic parameter (example: P1-xx)
Group 2: Extension parameter (example: P2-xx)
Group 3: Communication parameter (example: P3-xx)
Group 4: Diagnosis parameter (example: P4-xx)
For a complete listing and description of all parameters, refer to Chapter 7.
Communication write-in parameters for VersaMotion servo drives include:
Group 0: P0-02 P0-17 (0002H to 0011H)
Group 1: P1-00 P1-62 (0100H to 013EH)
Group 2: P2-00 P2-65 (0200H to 0241H)
Group 3: P3-00 P3-07 (0300H to 0307H)
Group 4: P4-05 P4-23 (0405H to 0417H)
Notes:
1. P3-01: After the new transmission speed is set, the next data will be written in new transmission
speed.
2. P3-02: After the new communication protocol is set, the next data will be written in new
communication protocol.
3. P4-05: JOG control of servo motor. For the description, refer to Chapter 7.
4. P4-06: Force output contact control. This parameter is for the users to test if DO (Digit output) is
normal. User can set 1, 2, 3, 4, 5 to test DO0, DO1, DO2, DO3, DO4, respectively. After the test
has been completed, set this parameter to 0 to inform the drive that the test has been completed.
5. P4-10: Adjustment function selection. If user desires to change the settings of this parameter, user
has to set the value of the parameter P2-08 to 20 (hexadecimal: 14H) first and then restart. After
restarting, the settings of parameter P4-10 can become modified.
6. P4-11 P4-21: These parameters are for offset adjustment. Do not change the factory default
setting if not necessary. If the user desires to change the settings of these parameters, the user has
to set the value of the parameter P2-08 to 22 (hexadecimal: 16H) first and then restart. After
restarting, the settings of parameters P4-11 to P4-21 can become modified.
Communication read-out parameters for VersaMotion servo drives include:
Group 0: P0-00 P0-17 (0000H to 0011H)
Group 1: P1-00 P1-62 (0100H to 013EH)
Group 2: P2-00 P2-65 (0200H to 0241H)
Group 3: P3-00 P3-07 (0300H to 0307H)
Group 4: P4-00 P4-23 (0400H to 0417H)

Chapter Maintenance and Inspection
9
Preventive maintenance is required to operate VersaMotion AC servo drives in optimal condition, and
to ensure a long life. It is recommended that periodic maintenance and inspection of the AC servo drive
be performed by a qualified technician. Before any maintenance and inspection, always turn off the AC
input power to the unit.
Page
9.1 Basic Inspection 9-2
9.2 Maintenance 9-3
9.3 Life of Replacement Components 9-4
Warning
Be sure to disconnect AC power and ensure that the internal
capacitors have fully discharged before performing the
maintenance and inspection.
Warning
Do not touch any internal or exposed parts of servo drive and servo
motor as electrical shock may result.
Do not remove the operation panel while the drive is connected to

an electrical power source otherwise electrical shock may result.
Wait at least 10 minutes after power has been removed before

touching any drive or motor terminals or performing any wiring
and/or inspection as an electrical charge may still remain in the
servo drive and servo motor with hazardous voltages even after
power has been removed.
Do not disassemble the servo drive or motor as electric shock may

result.
Do not connect or disconnect wires or connectors while power is

applied to the drive and motor.
Only qualified personnel who have electrical knowledge should

conduct maintenance and inspection.
GFK-2480A 9-1
9
9.1 Basic Inspection

After power is in connected to the AC servo drive, the charge LED will be lit which indicates that the AC
servo drive is ready.
Item Content
1. Periodically inspect the screws of the servo drive, motor shaft, terminal block
and the connection to mechanical system. Tighten screws as necessary as they
may loosen due to vibration and varying temperatures.
2. Ensure that oil, water, metallic particles or any foreign objects do not fall inside
the servo drive, motor, control panel or ventilation slots and holes. As these will
General Inspection cause damage.
3. Ensure the correct installation and the control panel. It should be free from
airborne dust, harmful gases or liquids.
4. Ensure that all wiring instructions and recommendations are followed; otherwise
damage to the drive and or motor may result.
1. Inspect the servo drive and servo motor to insure they were not damaged.
2. To avoid an electric shock, be sure to connect the ground terminal of servo drive
to the ground terminal of control panel.
3. Before making any connection, wait 10 minutes for capacitors to discharge after
the power is disconnected, alternatively, use an appropriate discharge device to
discharge.
4. Ensure that all wiring terminals are correctly insulated.
Inspection before 5. Ensure that all wiring is correct or damage and or malfunction may result.
operation 6. Visually check to ensure that there are not any unused screws, metal strips, or
(Control power is not any conductive or inflammable materials inside the drive.
applied) 7. Never put inflammable objects on servo drive or close to the external
regenerative resistor.
8. Make sure control switch is OFF.
9. If the electromagnetic brake is being used, ensure that it is correctly wired.
10. If required, use an appropriate electrical filter to eliminate noise to the servo
drive.
11. Ensure that the external applied voltage to the drive is correct and matched to
the controller.
9
Item Content
1. Ensure that the cables are not damaged, stressed excessively or loaded heavily.
When the motor is running, pay close attention on the connection of the cables
and notice that if they are damaged, frayed or over extended.
2. Check for abnormal vibrations and sounds during operation. If the servo motor is
vibrating or there are unusual noises while the motor is running, please contact
the dealer or manufacturer for assistance.
3. Ensure that all user-defined parameters are set correctly. Since the
Inspection during
characteristics of various machinery are different, in order to avoid accident or
operation
cause damage, do not adjust the parameter abnormally and ensure the
(Control power is parameter setting is not an excessive value.
applied)
4. Some parameters must be reset when the servo drive is off (Please refer to
Chapter 7). Otherwise, it may result in malfunction.
5. If there is no contact sound or if there are unusual noises when the relay servo
drive relay is operating, please contact Technical Support for assistance.
6. Check for abnormal conditions of the power indicators and LED display. If there
is any abnormal condition of the power indicators and LED display, please
contact Technical Support.
9.2 Maintenance
Use and store the product in a proper and normal environment.
Periodically clean the surface and panel of servo drive and motor.
Make sure the conductors or insulators are corroded and/or damaged.
Do not disassemble or damage any mechanical part when performing maintenance.
Clean off any dust and dirt with a vacuum cleaner. Place special emphasis on cleaning the
ventilation ports and PCBs. Always keep these areas clean, as accumulation of dust and dirt can
cause unforeseen failures.
GFK-2480A Chapter 9 Maintenance and Inspection 9-3

9
9.3 Life of Replacement Components

Smooth Capacitor
The characteristics of smooth capacitor would be deteriorated by ripple current affection. The life of
smooth capacitor varies according to ambient temperature and operating conditions. The common
guaranteed life of smooth capacitor is ten years when it is properly used in normal air-conditioned
environment.
Relay
The contacts will wear and result in malfunction due to switching current. The life of relay varies
according to power supply capacity. Therefore, the common guaranteed life of relay is cumulative
100,000 times of power on and power off.
Cooling Fan
The cooling fan life is limited and should be changed periodically. The cooling fan will reach the end of
its life in 2 to 3 years when it is in continuous operation. However, it also must be replaced if the cooling
fan is vibrating or there are unusual noises.
Chapter Diagnostics
10
If a fault is detected on the servo drive or motor, a corresponding fault code will be shown on the drive's
LED display. Fault codes can also be transmitted via communication, see P0-01 and P4-00 through
P4-04 for display on controller or HMI.
This chapter contains the following information:
Page
10.1 Fault Messages Table 10-2
10.2 Potential Causes and Corrective Actions 10-4
10.3 Clearing Faults 10-9
GFK-2480A 10-1
10
10.1 Fault Messages Table

Display Fault Name Fault Description
ALE01 Overcurrent Main circuit current is higher than 1.5 multiple of motors
instantaneous maximum current value.
ALE02 Overvoltage Main circuit voltage has exceeded its maximum allowable value.
ALE03 Undervoltage Main circuit voltage is below its minimum specified value.
ALE04 Encoder issue Check the encode connector or repair/replace the motor.
ALE05 Regeneration error Regeneration control operation is in error.
ALE06 Overload Servo motor and drive is overload.
ALE07 Overspeed Motors control speed exceeds the limit of normal speed.
ALE08 Abnormal pulse control Input frequency of pulse command exceeds the limit of its
command allowable setting value.
ALE09 Excessive deviation Position control deviation value exceeds the limit of its allowable
setting value.
ALE10 Watch dog execution Watch dog execution time out.
time out
ALE11 Encoder error Pulse signal is in error.
ALE12 Adjustment error Adjusted value exceeds the limit of its allowable setting value
when perform electrical adjustment.
ALE13 Emergency stop Emergency stop switch is activated.
activated
ALE14 Reverse limit switch Reverse limit switch is activated.
error
ALE15 Forward limit switch Forward limit switch is activated.
error
ALE16 IGBT temperature error The temperature of IGBT is over high.
ALE17 Memory error EE-PROM write-in and read-out is in error.
ALE18 DSP communication The communication between DSP and MCU is in error. DSP
error does not respond to MCU command. The problem is on DSP
side.
ALE19 Serial communication RS232/485 communication is in error.
error
ALE20 Serial communication RS232/485 communication time out.
time out
ALE21 Command write-in error Control command write-in error.
ALE22 Input power phase loss One phase of the input power is loss.
ALE23 Pre-overload warning This alarm is displayed before ALE06. When the servo motor
reaches the setting value of P1-56, the motor will send a warning
to the drive. After the drive has detected the warning, the DO
signal OLW is activated and this fault message appears.
10
Display Fault Name Fault Description

ALE97 Internal command An error occurs when internal command is executing.
execution time out
ALE98 DSP communication DSP do not respond to MCU command.
error DSP has responded to MCU command but there is error in
response message. Maybe the hardware is damaged.
ALE99 DSP communication DSP do not respond to MCU command.
error DSP has responded to MCU command but there is error in
response message. Maybe the hardware is damaged.
GFK-2480A Chapter 10 Diagnostics 10-3

