1

Chapter 1 System’s Installation

and Connection

1.1 System’s Installation

1.1.1 System’s Technical Parameter

．Mode of control：position、velocity and JOG control

．Mode of input：pulse signal or analog voltage(0～±10V)
．Frequency of pulse：<500KHz
．Electronic gear：1/30000～30000
．Precision of control：±0.01%

1.1.2 Conditions of System’s Installation

．Input Power：single-phase or three-phase : ～220V (+10%，-15%)，

．frequency :50Hz±1Hz
．Runing Temperature：0～55℃， relative humidity: 40-80%
．Storing or Transporting Temperature：-10～70℃，
relative humidity:<=90%
．Vibration：<0.5G,10～60Hz
．Atmosphere pressure：86-106kpa
．No excessive flour dust、acid、alkali caustic gas and explosive gas，
no strong electromagnetic interference
．Direction of installation：servo drive’s installation direction must be
upright
．The ambient should be well ventilated

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1.1.3 Installation dimension figure
1）DS301：255x105x199

2）DS503：280x143x223

GTAS-3

2）DS503：280x143x223

1.2 System’s Connection

1.2.1 Connection method of Position Control

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1.2.2 Control signal’s attribute

1.2.2.1 Power input interface（8 pin）

Signal
Pin Sign Signal function
name
1 R Single-
2 S phase or
three- Servo power
3 T phase
AC220V
4 PE Earthing Earthing terminal
5 U Servo Connect with
6 V motor’s
motor’s U、V、W
7 W output
Connect with the
8 PE Earthing
shell of motor

1.2.2.2 In/out control signal interface（25pin）

I/O
Pin Sign Signal name Signal Explaination
method
1 OZ Encoder Z- Output Z pulse
Forbid positive
2 CW Input As COM is available
rotation
P20=1 shields this
Forbid minus
14 CCW Input function
rotation
3 OA+ Encoder A+ Output A pulse positive
15 OA- Encoder A- Output A pulse negative
4 OB+ Encoder B+ Output B pulse positive
16 OB- Encoder B- Output B pulse negative
5 OZ+ Encoder Z+ Output Z pulse positive
17 OZ- Encoder Z- Output Z pulse negative
Forbid When valid，Forbid
10 INTH Input
position order position order
Pulse signal External position
6 CP+ positive Input order
terminal pulse+direction
Pulse signal
18 CP- negative Input
terminal

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 Direction
7 DIR+ signal positive Input
terminal
Direction
signal
19 DIR- Input
negative
terminal
Analog
8 Vin Input
voltage External speed Order
Analog 0~±10V
21 Vgnd Input
ground
Power positive
11 COM+ Input +12V~24V
terminal
As COM is available
23 EN Servo enable Input P6=1 shields this
function
As available, select
Order mode speed order,
9 MODE Input
selectin otherwise position
order
Servo alarm When alarm output is
12 ALM positive Output
on，forbid servo
terminal
Servo ready As servo ready is
25 SRDY positive Output
on ，servo is ready
terminal
20 coin Posit finish Output As servo Posit finish
13 Outcom 0v Input 0V

1.2.2.3 Encoder input signal（15pin），encoder output pulse

I/O
Pin Sign Signal name Signal Explain
method
Earthing
1 PE Input System earthing
terminal
6 OZ+ Encoder Z+ Input Z pulse positive pin
9 OZ- Encoder Z- Input Z pulse negative pin
5 OB+ Encoder B+ Input B pulse positive pin
8 OB- Encoder B- Input B pulse negative pin
4 OA+ Encoder A+ Input A pulse positive pin
7 OA- Encoder A- Input A pulse negative pin
10 OU+ Encoder U+ Input U pulse positive pin
13 OU- Encoder U- Input U pulse negative pin
11 OV+ Encoder V+ Input V pulse positive pin
14 OV- Encoder V- Input V pulse negative pin
12 OW+ Encoder W+ Input W pulse positive pin

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 W pulse negative
15 OW- Encoder W- Input
pin
2 VCC Power +5V Output
Signal Encoder power
3 GND Output
ground