10
10.2 Potential Causes and Corrective Actions

ALE01, Overcurrent
Potential Cause Checking Method Corrective Actions
Short-circuit at drive 1. Check the wiring connections between Repair the short-circuited and
output (U, V, W) drive and motor. avoid metal conductor being
2. Check if the wire is short-circuited. exposed.
Motor wiring error Check if the wiring steps are all correct when Follow the wiring steps in the user
connecting motor to drive. manual to reconnect wiring.
IGBT error Heat sink overheated Contact technical support for
assistance.
Control parameter Check if the setting value exceeds the Set the setting back to factory
setting error factory default setting. default setting and then reset and
adjust the parameter setting
again.
Control command Check if the control input command is 1. Ensure that input command
setting error unstable (too much fluctuation). frequency is stable (too much
fluctuation).
2. Activate filter function.
ALE02, Overvoltage
The main circuit Use voltmeter to check whether the input Use correct power supply or
voltage has exceeded voltage falls within the rated input voltage. stabilizing power.
its maximum allowable (For voltage specification, refer to Servo
value. Motor Specifications in Chapter 11.)
Input power error Use voltmeter to check whether the input Use correct power supply or
(Incorrect power input) voltage is within the specified limit. stabilizing power.
ALE03, Undervoltage
The main circuit voltage is below Check whether the wiring of main Reconfirm voltage wiring.
its minimum specified value. circuit input voltage is normal.
No input voltage at main circuit. Use voltmeter to check whether input Reconfirm power switch.
voltage at main circuit is normal.
Input power error (Incorrect Use voltmeter to check whether the Use correct power supply or
power input) input voltage is within the specified serial stabilizing power.
limit.
10
ALE04, Encoder Issue

Encoder is damaged. Check Encoder for the damage. Repair or replace the motor.
Encoder is loose. Examine the Encoder connector. Install the motor again.
ALE05, Regeneration error

Regenerative resistor Check the wiring connection of regenerative
Reconnect regenerative resistor.
is not connected. resistor.
Regenerative switch Check if regenerative switch transistor is Contact technical support for
transistor fault short-circuited. assistance.
Parameter setting is in Confirm the parameter setting and
Correctly reset parameter again.
error specifications of regenerative resistor.
ALE06, Overload
The drive has exceeded Check if the drive is overloaded. Increase motor capacity or
its rated load during reduce load.
continuous operation.
Control system Check if there is mechanical vibration Adjust gain value of control
parameter setting is circuit.
incorrect. Accel/Decel time setting is too fast. Decrease Accel/Decel time
setting.
The wiring of drive and Check the wiring of U, V, W and encoder. Ensure all wiring is correct.
encoder is in error.
ALE07, Overspeed
Speed input command Use signal detector to detect if input signal is Ensure that input command
is not stable (too much abnormal. frequency is stable (not fluctuate
fluctuation). too much) and activate filter
function (P1-06, P1-07 and P1-
08).
Over-speed parameter Check if over-speed parameter setting value Correctly set over-speed
setting is defective. is too low. parameter setting (P2-34).

10
ALE08, Abnormal pulse control command

Pulse command Use pulse frequency detector to measure Correctly set the input pulse
frequency is higher input frequency. frequency.
than rated input
frequency.
ALE09, Excessive deviation

Maximum deviation Check the maximum deviation parameter Increases the parameter setting
parameter setting is too setting and observe the position error value value of P2-35.
small. when the motor is running.
Gain value is too small. Check for proper gain value. Correctly adjust gain value.
Torque limit is too low. Check torque limit value. Correctly adjust torque limit
value.
There is an overload. Check for overload condition. Reduce external applied load or
re-estimate the motor capacity.
ALE10, Watch dog execution time out

Watch dog execution Check and reset the power supply. If there are any abnormal
error. conditions after resetting the
power supply, contact technical
support.
ALE11, Encoder error (Position detector fault)

The wiring of encoder Check if all wiring is correct. Ensure all wiring is correct.
is in error. Check if the users conduct the wiring by the
wiring information in the user manual.
Encoder is loose Examine the encoder connector. Install the motor again.
The wiring of encoder Check if all connections are tight. Conduct the wiring again.
is defective.
Encoder is damage Check the encoder for the damage. Repair or replace the motor.
10
ALE12, Adjustment error

The setting value of Remove CN1 wiring. If the error does not clear after
drift adjustment has Execute the drift adjustment again. (Set P2- executing the drift adjustment,
exceeded its maximum 08 to 20 first, and then set P4-10 to 5.) contact technical support.
allowable value.
ALE13, Emergency stop activated

Emergency stop Check if emergency stop switch is On or Off. Activate emergency stop switch.
switch is activated.
ALE14, Reverse (CWL) limit switch error

Reverse limit switch is Check if reverse limit switch is On or Off. Activate reverse limit switch.
activated.
Servo system is not Check the value of control parameter setting Modify parameter setting and re-
stable. and load inertia. estimate motor capacity.
ALE15, Forward (CCWL) limit switch error

Forward limit switch is Check if forward limit switch is On or Off. Activate forward limit switch.
activated.
Servo system is not Check the value of control parameter setting Modify parameter setting and re-
stable. and load inertia. estimate motor capacity.
ALE16, IGBT temperature error

The drive has Check if there is overload or the motor Increase motor capacity or
exceeded its rated current is too high. reduce load.
load during continuous
operation.
Short-circuit at drive Check the drive input wiring. Ensure all wiring is correct.
output.

10
ALE17, Memory error

Data error in Memory Reset parameter or power supply. If the error does not clear after
read-out / write-in. resetting the power supply,
contact technical support.
ALE18, DSP communication error

Control power is in Check and reset control power If the error does not clear after
error. resetting the power supply,
ALE19, Serial communication error

Communication Check the communication parameter Correctly set parameter setting.
parameter setting is setting.
defective.
Communication Check the communication address. Correctly set communication
address is incorrect. address.
Communication value Check the communication value. Correctly set communication
is incorrect. value.
ALE20, Serial communication time out

Setting value in time Check communication time out parameter Correctly set P3-07.
out parameter is not setting.
correct.
Not receiving Check whether communication cable is Tighten the communication cable,
communication loose or broken. make sure the communication
command for a long cable is not damaged and ensure
time. all wiring is correct.
ALE21, Command write-in error

Control power is in Check and reset control power If the error does not clear after
error. resetting the power supply,
10
ALE22, Input power phase loss

Control power supply Check the power cable and connections of If the fault does not clear even
is in error. R, S, T. Check whether the power cable is when the three-phase power is
loose or the possible loss of phase on input connected correctly, contact
power. technical support.
ALE23, Pre-overload warning

The drive is going to Check the load condition of the servo motor Refer to the correction actions of
overload. and drive. ALE06.
Check the setting value of P1-56. Check Increase the setting value of P1-
whether the setting value of P1-56 is to 56 or set P1-56 to 100 and
small. above.
ALE97, Internal command execution time out

An error occurs when If the error does not clear after
internal command is Check and reset control power resetting the power supply,
executing. contact Technical Support.

If the error does not clear after
Maybe the hardware is
Check and reset control power resetting the power supply,
damaged.

If the error does not clear after
Maybe the hardware is
Check and reset control power resetting the power supply,
damaged.

10
10.3 Clearing Faults

Display Fault Name Clearing Method
ALE01 Overcurrent Turn ARST (DI signal) ON to clear the fault or
restart the servo drive.
ALE02 Overvoltage Turn ARST (DI signal) ON to clear the fault or
ALE03 Undervoltage This fault message is removed automatically after
the voltage has returned within its specification.
ALE04 Encoder issue Turn ARST (DI signal) ON to clear the fault or
ALE05 Regeneration error Turn ARST (DI signal) ON to clear the fault or
ALE06 Overload Turn ARST (DI signal) ON to clear the fault or
ALE07 Overspeed Turn ARST (DI signal) ON to clear the fault or
ALE08 Abnormal pulse control Turn ARST (DI signal) ON to clear the fault or
command restart the servo drive.
ALE09 Excessive deviation Turn ARST (DI signal) ON to clear the fault or
ALE10 Watch dog execution time This fault message can be cleared.
out
ALE11 Encoder error This fault message can be removed by restarting
the servo drive.
ALE12 Adjustment error This fault message can be removed after the
wiring of CN1 connector (I/O signal connector) is
removed and auto adjustment function is
executed.
ALE13 Emergency stop activated This fault message can be removed automatically
by turning off EMGS (DI signal).
ALE14 Reverse limit switch error Turn ARST (DI signal) ON to clear the fault or
ALE15 Forward limit switch error Turn ARST (DI signal) ON to clear the fault or
ALE16 IGBT temperature error Turn ARST (DI signal) ON to clear the fault or
ALE17 Memory error Turn ARST (DI signal) ON to clear the fault or
ALE18 DSP communication error Turn ARST (DI signal) ON to clear the fault or
ALE19 Serial communication error Turn ARST (DI signal) ON to clear the fault. This
fault message can also be removed automatically
after the communication is normal.
ALE20 Serial communication time Turn ARST (DI signal) ON to clear the fault or
out restart the servo drive.
10
Display Fault Name Clearing Method

ALE21 Command write-in error Turn ARST (DI signal) ON to clear the fault or
ALE22 Input power phase loss Turn ARST (DI signal) ON to clear the fault. This
fault message can be removed automatically after
input power phase lost problem is solved.
ALE23 Pre-overload warning Turn ARST (DI signal) ON to clear the fault or
Internal command execution Turn ARST (DI signal) ON to clear the fault or
ALE97
time out restart the servo drive.
Turn ARST (DI signal) ON to clear the fault or
ALE98 DSP communication error
Turn ARST (DI signal) ON to clear the fault or
ALE99 DSP communication error

Chapter Specifications
11
This chapter contains the following information:
Page
11.1 Servo Drive AC Input Current Ratings 11-2
11.2 Servo Drive Specifications 11-3
11.3 Servo Motor Specifications 11-5
11.4 Servo Motor Speed-Torque Curves 11-8
11.5 Overload Characteristics 11-10
11.6 Dimensions of Servo Drives 11-12
11.7 Dimensions of Servo Motors 11-14
11.8 EMI Filters Selection 11-16
GFK-2480A 11-1
11
11.1 Servo Drive AC Input Current Ratings

Input signal
Model Name 3 Phase (A) 1 Phase (A)
Voltage (V) Frequency (HZ)
IC800VMA012 0.8 1 240 50/60
IC800VMA022 1.3 1.7 240 50/60
IC800VMA042 2.6 3.4 240 50/60
IC800VMA072 4.7 5.9 240 50/60
IC800VMA102 6.2 8 240 50/60
IC800VMA152 8 10.6 240 50/60
IC800VMA202 9.1 240 50/60
IC800VMA302 13.6 240 50/60

11
11.2 Servo Drive Specifications

Model: IC800VMAxxx 012 022 042 072 102 202 302
Power Rating 100 200 400 750 1000 2000 3000
Power supply
Phase / Voltage Three-phase or Single-phase 220VAC Three-phase

220VAC
Permissible Voltage Range Three-phase: 170255VAC 170255VAC
Single-phase: 200255VAC
Permissible Frequency Range 50 / 60Hz 5%
Cooling System Natural Air Circulation Fan Cooling
Encoder Resolution / 2500ppr / 10000ppr
Feedback Resolution
Control of Main Circuit SVPWM Control
Tuning Modes Auto / Manual
Dynamic Brake Built-in
Position Control Mode
Max. Input Pulse Frequency Max. 500KPPS (Line driver) / Max. 200KPPS (Open collector)
Pulse Type Pulse + Direction, A phase + B phase, CCW pulse + CW pulse
Command Source External pulse train / Internal parameters
Smoothing Strategy Low-pass and P-curve filter
Electronic Gear Electronic gear N/M multiple N: 132767, M: 1:32767(1/50<N/M<200)
Torque Limit Operation Set by parameters
Feed Forward Compensation Set by parameters
Analog Input Voltage Range 0 10 VDC
Command Input Resistance 10K
Time Constant 2.2 s
Speed Control Mode
Speed Control Range*1 1:5000

Command Source External analog signal / Internal parameters
Smoothing Strategy Low-pass and S-curve filter
Torque Limit Operation Set by parameters or via Analog input
Responsiveness Characteristic Maximum 450Hz
Speed Fluctuation Rate*2 0.01% or less at load fluctuation 0 to 100% (at rated speed)
0.01% or less at power fluctuation 10% (at rated speed)
o o
0.01% or less at ambient temperature fluctuation 0 C to 50 C (at rated speed)
Analog Input Voltage Range 0 10 VDC
Torque Control Mode
Command Input Resistance 10K

Time Constant 2.2 s
3
Permissible Time for Overload 8 sec. under 200% rated output
Command Source External analog signal / Internal parameters
Smoothing Strategy Low-pass filter
Speed Limit Operation Parameter Setting or via Analog input
GFK-2480A Chapter 11 Specifications 11-3

11
Model: IC800VMAxxx 012 022 042 072 102 202 302

Power Rating 100 200 400 750 1000 2000 3000
Analog Monitor Output Monitor signal can set by parameters (Output voltage range: 8V)
Digital Input/Output Input Servo On, Reset, Gain switching, Pulse clear, Low speed CLAMP, Speed/Torque
limit enabled, Emergency stop, Forward / Reverse inhibit limit, Pulse inhibit input,
Forward / Reverse JOG input
Internal parameter selection, Torque limit activation, Speed limit activation,
Control mode selection (Position / Speed / Torque mode selection, Dual mode
selection), Feed step control mode, Internal auto running mode, Electronic gear
ratio selection
Output Encoder signal output (A, B, Z Line Driver / Z Open collector)
Servo ready, Servo On, Zero speed, Speed reached, Positioning completed, At
torques limit, Servo alarm output (Servo fault), Electromagnetic brake,
Home completed
Protective Functions Overcurrent, Overvoltage, Undervoltage, Motor overheated, Regeneration
error, Overload, Overspeed, Abnormal pulse control command, Excessive
deviation, Watch dog execution time out, Encoder error, Adjustment error,
Emergency stop activated, Reverse/ Forward limit switch error, IGBT
temperature error, Memory error, DSP communication error, Serial
communication error, Input power phase loss, Serial communication time
out, Command write-in error, terminals with short circuit protection (U, V,
W, CN1, CN2, CN3 terminals)
Communication Interface RS-232 / RS-485 / RS-422
Installation Site Indoor location (free from direct sunlight), no corrosive liquid and gas (far away
from oil mist, flammable gas, dust)
Altitude Altitude 1000m or lower above sea level
Environment
Atmospheric pressure 86kPA to 106kPA

o o
Operating Temperature 0 C to 55 C (32F to 131F)
If operating temperature is above specified range, forced cooling will be required.
o o
Storage Temperature -20 C to 65 C (-4F to 149F)
Humidity 0 to 90% (non-condensing)
2 2
Vibration 9.80665m/s (1G) less than 20Hz, 5.88m/ s (0.6G) 20 to 50Hz
Terminals with Short Circuit U, V, W, CN1, CN2, CN3
Protection
4
Power System TN System
Standards/Requirement IEC/EN 61800-5-1, UL 508C, TUV, C-tick
Notes:
1) Rated rotation speed: When full load, speed ratio is defined as the minimum speed (the motor will not
pause).
2) When command is rated rotation speed, the speed fluctuation rate is defined as:
(Empty load rotation speed Full load rotation speed) / Rated rotation speed
3) Refer to Overload Characteristics on page 11-10.
4) TN system: A power distribution system having one point directly earthed, the exposed conductive parts
of the installation being connected to that points by protective earth conductor.

11
11.3 Servo Motor Specifications

Servo Motor Performance Specifications L Type (Low Inertia)
Model: IC800VMMxxLNKSE25 100W 200W 400W 750W 1kW 2kW
IC800VMMxxLBKSE25 01 02 04 07 10 20
Rated output power (kW) 0.1 0.2 0.4 0.75 1.0 2.0
Rated torque (N.m) 0.32 0.64 1.27 2.39 4.77 9.55
Maximum torque (N.m) 0.96 1.92 3.82 7.16 14.3 28.65
Rated speed (rpm) 3000 2000
Maximum speed (rpm) 5000 3000
Rated current (A) 0.9 1.55 2.6 5.1 5.6 11.22
Maximum current (A) 2.7 4.65 7.8 15.3 16.8 33.66
2
Rotor moment of inertia (Kg.m ) (without 0.037E-4 0.177E-4 0.277E-4 1.13E-4 8.41E-4 34.68E-4
brake)
Mechanical time constant (ms) (without
0.75 0.80 0.53 0.63 1.5 1.62
brake)
Torque constant-KT (N.m/A) 0.36 0.41 0.49 0.47 0.85 0.85
Voltage constant-KE (mV/rpm) 13.6 16 17.4 17.2 95.7/31.9 94.2/31.4
Armature phase resistance (Ohm) 9.3 2.79 1.55 0.42 0.47 0.119
Armature phase inductance (mH) 24 12.07 6.71 3.53 5.99 2.84
Electrical time constant (ms) 2.58 4.3 4.3 8.37 12.87 23.87
Class A (UL), Class B (CE)
Insulation class
Insulation resistance >100M, DC 500V

Insulation strength AC 1500 V, 50 Hz, 60seconds
Weight (kg) (without brake) 0.5 1.2 1.6 3.0 4.3 6.2
Weight (kg) (with brake) - 1.5 2.0 3.8 4.7 7.2
Max. radial shaft load (N) 78.4 196 196 245 490 1176
Max. thrust shaft load (N) 39.2 68 68 98 98 490
Vibration grade (um) 15
Rotor moment of inertia (Kg.m2) (with
- 0.192E-4 0.30E-4 1.18E-4 9.14E-4 37.86E-4
brake)
Mechanical time constant (ms) (with brake) - 0.85 0.57 0.65 0.93 0.66
Brake holding torque [N-m (min)] - 1.3 1.3 2.5 16.5 25
o
Brake power consumption (at 20 C) [W] - 7.2 7.2 8.5 21 31.1
Brake release time [ms (Max)] - 10 10 10 5 5
Brake pull-in time [ms (Max)] - 70 70 70 25 25
o o o o
Operating temperature 0 C to 40 C (32 F to 104 F)

11
Model: IC800VMMxxLNKSE25 100W 200W 400W 750W 1kW 2kW

IC800VMMxxLBKSE25 01 02 04 07 10 20
o o o o
-10 C to 80 C (14 F to 176 F)
Storage temperature
Operating humidity 20% to 90% RH (non-condensing)

Storage humidity 20% to 90% RH (non-condensing)
Vibration capacity 2.5G
IP65 when both waterproof connectors and
shaft seal installed (or for oil seal models, an IP65 (except shaft and
Enclosure rating
oil seal is fitted to the rotating shaft, making connector)
the connectors waterproof) are used.
IEC60034-1, UL1004
Standards/Requirements
Servo Motor Performance Specifications M Type (Medium Inertia)

Model: IC800VMMxxMNKSE25 1kW 2kW 3kW
IC800VMMxxMBKSE25 10 20 30
Rated output power (kW) 1.0 2.0 3.0
Rated torque (N.m) 3.18 6.37 14.32
Maximum torque (N.m) 9.54 19.11 42.96
Rated speed (rpm) 3000 2000
Maximum speed (rpm) 5000 3000
Rated current (A) 7.3 12.05 16.1
Maximum current (A) 21.9 36.15 48.3
2
Rotor moment of inertia (Kg.m ) (without 2.65E-4 4.45E-4 5.50E-3
brake)
Mechanical time constant (ms) (without 1.06
0.74 0.61
brake)
Torque constant-KT (N.m/A) 0.43 0.53 0.89
Voltage constant-KE (mV/rpm) 16.8 19.2 33.8
Armature resistance (Ohm) 0.20 0.13 0.052

Armature inductance (mH) 1.81 1.50 1.38
Electrical time constant (ms) 9.3 11.4 26.39
Class A (UL), Class B (CE)
Insulation class
Insulation resistance >100M, DC 500V

AC 1500V,50Hz,
Insulation strength 1500V AC, 60 seconds
60 sec
Weight (kg) (without brake) 4.3 6.2 18.5
Weight (kg) (with brake) 4.7 7.2 22.5