1.3 In/out interface principle

1.3.1 Input signal interface（EN、CW、CCW、INTH、MODE are

same）

The range of power input should be +12V~+24V，and current should

be over 200mA。When the switch K is closed，power’s ground will
connect with EN pin，making the chip of light-electron open，then servo
enable EN is available。Parameter can be set “P6=1” to shield this
function，commonly P6 parameter is set equal to 1 when debugging。
When input signal CWSTP or CCWSTP are available， clockwise
and counter clockwise rotation will be forbidden，in another word, When
CWSTP、CCWSTP input are power’s ground， the motor’s clockwise and
counter clockwise rotation will stop。This function is usually used for
limiting position of machine. When this function is available, the parameter
N0.19 is often set more bigger，otherwise servo System will be difficult to
reverse its running direction when it reaches the limitation position。
Parameter P20=1 is used to shield this function。
When the signal of INTH is available，the CP which forbids the
mode of position control is in effect。Parameter P30 is set equal to 1 to
shield this function。This function is used for limit position control。
When servo alarms, INTH is used as alarm clearance signal.
When the signal of CMODE is available，the control mode is speed
control as parameter P7 equals 4 or 8.When P4 equals 4 or 8，servo
System can switch the mode between position control and speed control
online。If used for spindle servo motor control， it can control both
spindle speed and spindle positioning。

1.3.2 Output signal interface of ALM（same as SRDY）

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 When servo System gives an alarm to show an error，besides LED
displays error P，the output of ALM is available。The output is open
collector mode，the maximum output current is 200mA.
SRDY is servo ready signal，as available ，exterior controller inputs
control order to servo System. the maximum output current is 20mA.

1.3.3 Pulse input signal interface

Signal input should adopt difference drive mode。When adopting

single drive mode, power must be 10~15mA/5V，power needs resistance
to limit the current as over 5V。The input signal line should be shielded
twisted-pair in order to reduce interference。

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 Pulse input mode:
CW
Pulse mode P14
CCW
PULS
Pulse+
0
Direction
SIGN
PULS
CCW+CW 1
SIGN
PULS
A+B 90° 2
SIGN

Pulse+ Direction（frequency<500kHz）

CW+CCW（frequency<500kHz）

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 Motor encode signal

Pulse input wave map

1.3.4 Encoder output signal interface

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 Output signal uses difference driver AM26LS31，also named long
line drive output。The output signal line should be shielded twisted-pair in
order to reduce interference。

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 Chapter 2 Servo System’s
parameter function

2.1 Parameter table

Paramter Paranter Factory

P Paranter function
name range value
Servo soft
P0 User cannot change
version
Guard against mistaken or ill-
P1 Password purposed change of parameter 1～9999 1
It is invalidation If it is 9999
0：Posit finish
1：Invalid when pulse input
Coin output 2：Inner pulse finish
P2 0～5 0
mode 3: Power to P50
4：Speed>P53
5：Motor static
0 ： Display motor rotating
speed
（r/min）
1 ： Display motor current
（A）
2 ： Display motor torque
（NM）
3：Display motor position
（0~9999）
4：Display count difference
First display 5：Display low four bits of
P3 0～12 0
status pluse count (pulse)
6：Display high four bits of
pluse count(x1000pulse)
7：Display straight line
speed(m/min)
8 ： Display input
frequency(kHz)
9：Display input status
10：Display output status
11：Display Error N0.
12：No Display
P4 Driver’s type User cannot change

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 ①The lower parameter value
and cut-off frequency are,
the lower motor noise is.
Speed ② Should minish this
P5 examines parameter value as load is 1～300 36
lowpass high
③ Speed response is more
rapid ， as this parameter
value is getting biger
0：Enable
Set SRV-ON
P6 1 ： Disable ， won’t examine 0～1 1
disable
SRV-ON input signal
0：Position control mode
1：JOG control mode
2：Speed control mode
3：Power control mode
4：Position and speed control
mode (C-MODE select)
5: inner pulse contol inner
Select startup
P7 0～10 0
control mode 6：Null
7: CW,CCW control JOG
mode
8：Position control and power
control mode(C-MODE
select)
9: inner speed control
10: inner power control
①As this is bigger，response
is more rapid，and easy to
Current
produce vibration
P8 proportion 1～600 430
gain ② Commonly set to be zero
except very high response
frequency is needed
① The bigger gain is, the
higher the rigidity is.
Speed ② The smaller load is, the
P9 proportion smaller set value 1～400 80
gain ③Should set bigger paramter
value under the condition of
no vibration and noise
Forward As this is bigger，response is
P10 feedback more rapid，and easy to 1～400 100
gain produce vibration