11
Model: IC800VMMxxMNKSE25 1kW 2kW 3kW

IC800VMMxxMBKSE25 10 20 30
Max. radial shaft load (N) 490 490 1470
Max. thrust shaft load (N) 98 98 490
Rotor moment of inertia (Kg.m2) (with 57.06E-4
3.33E-4 4.953E-4
brake)
Mechanical time constant (ms) (with brake) 0.93 0.66 1.10
Brake holding torque [Nt-m (min)] 12 12

o
Brake power consumption (at 20 C) [W] 19.4 19.4
Brake release time [ms (Max)] 10 10
Brake pull-in time [ms (Max)] 70 70
Vibration grade (um) 15
o o o o
Operating temperature 0 C to 40 C (32 F to 104 F)
o o o o
Storage temperature -10 C to 80 C (14 F to 176 F)
Operating humidity 20% to 90% RH (non-condensing)
Storage humidity 20% to 90% RH (non-condensing)
Vibration capacity 2.5G
Enclosure rating IP65 except shaft opening
IEC60034-1, UL1004
Standards/Requirements

11
11.4 Servo Motor Speed-Torque Curves

Torque(N.m) Torque (N.m)
0.96
(300%) 3.82
(300%)
0.32
(100%) 1.27
(100%)
0.19
(60%) 0.76
(60%)
Speed (rpm)
Speed (rpm)
3,000 5,000 3,000 5,000
IC800VMM01LNKSE25
IC800VMM04LNKSE25
IC800VMM04LBKSE25
Torque (N.m) Torque (N.m)
1.92 7.16
(300%) (300%)
2.39
0.64
(100%)
(100%)
1.43
0.38
(60%)
(60%)
Speed (rpm) Speed (rpm)

3,000 5,000
3,000 5,000
IC800VMM02LNKSE25
IC800VMM02LBKSE25 IC800VMM07LNKSE25
IC800VMM07LBKSE25

11
Torque (N.m) Torque (N.m)
9.54 19.11
(300%) (300% )
3.18 6.37
(100%) (100% )
1.91 3.82
(60%) (60% )
Torque (rpm)
3,000 5,000 3,000 5,000
IC800VMM10LNKSE25 IC 800V MM20LNKSE25

IC800VMM10LBKSE25 IC 800V MM20LBKSE25
IC800VMM20MNKES25
IC800VMM10MNKSE25
IC800VMM20MBES25
IC800VMM10MBKSE25
IC800VMM30MNKSE25
IC800VMM30MBKSE25

11
11.5 Overload Characteristics

Overload Protection Function
Overload protection is a built-in protective function to prevent a motor from overheating.
Occasion of Overload
1. Motor was operated for several seconds under a torque exceeding 100% torque.
2. Motor had driven high inertia machine and had accelerated and decelerated at high frequency.
3. Motor UVW cable or encoder cable was not connected correctly.
4. Servo gain was not set properly and caused motor hunting.
5. Motor holding brake was not released.
Load and Operating Time (100W750W)
4
10
Operating
Load Time
Operating Time (seconds)
3
120% 263.8s
10
140% 35.2s
160% 17.6s
180% 11.2s
2
10
200% 8s
220% 6.1s
240% 4.8s
1
10 260% 3.9s
280% 3.3s
300% 2.8s
10
100 120 140 160 180 200 220 240 260 280 300
Load (% rated torque)
Load and Operating Times (1kW3kW)

11
5
10
Operating
Load
Time
4
10 120% 527.6s
Operating Time (seconds)
140% 70.4s
3
160% 35.2s
10
180% 22.4s
200% 16s
2
10 220% 12.2s
240% 9.6s
260% 7.8s
1
10
280% 6.6s
300% 5.6s
0
10
100 120 140 160 180 200 220 240 260 280 300
Load (% rated torque)

11
11.6 Dimensions of Servo Drives

11.6.1 100W400W Drives
WEIGHT
3.3 (1.5)
Note: Dimensions are in inches (millimeters). Weights are in pounds (lbs) and (kilograms).

11
11.6.2 750W3000W Drives
WEIGHT
4.4 (2.0)
Note: Dimensions are in inches (millimeters). Weights are in pounds (lbs) and (kilograms)

11
11.7 Dimensions of Servo Motors

11.7.1 100W750W Motors
Models
Dimension IC800VMM01LNKSE25 IC800VMM02LNKSE25 IC800VMM04LNKSE25 IC800VMM07LNKSE25
IC800VMM01LBKSE25 IC800VMM02LBKSE25 IC800VMM04LBKSE25 IC800VMM07LBKSE25
A 40 60 60 80
B 4.5 5.5 5.5 6.6
C 46 70 70 90
D 8h6 +0.0 -0.009 14h6 +0.0 -0.011 14h6 +0.0 -0.011 19h6 +0.0 -0.013
E 30h7 +0.0 -0.021 50h7 +0.0 -0.025 50h7 +0.0 -0.025 70h7 +0.0 -0.030
F (without 100.1 102.4 124.4 135
brake)
F (with 135.7 137 159 171.6
brake)
G 25 30 30 35
H 5 6 6 8
I 2.5 3 3 3
J 16 20 20 25
K 9.2 +0.0 -0.2 16 +0.0 -0.2 16 +0.0 -0.2 21.5 +0.0 -0.2
L 3h9 -0.006 -0.031 5h9 -0.012 -0.042 5h9 -0.012 -0.042 6h9 -0.012 -0.042
M 3 +0.0 -0.025 5 +0.0 -0.030 5 +0.0 -0.030 6 +0.0 -0.030
N 3 +0.0 -0.025 5 +0.0 -0.030 5 +0.0 -0.030 6 +0.0 -0.030
P 16 +0.0 -0.18 20 +0.0 -0.21 20 +0.0 -0.21 25 +0.0 -0.21
Weight 1.1 (0.5) 1.98 (0.9) 2.87 (1.3) 5.5 (2.5)
(w/o brake)
Weight (w/ 1.54 (0.7) 3.09 (1.4) 3.97 (1.8) 7.5 (3.4)
brake)
Note: Dimensions are in millimeters. Weights are in pounds and (kilograms)

11
11.7.2 1KW to 3KW Motors
Model IC800VMM10LxKSE25 IC800VMM20LxKSE25 IC800VMM30LxKSE25

A 100 100 130
B 9 9 9
C 115 +0.2 -0.2 115 +0.2 -0.2 145 +0.2 -0.2
D 22h6 +0.0 -0.013 22h6 +0.0 -0.013 24h6 +0.0 -0.013
E 95h7 +0.0 -0.035 95h7 +0.0 -0.035 110h7 +0.0 -0.035
F (without brake) 158 194 173
F (with brake) 190 226 211
G 45 55 55
H 17 17 15
I 7 7 4
J 34 44 44
K 25 +0.0 -0.2 25 +0.0 -0.2 27 +0.0 -0.2
L 8h9 +0.0 -0.036 8h9 +0.0 -0.036 8h9 -0.0 -0.036
M 8 8 8
N 7 7 7
P 30 40 40
Weight (without brake) 10.36 (4.7) 12.57 (6.7) 17.64 (8.0)
Weight (with brake) 13.89 (6.3) 16.09 (8.3) 23.59 (10.7)
Note: Dimensions are in millimeters. Weights are in pounds (lbs) and (kilograms (kg))

11
11.8 EMI Filters Selection

Power Servo Drive Model EMI Filter Model*
100W IC800VMA012 16DRT1W3S (1-phase)
10TDT1W4C (3-phase)
10TDT1W4C (3-phase)
10TDT1W4C (3-phase)
10TDT1W4C (3-phase)
10TDT1W4C (3-phase)
10TDT1W4C (3-phase)
2000W IC800VMA202 26TDT1W4C (3-phase)
3000W IC800VMA302 26TDT1W4C (3-phase)
*Available from Delta Electronics, Inc.

Chapter Application Examples
12
This chapter provides summaries of the following sample applications:
Page
12.1 Position Control with Homing Function 12-2
12.2 Roller Feeding 12-4
12.3 Connecting to a Series 90-30 PLC 12-6
12.4 Connecting to an Operator Interface 12-11
12.5 Position Control Mode (Pr Mode) 12-12
12.6 Feed Step Control 12-15
12.7 Internal Auto Running Mode 12-26
12.8 Homing Function 12-30
GFK-2480A 12-1
12
12.1 Position Control with Homing Function

Suppose that the machine will move to limit switch (CCWL), L.S.1 when motor is in forward
rotation (from motor shaft view) and the machine will move to limit switch (CWL), L.S.2 when
motor is in reverse rotation, if limit switch is set, L.S.1 as Home, the machine will be
positioned between P1 and P2 according to working procedure.
12.1.1 Parameter Settings

P1-01=1 (Position control (Pr) mode setting)
P1-47=100 (Activate forward homing)
P2-15=022 (Reverse inhibit limit (CWL). Then, connect contact b of L.S.1 to DI6)
P2-16=023 (Forward inhibit limit (CCWL). Then, connect contact "b of L.S.2 to DI7)
P2-10=101 (Servo On (SON), default: DI1)
P2-11=108 (Command triggered (CTRG), default: DI2)
P2-12=111 (Position command selection (POS0), default: DI3)
P1-33=0 (Absolute position command)
Set P1-15, P1-16 as position P1 (Internal position command 1)
Set P1-17, P1-18 as position P2 (Internal position command 2)
P2-18=101 (Servo ready (SRDY), default: DO1)
P2-21=105 (Positioning completed (TPOS), default: DO4)
P2-20=109 (Home completed (HOME), default: DO3)
P1-50=0, P1-51=0 (Homing offset rotation / pulse number)

Other relevant parameters: P1-34, P1-35, P1-36 (Acceleration/Deceleration time setting); P1-48,
P1-49 (Speed setting of high/low speed Homing)
12
12.1.2 Operation
Re-start the power to be ON again.
After Servo ready is completed, activate the drive to be Servo ON. Then, the system will
automatically complete home operation.
When home operation is completed (Home ready), then can perform the position control function.
DO1 SR DY
DO4 H OME
DO 2
SON
DI1 C TRG (r i sing edg e)
D I2
D I3 PO S=1 P OS=0
P1 P2
GFK-2480A Chapter 12 Application Examples 12-3

12
12.2 Roller Feeding

Suppose that the motor rotates 1/4 revolution while it is triggered every time
(10000/4=2500Pulse).

P1-15=0 (Position rotation number is 0(zero))
P1-16=2500 (Position rotation pulse number)
P1-33=1 (Incremental position command)
P2-18=101 (Servo ready (SRDY), default: DO1)
P2-21=105 (Positioning completed (TPOS), default: DO4)
Other relevant parameters: P1-34, P1-35, P1-36 (Acceleration/Deceleration time setting)
12
12.2.2 Operation
After Servo ready is completed, press the Servo ON key and activate the drive to be Servo ON.
After DI2 is triggered, the motor will rotate 1/4rev automatically.
DO1 SR DY
DO 3
SON
DI1
C TRG
D I2
1/4 rev 2/4r ev

12
12.3 Connecting to a PLC

VersaMotion servo drives can be connected to a VersaMax PLC. The servo drives provide
functions including: home, jog operation, acceleration/deceleration setting, relative position
control, absolute position control and pulse numbers monitor.
PLC

P1-00=2 (Input type setting of external pulse, 2: pulse input + direction)
P1-01=0 (Position control (Pt) mode setting)
P2-11=104 (Pulse count clear function, contact: DI2)
P2-15=102(Fault reset, contact: DI5)
Other relevant parameters: P1-34, P1-35, P1-36 (Acceleration/Deceleration time setting)
12
12.3.2 Operation
After Servo ready is completed, activate the drive to be Servo ON.
Connect contact X1 of PLC (drive X1 to be ON) to perform home operation. When
contact X10 is ON, home operation is completed.
PLC X2 : JOG forward operation ; PLC X3 : JOG reverse operation.
After home operation is completed, connect contact X5 of PLC (drive X5 to be ON)
and the absolute coordinate position will be 10000. Then, connect contact X4 of PLC
(drive X4 to be ON) and the absolute coordinate position will be 0.
Repeat this position control operation.

12
Sample Logic for Connecting to a PLC

X1 M5
R ST M10
R ST M12
R ST M13
S ET S0
ZE RO
X0
( M1334 )
STOP Stop ch0
pulse output
M 1000
( M1346 )
N ormally on contact (a contact) ZRN CL EAR
output signal
enable
S0 S10 S11 S12 S13 M1334
( M5 )
Z ERO J OG+ JOG- F WD P OS REV POS St op cho
pulse output
M 1002
DMO V K 10000 D13 41
O n only for M aximum output frequency
1 sc an
a fter RUN
DMO V K 10000 D13 41
Accel eration/decelerat ion on tim e
X4 M5 M10
R ST M12
FW D POS
R ST M13
S ET S12
FWD POS
12
S1 0 X2 M51
S D DRVI K9 99999 K3 0000 Y0 Y1
JOG+ JOG-
M1 336 M51
RST S 10
Ch 0 pulse s end fla g J OG+
M1000
( M 51 )
N ormally on contact (a contac t)
M1 029
RST M1029
P LSY Y0 in structio n exec ution comple ted flag PLS Y Y0 inst ruction ex ecution
com pleted flag
S11 X3 M52
S D DRVI K-9 99999 K3 0000 Y0 Y1
JOG- JOG-
M1 336 M52
RST S 11
Ch 0 pulse s end fla g J OG-
M1000
( M 52 )
N ormally on contact (a contac t)
M1 029
RST M1029
P LSY Y0 in structio n exec ution comple ted flag PLSY Y0 ins truction e xecution
com pleted fl ag
S1 2 M53
S D DRVA K0 K 200000 Y0 Y1
FW D POS
M1029
SET M 12
P LSY Y0 in structio n exec ution comple ted flag
M1 336 M100
RST S 12
Ch 0 pulse s end fla g FWD P OS
M53
( M100 )
M1 000
( M 53 )
Normally on cont act (a contact)

12
S1 3 M54
S D DRVA K1000 00 K1 0000 Y0 Y1
RE V POS
M1029
SET M 13
P LSY Y0 in structio n exec ution comple ted flag
M1 336 M101
RST S 13
Ch 0 pulse s end fla g REV POS
M54
( M101 )
M1 000
( M 54 )
Normally on cont act (a contact)
RET
M 1001
DMOV D1336 D200
Normally on contact (a contact) Presen t value Watch dog timer
of ch0 pulse (lo w (WDT) value
END
12
12.4 Connecting to an Operator Interface

VersaMotion servo drives can be connected to an operator interface panel. The drives provide
functions including: home, jog operation, position learning function, relative position control,
absolute position control, monitor and parameter settings.
QuickPanel Control
RS-485

P1-47=202 (SHOM drive ORGP to perform forward homing)
P2-15=124 (Home detection position, contact: DI6)
P2-16=127 (Activate signal of home, contact: DI7)
P3-02=1 (Communication protocol 7,E,1)
P3-05=2 (RS-485 serial communication)
12.4.2 Operation
Cycle the power to the servo drive.
After Servo ready is completed, press the SVON key to activate the drive.

12
12.5 Position Control Mode (Pr Mode)

12.5.1 Relevant Parameters Description
Communication
Parameter Parameter Description
Address
P1-01 0101H Control Mode and Output Direction
001: Forward torque in Pr mode
101: Reverse torque in Pr mode
P1-33 0121H Position Control Mode (Pr)
0: Absolute position command
1: Incremental position command
P1-34 0122H Acceleration Time
1st to 3rd step Acceleration time (When parameter P1-36 is set to
0, accel / decel function is disabled, i.e. P1-34, P1-35 is disabled)
P1-35 0123H Deceleration Time
1st to 3rd step Deceleration time (When parameter P1-36 is set to
P1-36 0124H Accel /Decel S-curve
When parameter P1-36 is set to 0, accel / decel function is
disabled, i.e. P1-34, P1-35 is disabled.
P1-44 012CH Electronic Gear Ratio (1st Numerator) (N1)
If the electronic gear deceleration ratio is 1/75, set numerator to 75
P1-45 012DH Electronic Gear Ratio (Denominator)
P1-47 012FH Homing Mode
202: When (MD1, MD0)=(OFF, ON), Forward Homing
203: When (MD1, MD0)=(OFF, ON), Reverse Homing
P1-50 0132H Homing Offset Rotation Number
P1-51 0133H Homing Offset Pulse Number
Total homing offset pulse number =P1-50 x 10000 + P1-51
The following table indicates the position command registers and the corresponding moving
speed registers.
Positioning Point Position Command Register Moving Speed Register
P1 ( P1-15, P1-16 ) P2-36 (V1)
P2 ( P1-17, P1-18 ) P2-37 (V2)
P3 ( P1-19, P1-20 ) P2-38 (V3)
P4 ( P1-21, P1-22 ) P2-39 (V4)
P5 ( P1-23, P1-24 ) P2-40 (V5)
P6 ( P1-25, P1-26 ) P2-41 (V6)
P7 ( P1-27, P1-28 ) P2-42 (V7)
P8 ( P1-29, P1-30 ) P2-43 (V8)
12
12.5.2 Trigger Timing Charts
Timing Chart of Internal Position Register Selection

P8
P3
Inter nal pos i tion P2
c omman d
P1 1ms
POS0 OFF ON OFF ON
PO S1 O FF ON
Ex ter nal I/O signal PO S2 OFF ON
CTRG
SO N ON
>2ms, can be set by P2-0 9
HOLD Timing Chart:

If HOLD signal is ON when position moving, the motor will decelerate and stop according to
the deceleration time which is set by parameters P1-34 P1-36. When TRIG signal is ON
again, the motor will continue to move across the remaining pulses. Then, reach the target
position that is set last time.
Remain ing Move across

pulses r emaining
pulses
Spee d
Position
DI=T RIG
DI=H OLD Time

12
Command Abort Timing Chart:

To use command abort function, set parameter P2-50 to 2. At this time, if CCLR signal is ON
when position moving, the motor will decelerate and stop according to the deceleration time
which is set by parameter P1-34 P1-36 and the remaining pulses will be aborted. When
TRIG signal is ON again, the motor will continue to move forward and reach the target
position that is set currently.
Cle ar
Next movin g
r emai ning co mmand
puls es
Speed
P2
P1
Posi tion
DI=T RI G
DI=CCLR Time
12
12.6 Feed Step Control

Communication
Address
P1-12 010CH Torque Limit Setting
Torque decrease value is represented by a percentage of rated torque.
2: Forward operation search feed step
3: Reverse operation search feed step
4: Short-pass search feed step
1st to 3rd step Acceleration time (When parameter P1-36 is set to 0,
accel / decel function is disabled, i.e. P1-34, P1-35 is disabled)
1st to 3rd step Deceleration time (When parameter P1-36 is set to 0,
accel / decel function is disabled, i.e. P1-34, P1-35 is disabled)
When parameter P1-36 is set to 0, accel / decel function is disabled, i.e.
P1-34, P1-35 is disabled.