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 ① As this is less motor will
run more stabily ， but
Speed and
rigidity will become bad
P11 proportion 1～8000 100
gain ② As this is bigger，position
control’s orientation will
be more rapidly
Position ① Motor’s pulse number per
1～
P12 order pulse rotate 1
30000
numerator 1 =10000x numerator /
denominator
Position
② Electronic gear G= 1～
P13 order pulse 1
numerator / denominator 30000
denominator
1/30000<G<30000
0：Pulse+Sign
P14 Pulse mode 1：CW+CCW 0～2 0
2：A+B 90°
0：No change
Reverse
1：Reverse
P15 speed order 0～2 0
direction 2: Speed control direction by
CW/CCW
Servo alarm
P16 Servo alarm PER0-10 1～300% 200
percent
Orientation As difference count isn’t larger
0～
P17 finish than this value ， orientation 2
30000
range will be complete
Range of As difference count is larger
checking 0～
P18 than this value ，alarm of 30000
position 30000
positioning will produce
error
Position 0：Enable
P19 error is 0～1 0
1：Disable
disable
Settint limit 0：Enable
P20 0～1 0
CW、CCW 1：Disable
Highest
1～800
P21 motor Set motor highest current 100
x0.1A
current
Highest 1～800
P22 Set motor highest torque 100
motor torque x0.1Nm
0～
Interior
P23 For JOG and speed mode ±6000 10
speed 1
r/min
0～
Interior
P24 For JOG and speed mode ±6000 100
speed 2
r/min

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 0～
±6000
Interior r/min
P25 For JOG and speed mode 200
speed 3 P7=11
0～
±32000
0～
±6000
Interior r/min
P26 For JOG and speed mode 500
speed 4 P7=11
0～
±32000
Highest Set motor highest rotate 0～6000
P27 3600
rotate speed speed r/min
Speed control compensates
Speed
analog input . positive
control zero
compensates if it is smaller 0～
P28 difference 0
than 10000;negative e ±4000
compensatio
compensates if it is bigger
n
than 10000
Power As this is bigger，response is
P29 proportion more rapid ， and easy to 1～1000 300
gain produce vibration
0：Enable
1 ： Disable ， won’t check
P30 Servo INTH INTH signal input 0～2 0
2 ： Enable and Clear remain
pulse
0：Enable
1：Disable，don’t check SCI
P31 Interior 4 signal input 0～2 0
2: CWSTP,CCWSTP choose
speed
0：Enable
Pulse
P32 0～1 0
numerator 2 1：Disable，don’t check SCI
signal input
Position
1～
P33 order Pulse Same as P12 1
30000
numerator 2
Motor encoder zero varies
from factory to factory, 1～
Motor zero
P34 set it to make sure the current 10000 2360
offset pulse
of the motor positive and /P35
negative rotate is same

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 Servo
Please look the motor manual
P35 motor’s pole 2～5 4
book
number
Position
As this is bigger ， Position
control’s 0～
P36 response is more rapid and 1000
accelerate 30000
acceleration is bigger
time
Position
As this is bigger ， Position
control’s 0～
P37 response is more rapid and 1000
reduce 30000
time reduse is bigger
0～
Speed
As this is bigger ， speed 32000
control’s
P38 response is more rapid and P7=11 30
accelerate
time acceleration is bigger 0～
±32000
0～
Speed
As this is bigger ， speed 32000
control’s
P39 response is more rapid and P7=11 30
reduce
reduse is bigger 0～
time
±32000
0～
P40 Inner pulse1 First segmeng pulse line 10000
±32000
0～
P41 Inner pulse2 Second segmeng pulse line 10000
±32000
0～
P42 Inner pulse3 Third segmeng pulse line 10000
±32000
1～
P43 Inner pulse4 Fourth segmeng pulse line 30000
±32000
P44 Null
P45 Null
0～
32000ms
P46 Inner time1 First segmeng time P7=11 500
0～
±32000
0～
32000ms
P47 Inner time 2 Second segmeng time P7=11 500
0～
±32000
0～
32000ms
P48 Inner time 3 Third segmeng time P7=11 500
0～
±32000