12
Communication
Address
P1-55 0137H Maximum Speed Limit
P2-36 0224H Moving Speed Setting of 1st Position
Maximum feed step speed
(When speed is above 3000rpm, please set P1-55 to a proper value)
P2-44 022CH Digital Output Mode Setting
0: General output mode
P2-45 022DH Combination Output Signal Delay Time [UNIT: 4msec]
Output signal will hold delay time when position command is completed.
P2-46 022EH Feed Step Number
Range: 232
P2-47 022FH Position Deviation Clear Delay Time [UNIT: 20msec]
This function is disabled when its setting value is set to 0.
P2-51 0233H Internal Servo ON setting
12.6.2 Digital I/O Signal Settings

DI Signal Parameter Setting Explanation
DI1 (INDEX0) P2-10 = 128 Feed step selection input 0
DI5 (ORGP) P2-14 = 124 Reference Home sensor
Servo ON (when the setting value is 137, it is
DI6 (SON) P2-15 = 101
manual operation function.)
(MDP0) P2-15 = 35 (contact b) Manually continuous operation
(MDP1) P2-15 = 36 (contact b) Manually single step operation
DI7 (MD0) P2-16 = 33 (contact b) Feed step mode input 0
DI8 (MD1) P2-17 = 34 (contact b) Feed step mode input 1
DO Signal Parameter Setting Explanation
12
DO1 P2-18 = 101

DO2 P2-19 = 103
DO3 P2-20 = 109 Refer to Definition of DO Signals on page 12-18.
DO4 P2-21 = 105
DO5 P2-22 = 107
Note: Set parameter P2-08 to 12 before changing the setting value of DI and DO signals.
12.6.3 Mode Functions

MDP0, MDP1 Status MD1 MD0 Explanation
1 OFF OFF Torque decrease
2 OFF ON Feed step position mode
OFF
3 ON OFF Homing mode
4 ON ON Emergency stop
- - - Dont care
- OFF ON CW manual operation
ON
- ON OFF CCW manual operation
- - - Dont care
Notes:
1) The emergency stop warning message will appear if MD0 and MD1 are ON after
power suppliers to AC servo drive. If turn MD0 and MD1 to be OFF, the emergency
stop warning message will disappear automatically.
2) When the status is switched from 2 (MD1=OFF, MD0=ON) to 3 (MD1=ON,
MD0=OFF), the emergency stop warning message will appear. On the other hand, the
emergency stop warning message will also appear when the status is switched from 3
to 2. Therefore, no matter what status you want to switch to, it is needed to switch to
status 1 first to perform torque decrease (for example, switch from 2 1 3 or 3
1 2).
3) Ensure that MD0 and MD1 are set to ON state to enforce an emergency stop.
Definitions of INDEX0INDEX4 (ON=1, OFF=0)

Item INDEX4 INDEX3 INDEX2 INDEX1 INDEX0 INDEX NUMBER
1 0 0 0 0 0 INDEX 1
2 0 0 0 0 1 INDEX 2
3 0 0 0 1 0 INDEX 3
4 0 0 0 1 1 INDEX 4
5 0 0 1 0 0 INDEX 5
6 0 0 1 0 1 INDEX 6
7 0 0 1 1 0 INDEX 7
8 0 0 1 1 1 INDEX 8
9 0 1 0 0 0 INDEX 9
10 0 1 0 0 1 INDEX 10

12
Item INDEX4 INDEX3 INDEX2 INDEX1 INDEX0 INDEX NUMBER

11 0 1 0 1 0 INDEX 11
12 0 1 0 1 1 INDEX 12
13 0 1 1 0 0 INDEX 13
14 0 1 1 0 1 INDEX 14
15 0 1 1 1 0 INDEX 15
16 0 1 1 1 1 INDEX 16
17 1 0 0 0 0 INDEX 17
18 1 0 0 0 1 INDEX 18
19 1 0 0 1 0 INDEX 19
20 1 0 0 1 1 INDEX 20
21 1 0 1 0 0 INDEX 21
22 1 0 1 0 1 INDEX 22
23 1 0 1 1 0 INDEX 23
24 1 0 1 1 1 INDEX 24
25 1 1 0 0 0 INDEX 25
26 1 1 0 0 1 INDEX 26
27 1 1 0 1 0 INDEX 27
Definitions of DO Signals (ON=1, OFF=0)

Nr. DO5 DO4 DO3 DO2 D01 Description
1 0 0 0 0 0 ALRAM
2 0 0 0 0 1 SERVO READY
3 0 0 0 1 0 HOMING (under operation)
4 0 0 0 1 1 HOME Completed
5 0 0 1 0 0 CHANGE INDEX
(under operation)
6 0 0 1 0 1 INDEX 1 (In position)
12
Nr. DO5 DO4 DO3 DO2 D01 Description

Notes:
1) When alarm occurs, DO=0 (all OFF).
2) When the servo drive is ready, DO=1
3) When return back to Home (Homing), DO=2
4) When returning back to Home is completed, DO=3
5) When feed step function is undergoing, DO=4
6) When feed step function is completed (In position), the corresponding INDEX
NUMBER will display, and DO=nn
7) Feed step output position = DO value - 4 (Example: if DO=7, the feed step output
position =7 - 4 = 3)
8) When returning to HOME, if DO=1 (SERVO READY) after any abnormal conditions
are removed, it is needed to return to HOME again to ensure that the Home is
correct.

12
12.6.4 Timing charts of DI/DO Signals Operation
Homing Mode
Power ON
Supply OFF
DO VALUE SERVO READY (01) HOME (02) INDEX1 (5)
Motor ON
Speed OFF
ORGP
Z PULSE
Output Signal
Servo ON
Torque ON
Limit OFF P1-12 setting P1-12 setting
MD1 ON
OFF
MD0 ON
OFF
12
Feed Step Control Mode

Power ON
Supply OFF
DO VALUE CI INDEX 2 (06) CI INDEX 6 (0A) CI
P2-45
Motor Speed
Servo ON
Torque ON
Limit OFF
IDX Value 10 Step No. 2 Step No. 6 Step No.
P2-47
ON
CCLR OFF
MD1 ON
OFF
MD0 ON
OFF
Notes:
1) The maximum value of P2-45 = 125 x T min.
2) T min. is the minimum time from A to B, i.e. the time between when start running at A
and when start running at B (please refer to the figure below). Time unit is 1 second.
A B
T min.

12
Manually Single Step Control Mode 1

Power ON
Supply OFF
DO VALUE CI INDEX 2 CI INDEX 3 CI

INDEX4
P2-45
Motor Speed
Servo ON
Torque ON
Limit OFF
IDX Value INDEX 2
manually feed manually feed

forward forward
STEPU
auto
running
MD1 ON
OFF
MD0 ON
OFF
Notes:
1) When manually feed forward operation occurs, please set MD1 to be ON first (The
feed step selection input should be kept unchanged to avoid returning to INDEX1
when manually feed forward operation occurs).
2) For manually single step operation speed, please refer to parameter P2-36.
12
Manually Single Step Control Mode 2

Power ON
Supply OFF
DO VALUE CI INDEX 2 CI INDEX 3 CI INDEX 4 CI INDEX 3

INDEX4
Motor Speed
Servo ON
Torque ON
Limit OFF
IDX Value INDEX 2
manually feed
forward
MDP0 ON
OFF
auto
running
MD1 ON
OFF
MD0 ON
OFF
Notes:
1) After manually feed forward operation is completed, please set MD1 and MD0 to be
OFF and then turn MDP1 from ON to OFF (ready to enter torque decrease status) to
avoid any abnormal condition.
2) In manually feed forward mode (MDP1 is ON), if the rising-edge of MD0 is ON, then
the servo motor will single step feed forward and if the rising-edge of MD1 is ON, then
the servo motor will single step feed reverse.

12
Manually Continuous Step Control Mode

Power ON
Supply OFF
DO VALUE CI INDEX 2 CI INDEX 3 CI INDEX 4 CI INDEX 5

INDEX4
Motor Speed
Servo ON
Torque ON
Limit OFF
IDX Value INDEX 2
manually feed
forward
MDP1 ON
OFF
auto
running
MD1 ON
OFF
MD0 ON
OFF
Note:
1) After manually feed forward operation is completed, please set MD1 and MD0 to be
OFF and then turn MDP0 from ON to OFF (ready to enter torque decrease status) to
avoid any abnormal condition.
2) In manually feed forward mode (MDP0 is ON), if MD0 is ON, then the servo motor will
continuous step feed forward and if MD1 is ON, then the servo motor will continuous
step feed reverse.
12
12.6.5 Communication Control Example Explanation

Communication Address Communication Content Explanation
H306 H0FF Set to software control
H407 H020 SERVO ON
H407 H060 HOMING
H407 H070 HOME SENSOR ON
H407 H060 HOME SENSOR OFF
H407 H020 Torque decrease
H407 H0A3 Index 3
H407 H023 (H020) Torque decrease
H407 H0A5 Index 5
H407 H025 (H020) Torque decrease
H407 H0An Index n
H407 H02n (H020) Torque decrease

12
12.7 Internal Auto Running Mode

Communication
Address
5: Continuous auto-running position command (Absolute)
6: Continuous auto position command (Incremental)
1st to 3rd step Acceleration time (When parameter P1-36 is set to
1st to 3rd step Deceleration time (When parameter P1-36 is set to
When parameter P1-36 is set to 0, accel / decel function is
disabled, i.e. P1-34, P1-35 is disabled.
P2-44 022CH Digital Output Mode Setting
0: General output mode
P2-45 022DH Combination Output Signal Delay Time [UNIT: 4msec]
Output signal will hold delay time when position command is
completed.
P2-51 0233H Internal Servo ON setting
12
When the setting value of the time listed below is set to 0, the relative position will be ignored.
Positioning Point Position Command Register Moving Speed Register Dwell Time Register
INDEX1 ( P1-15, P1-16 ) P2-36 (V1) P2-52 (T1)
INDEX2 ( P1-17, P1-18 ) P2-37 (V2) P2-53 (T2)
INDEX3 ( P1-19, P1-20 ) P2-38 (V3) P2-54 (T3)
INDEX4 ( P1-21, P1-22 ) P2-39 (V4) P2-55 (T4)
INDEX5 ( P1-23, P1-24 ) P2-40 (V5) P2-56 (T5)
INDEX6 ( P1-25, P1-26 ) P2-41 (V6) P2-57 (T6)
INDEX7 ( P1-27, P1-28 ) P2-42 (V7) P2-58 (T7)
INDEX8 ( P1-29, P1-30 ) P2-43 (V8) P2-59 (T8)
Digital I/O Signal Setting

DI Signal Parameter Setting Explanation
DI1 (SON) P2-10 = 101 Servo ON
DI2 (AUTOR) P2-11 = 142 Auto run input
DI3 (STEPD) P2-12 = 140 Step down input
(STEPU) P2-12 = 139 Step up input
(STEPB) P2-12 = 141 Step back input.

DI4 (SHOM) P2-13 = 127 Move to Home
DI5 (ORGP) P2-14 = 124 Reference Home sensor
DI6 (CWL) P2-15 = 22 (contact b) Reverse Inhibit limit
DI7 (CCWL) P2-16 = 23 (contact b) Forward Inhibit limit
DI8 (EMGS) P2-17 = 21 (contact b) Emergency stop
DO Signal Parameter Setting Explanation

DO1 P2-18 = 101
DO2 P2-19 = 103
Please refer to Definitions of DO Signals in the
DO3 P2-20 = 109
following section.
DO4 P2-21 = 105
DO5 P2-22 = 107
Definitions of DO Signals (ON:1, OFF:0)

Nr. DO5 DO4 DO3 DO2 DO1 Function
1 0 0 0 0 0 ALARM
2 0 0 0 0 1 SERVO READY
3 0 0 0 1 0 HOMEING (under operation)
4 0 0 0 1 1 HOME Completed
CHANGE INDEX (under operation)
5 0 0 1 0 0
(CHANGE INDEX hereinafter called CI)

12
12.7.2 Timing charts of DI/DO Signals Operation
Homing Mode
Power ON
Supply OFF
DO VALUE SERVO READY (01) HOMING (02) HOME (3)
Motor Speed
ON
ORGP OFF
Z PULSE
Output Signal
Servo ON
Auto Running Mode

Power ON
Supply OFF
IDX1 IDX2 IDX8

DO VALUE HOME (3) CI T1 CI T2 CI T8 CI T1
INDEX4
V1 V2
Motor Speed
Servo ON
AUTOR OFF
12
Manual Control Mode 1

Power ON
Supply OFF
DO VALUE HOME (3) CI IDX1 CI IDX2 CI IDX3 CI IDX2

INDEX4
V1 V2
Motor Speed
Servo ON
ON
STEPU OFF
ON
STEPD OFF
Manual Control Mode 2

Power ON
Supply OFF
DO VALUE CI IDX1 CI IDX2 CI IDX1

INDEX4
V1 V2
Motor Speed
Servo ON
ON
AUTOR OFF
ON
STEPB OFF

12
12.8 Homing Function

Communication
Address
A: Home Sensor Type and Homing Direction
B: Homing Moving Method
C: Homing Enable Setting
D: Homing Stop Setting
No use
P1-48 0130H 1st Speed Setting of High Speed Homing
P1-49 0131H 2nd Speed Setting of Low Speed Homing
12.8.2 Explanation of Homing Mode
A: Home Sensor Type and Homing Direction

Left or right limit switch can be used as a reference Home for homing function. It also can
use extra sensor, such as proximity switch or photo switch as reference Home. When the
servo motor runs within one revolution only, users also can set Z-phase pulse as a reference
Home.
A=0: Forward homing and CCWL limit input point is regarded as a rough reference Home.
When home is in position, CCWL will turn into limit input function. If trigger CCWL afterward,
the limit alarm will occur. When use limit input point as a rough reference Home, we
recommend users to set B=0, i.e. return to find Z-phase pulse during homing and regard Z-
phase pulse as a precise mechanical Home.
12
A=1: Reverse homing and CWL limit input point is regarded as a rough reference Home.
When home is in position, CWL will turn into limit input function. If trigger CWL afterward, the
limit alarm will occur. When use limit input point as a rough reference Home, we recommend
users to set B=0, i.e. return to find Z-phase pulse during homing and regard Z-phase pulse as
a precise mechanical Home.
A=2: Forward homing and ORGP (Reference Home sensor) is regarded as a reference
Home. At this time, users can set B=0, i.e. return to find Z-phase pulse during homing and
regard Z-phase pulse as a precise mechanical Home or set B=1, i.e. do not return and go
forward to find Z-phase pulse and regard Z-phase pulse as a precise mechanical Home. If
users do not use Z-phase pulse as mechanical Home, users can set the rising-edge of
ORGP as the mechanical Home (B=2).
A=3: Reverse homing and ORGP (Reference Home sensor) is regarded as a reference
Home. At this time, users can set B=0, i.e. return to find Z-phase pulse during homing and
regard Z-phase pulse as a precise mechanical Home or set B=1, i.e. do not return and go
forward to find Z-phase pulse and regard Z-phase pulse as a precise mechanical Home. If
users do not use Z-phase pulse as mechanical Home, users can set the rising-edge of
ORGP as the mechanical Home (B=2).
A=4: Forward-finding Z-phase pulse Home. This function is usually used when the servo
motor runs within one revolution. The servo motor can not be connected to any external
sensor switch at this time.
A=5: Reverse-finding Z-phase pulse Home. This function is usually used when the servo
motor runs within one revolution. The servo motor can not be connected to any external
sensor switch at this time.
B: Homing Moving Method

B=0: After find reference Home (after homing completed), the servo motor returns in 2nd
step speed to find the nearest Z-phase pulse as the mechanical Home.
B=1: After find reference Home (after homing completed), the servo motor does not return
and continue to go forward in 2nd step speed to find the nearest Z-phase pulse as the
mechanical Home.
B=2: When A=2 and A=3, find the rising-edge of sensor ORGP as the mechanical Home
and stop according to deceleration time. When A=4 and A=5, stop according to deceleration
time after find Z-phase pulse.

12
C: Homing Enable Setting

There are two settings for enabling homing function. One is automatically enable homing
function and the other is to enable homing function by input contact (SHOM).
C=0: Disable homing function. When C is set to 0, it indicates that homing function is
disabled no matter what other parameter values are.
C=1: Enable homing function automatically after power in connected to the servo drive. This
function is valid only when power on and servo on. It is used on condition that it doesnt need
to repeat the execution of homing function when the servo drive is operating. Use this function
can save an input contact which is used for executing homing function.
C=2: Enable homing function by SHOM input contact. To use this function, set any one
register of parameter P2-10 P2-17 (Digital Input Terminal 1 8) to SHOM. The setting
value of parameter P2-10 P2-17 should be 127(contact a) or 27(contact b). Then, user
can enable the homing function by triggering SHOM input contact at any time when the servo
drive is operating.
D: Homing Stop Setting

D=0: After detecting Home, the motor will decelerate and return to Home. After get the
home sensor signal in 2nd step speed operation, the motor will decelerate and stop. After the
servo motor stops, the then move to the position of mechanical Home.
D=1: After detecting Home, the motor will decelerate and stop in the forward direction.
After get the home sensor signal in 2nd step speed operation, the motor will decelerate and
stop. After the servo motor stops, the over distance will not be corrected. The position of
mechanical Home will not change by the difference of the over distance.
Recommended Homing Modes

According to various use requirements and corresponds to difference setting values of C and
D, the recommended setting values of A and B are shown as below:
B/A 0 1 2 3 4 5
0 Y Y Y Y N N
1 N N Y Y N N
2 N N Y Y Y Y
(Y=Yes, N=No)
12
12.8.3 Homing Timing Charts
Timing Charts of Enable Homing Mode

1. Automatically enable homing function when power on (C=1)
After homing is completed, if any one of output function definition (DO) of parameter P2-18 P2-
22 is HOME (setting value is 09 or 109), the corresponding output terminal will generate output
signal immediately (Active). If servo on input signal is canceled or any alarm occurs in the process
of homing, the homing function will terminate and do not output homing completed signal.
POWER
ON
SERVO
READY
SERVO
ON
refer to homing timing chart

HOMING
HOMING
COMPLETED
time
2. Enable homing function by input contact (SHOM) (C=2)
POWER
ON
SERVO
READY
SERVO
ON
HOME
TRIGGER
refer to homing timing chart

HOMING
HOMING
COMPLETED time

12
Homing Timing Charts

1. B/A = 0/0 or B/A = 0/2
SPEED
Position
Z pulse
CCWL / ORGP
2. B/A = 0/1 or B/A = 0/3
SPEED
Position
Z pulse
CWL / ORGP
12
3. B/A = 1/2
SPEED
Position
Z pulse
ORGP
4. B/A = 1/3
SPEED
Position
Z pulse
ORGP

12
5. B/A = 2/2
SPEED
Position
ORGP
6. B/A = 2/3
SPEED
Position
ORGP
12
7. B/A = 2/4
SPEED
Position
Z pulse
8. B/A = 2/5

Appendix DSM314 Connections
A
Equipment Needed for One-Axis Connection to DSM314

IC693ACC336 Auxiliary Terminal Board
IC800VMCI010 Cable, (1 meter) CN1Flying Leads
(Choose 1-meter, 3-meter or connector kit)
IC800VMCI030 Cable, (3 meter) CN1Flying Leads
IC800VMACONCN1 CN1 connector kit
IC693CBL324 Cable, (1 meter) DSM to terminal board
Choose 1-meter or 3-meter)
IC693CBL325 Cable, (3 meter) DSM to terminal board
Avoiding Electrical Noise in the Installation

Ensure that the amplifier chassis ground, motor frame ground and the PLC chassis ground
meet the requirements for Class 3 Grounding (must be less than 100 ohms between any two
points).
Separate amplifier AC power wiring, motor power cable and the optional motor mounted brake
power cable (Group A) from signal cables such as motor feedback cable or CN1 I/O cable
(Group B) by at least 10cm or provide a grounded steel plate to separate them.
Do not tie Group A cables to Group B cables with cable ties or route them in parallel without
separation.
User constructed Group B cables should observe and use twisted pair wires inside a shielded
sheathe. Ground the shield at only one point.
User constructed Group A cables should NOT be shielded with the shield tied to the same
ground as the Group B cables. Use separate grounds with isolation or avoid shields on this
group of cables.
Route Group B cables away from high noise areas on the machine or in the panel.
GFK-2480A A-1
A
Connection Diagram
A-2 VersaMotionServo Motors and Amplifiers Users Manual October 2012 GFK-2480A
A
VersaMotion Start-up (Do This First)

Set P2-08 = 10 to reset all parameters. Power Cycle the amplifier.
Set P1-01 = 2 to select speed mode. Power Cycle the amplifier.
Set P0-02 = 7 to monitor voltage on analog input.
Set P1-03 = 10 to select proper encoder output polarity.
Set P2-15 = 122 to disable reverse OT on amplifier.
Set P2-16 = 123 to disable forward OT on amplifier.
Run Auto tune with the servo mounted on the load using the VersaMotion Configuration
software.
Go to the DSM314 Startup.
When the DSM314 Start Up is complete change P0-02 = 6 for Speed display (or whatever you
want)
DSM314 Start-Up
Go through the Analog Mode Velocity System Startup Procedure in Appendix D of GFK-1742.
If there is drift (servo axis moves) when you do the Force D/A = 0 (Step 5 of DSM start up)
Use the VersaMotion Configuration Software to read drive parameters.
Adjust VersaMotion parameter P4-22 by small 2-5mv increments to get the best no-
drift condition.
Change the value in P4-22 to a negative number (for example -3mv) to reverse drift.
If you have to adjust P4-22 more than 1V to stop the drift, check system grounds and
the wiring carrying the analog signal for resistance or noise
Check the drift again after you set the DSM Velocity at Max Command value.
Complete the DSM314 Startup Procedure
GFK-2480A Appendix A DSM314 Connections A-3

Appendix Accessories
B
This chapter provides information on the following types of accessories:

Page
B.1 Power Connectors ........................................................................................................... A-2
B.2 Power Cables .................................................................................................................. A-3
B.3 Encoder Connectors ........................................................................................................ A-5
B.4 Encoder Cables ............................................................................................................... A-6
A.5 I/O Signal Connector ....................................................................................................... A-7
B.6 Drive to Computer Communication Cable ....................................................................... A-7
B.7 Terminal Block ................................................................................................................. A-8
GFK-2480A B-1
B
B.1 Power Connectors

Part Number: IC800VMMCONP001 (100W 750W)
ASD-CAPW0000
Part Number: IC800VMMCONP002 (100W 750W with brake)
Part Number: IC800VMMCONP003 (1kW 3kW)
StraightPlugMS3106-20-18S
B-2 VersaMotionServo Motors and Amplifiers Users Manual October 2012 GFK-2480A
B
B.2 Power Cables

Note: xxx = length (L) in 0.1 meter increments.
xxx=030 3 meters
xxx=050 5 meters
xxx=100 10 meters
xxx=200 20 meters
Part Number: IC800VMCPxxx (100W 750W)
50mm
(1.97 inch)
L 80 mm
(3.15 inch)
Part Number: IC800VMCBxxx (200W 750W with brake)
L 50mm (1.97 inch)
80mm (3.15 inch)
Part Number: IC800VMCP1xx (1kW 1.5kW)

50mm (1.97 inch)
L 80 mm (3.15 inch)
GFK-2480A Appendix B Accessories B-3

B
Part Number: IC800VMCB1xx (1kW 1.5kW with brake)
50mm (1.97 inch)
L 80 mm (3.15 inch)
Part Number: IC800VMCB2xxx (2kW and 3kW with brake)
80 mm (3.15 inch)
L
100 mm (3.94 inch)
Part Number: IC800VMCP2xxx (2kW and 3kW)

80mm (3.15 inch)
L 100 mm (3.94 inch)
B
B.3 Encoder Connectors ASD-CAEN0000
Part Number: IC800VMACONCN2 (100W and 750W)
HOUSING: AMP (1-172211-0)
Part Number: IC800VMMCONE001 (100W750W)
Part Number: IC800VNNCONE002 (1000W and larger)

B
B.4 Encoder Cables

Note: xxx = length (L) in 0.1 meter increments.
xxx=030 3 meters
xxx=050 5 meters
xxx=100 10 meters
xxx=200 20 meters
Part Number: IC800VMCExxx (100W750W)
(20 mm)
(32 mm) L
(1.3 inch) (0.787 inch)
Part Number: IC800MVCE1xxx (1kW and above)
B
B.5 I/O Signal Connector

Part Number: IC800VMACONCN1
B.6 Drive- to-Computer Communication Cable

Part Number: IC800VMCS030
3m 0.01 (118 0.4 in.)

B
B.7 Terminal Block

Includes 0.5m cable.
Part Number: IC800VMTBC005
Index
Control modes, 1-12

A Corrective actions, 10-4
Accessories
communication cable, B-7
D
encoder connectors, B-5 Diagnostics, 10-1
I/O signal connector, B-7 force DI inputs, 4-13
power connectors, B-2 force DO outputs, 4-12, 4-14
terminal block, B-8 Digital keypad, 4-2
Application examples Dimensions
feed step control, 12-15 servo motors
homing function, 12-30 low inertia, 11-14
internal auto running mode, 12-26 Display operation, 4-3
position control mode, 12-12
position control with homing function, 12-2
roller feeding, 12-4 E
C EMI filters selection, 11-16
Enclosure, 2-3
Cable specifications Encoder connectors, B-5
power cable, 3-8
Cables
communication, drive and computer, B-7
F
servo drive Faults
encoder, 3-8 clearing, 10-10
power, 3-8 displaying fault codes, 4-8
Charge LED, 4-2 fault messages, 10-2
Circuit breaker, 2-8 Feed step control, 12-15
Clearances, 2-5 Force DI inputs, 4-13
Configuration software, 1-9 Force DO outputs, 4-12, 4-14
Connection examples fuse, 2-8
Pr mode, 3-37
Pt mode, 3-36
Speed control, 3-38 H
Torque control, 3-39
Homing Function, 12-30
Connections, 3-2
Connectors
CN1, I/O, 3-11 I
signals, 3-13
terminal signals, 3-12 I/O signal connector, B-7
terminals, 3-11 Inspection, 2-2, 9-2
user-defined DI and DO signals, 3-26 Installation, 2-3
wiring diagrams, 3-29 Internal auto running mode, 12-26
CN2, Encode
terminal layout, 3-33
CN2, Encoder, 3-33 J
signals, 3-33
CN3, Serial, 3-34 Jog operation, 4-9
connection to PC, 3-35
signals, 3-34
terminal layout, 3-34 L
specifications LCD, 4-2
encoder, 3-7 Leakage current, 2-8
motor power cable, 3-6
LED, 4-2
Control Mode
changing, 6-3, 6-43
summary, 6-2
GFK-2480A Index-1
Index
M
Maintenance, 9-3
S
Manuals, 1-2 Servo drives
Minimum clearances, 2-5 control modes, 1-12
MODBUS communications features, 1-4
parameters, 8-6 motor combinations, 1-11
protocol, 8-10 Servo motors
read/write parameters, 8-19 drive combinations, 1-11
RS-232, 8-2 Software, configuration, 1-9
RS-485/RS/422, 8-4 Specifications
Motor combinations, 1-11 encoder, 3-7
low inertia servo motors, 11-7
O
motor power cable, 3-6
servo drives, 11-3
servo motors
Operating temperature, 2-4 dimensions, 11-14
Overload characteristics, 11-10 Specifications power cable, 3-8
Overview, 1-3 Status display, 4-4
Storage conditions, 2-2
P System architectures, 1-5
System components, 1-5
Parameters
T
basic, 7-27
communication, 7-80
definitions, 7-2
details, 7-20 Technical Support. See page iii
diagnosis, 7-84 Terminal block, B-8
extension, 7-52 Trial run and tuning
functions, 7-9 inspection, 5-2
groups, 7-3 JOG, 5-8
monitor, 7-20 Position, 5-12
summary, 7-3 powerup, 5-4
Part numbers Speed, 5-10
accessories, 1-7 Tuning modes
amplifier terminal blocks, 1-8 parameters, 5-25
amplifiers, 1-6 Tuning procedure, 5-15
cables, 1-7 automode (PDFF), 5-21
connectors, 1-8 automode (PI), 5-19
motors, 1-6 estimating load inertia, 5-18, 5-24
regeneration resistors, 1-8 flowchart, 5-17
Position control mode gain adjustement, manual mode, 5-26
Pr, 12-12 manual mode, 5-23
Position control with homing function, 12-2 tuning modes and parameters, 5-25
Position learning, 4-10
Power connectors, B-2 U
R Unpacking, 2-2
User-defined DI and DO signals, 3-26
References, 1-2
Replacement components, life, 9-4
Roller feeding, 12-4
W
Wiring
100W 1.0kW models, 3-9
2kW 3kW models, 3-10
basic, 3-9
methods, 3-5
notes, 3-4
Index-2 VersaMotion Servo Motors and Amplifiers Users ManualOctober 2012 GFK-2480A

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iii VersaMotionServo Motors and Amplifiers Users ManualOctober 2012 GFK-2480A

Unpacking and Installation ........................................................................................... 2-1

Equipment Connections and Wiring ............................................................................ 3-1

Display and Operation ..................................................................................................... 4-1

Trial Run and Tuning Procedure .................................................................................. 5-1

Control Modes of Operation ......................................................................................... 6-1

Parameters ...................................................................................................................... 7-1

MODBUS Communications .......................................................................................... 8-1

Maintenance and Inspection ........................................................................................ 9-1

Diagnostics .................................................................................................................... 10-1

Specifications .............................................................................................................. 11-1

Application Examples ................................................................................................. 12-1

DSM314 Connections ................................................................................................... A-1

vi VersaMotion Servo Motors and Amplifiers Users ManualOctober 2012 GFK-2480A

Accessories ..................................................................................................................... B-1

GFK-2480A Contents vii

VersaMotion Servo Drive and Motor

1-2 VersaMotion Users Manual October 2012 GFK-2480A

1.1 Product Overview

GFK-2480A Chapter 1 Introduction 1-3

1.1.1 Servo Drive Features

Servo Motor Output (U, V, W) I/O Interface

1-4 VersaMotion Users Manual October 2012 GFK-2480A

1.1.2 VersaMotion System Architectures

1.1.3 VersaMotion System Components

GFK-2480A Chapter 1 Introduction 1-5

Part Number Power Rating (Watts)

1-6 VersaMotion Users Manual October 2012 GFK-2480A

Motor Power Cables

Motor Power & Brake Cables

GFK-2480A Chapter 1 Introduction 1-7

Amplifier Terminal Blocks

1-8 VersaMotion Users Manual October 2012 GFK-2480A

1.1.4 VersaMotion Configuration Software

GFK-2480A Chapter 1 Introduction 1-9

VersaMotion Software provides the following tools:

Settings Allows you to go online with the VersaMotion drive

Scope Opens the oscilloscope view

Status Monitor Allows you to monitor the servo motor status.

User Manual Online help for the VersaMotion software.

Parameter Manual Provides a summary of servo drive parameters.

VersaMotion Information Provides version information for the VersaMotion software.

1-10 VersaMotion Users Manual October 2012 GFK-2480A

1.2 Servo Drive and Servo Motor Combinations

Power Servo Motors

GFK-2480A Chapter 1 Introduction 1-11

1.3 Servo Drive Control Modes

1-12 VersaMotion Users Manual October 2012 GFK-2480A

Dual Modes Code Description

GFK-2480A Chapter 1 Introduction 1-13

2.1 Unpacking and Inspection