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 0～
32000ms
P49 Inner time 4 Fourth segmeng time P7=11 500
0～
±32000
Power
Output coin signal when this
P50 control 0～100% 100
power percent
percent
Check 0：Enable
P51 encode 1 ： Disable ， don’t check 0～1 0
signal encode signal input
History
1～10：Display History alarm
P52 alarm 0～10 0
record
record
Power on/off 0～
P53 On/off brake delay time 300
time 30000ms
0～500%
Analog
P7=11:
P54 valtage Input valtage= Vin*P54/100 100
0～
percent
±32000
Communicat
P55 800、9600、14400、19200 9600
ion rate
Communicat
P56 ion station No be 85 and 170 0～255 1
P
Encode 1024 、 1000 、 2000 、 2048 、
P57 2500
number 2500、3000、5000、6000
Motor 0：U、V、W signal
P58 encode 0～1 0
1：No U、V、W signal
mode
①The lower parameter value
and cut-off frequency are,
the lower motor noise is.
Speed ② Should minish this
P59 examines parameter value as load is 1～400 100
lowpass high
③ Speed response is more
rapid ， as this parameter
value is getting biger

2.2 Note：
1. Must be sure to forbid the motor’s running as setting or
changing parameter
2. The motor’s electrical wire must come away when changing
the parameter P35

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3. Parameter P11 must be reasonably used with parameter P12、
P13、P33
4. All parameter’s setting only needs press “Enter”and needn’t
reboot，but must operate parameter read-in when save the
parameter forever is needed.
5. Must wait for over 5 second after cut-off the driver’s
electricity

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 Chapter 3 How to set servo
System’s parameter

3.1 Servo system display face

Servo system has six LED number display pipes and four keys on
the board。Number display pipes are used for displaying servo System’s
all kinds of status and parameters；Key is used for reading and setting
System parameter。
Servo System commonly has five display modes as follow：

1) Rotation speed mode：

parameter P3=0 unit：r/min

2) Current mode ：
parameter P3=1 unit：A

3) Torque mode：
parameter P3=2 unit：NM

4) Motor position mode：

parameter P3=3 unit：pulse

5) Position error：
parameter P3=4 unit：pulse

6) Low four bits of input

pluse：

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 parameter P3=5 unit：pulse

7) High four bits of input pluse：

parameter P3=6 unit：pulse

3.2 Set servo System parameter

Under the normal display mode：press “←”key to operate “setting

parameter”、“write-in parameter”、“initialize parameter”。
Note：If not input System password you only enter “setting
parameter”，moreover , only read parameter、input password and
change parameter P3，cannot change other parameter。

When display “write-in parameter”、“initialize parameter”，press

key of“↑” to return the status of System boot-strap。

3.2.1 Set parameter

z Select parameter number：If press key of “↑”，then increase

parameter number；If press key of “↓”，then decrease parameter
number。
z Press key of“Enter”，enter the status of changing parameter。On
this time，System will open content of all selected parameter in
order to read and change。
z Press key of “←”：enter the status of write-in parameter。

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 Note：when open parameter P1，only display “0”，not display
system password。

1） Press “↑”key，current number add 1（Current number is the

currently displayed figure）。

2） Press “←”key，current number move forward。

3） Press “↓”key，current number reduce 1。

4） Press “Enter”key，confirm the number inputed and return。If not

input System password，the input number is disable and return to the
status of boot-strap。

5） Input and change the password

On each boot and set parameter, system password must be input at

first，the parameter P1 is the password。When correctly input
password，we can set other parameter，otherwise we cannot change
it。
If want to change password we must firstly input old password，
then set parameter P1。If user forget System password，please
contact with us。

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3.2.2 Write-in parameter

On this time，press “←”key：enter the status of initializing

parameter。
As users need to save revised parameter for long time，he must
operate write-in parameter。Press and hold“Enter”for about three
seconds，the parameter will be written in the interior EEPROM。Write-in
processes as follow：

On this time，press“Enter”key to return。

3.2.3 Initialize parameter

On this time，press “←”key：enter the status of setting parameter。

When user need to set the parameter to be leave-factory value，
press“Enter”key for three seconds，All parameter except password will
be initialized by leave-factory value，but the leave-factory value won’t
write in interior EEPROM。
Displaying processes follow：

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 On this time，press“Enter”to return。

3.3 Servo System’s JOG control

When System parameter P7 equals to 1，servo System is JOG

control mode。
Press and hold“↑”to make servo motor positive rotation，loosen key
to stop motor rotation。Rotation speed is determined by the parameter
P23。
Press and hold“↓”to make servo motor minus rotation，loosen key to
stop motor rotation。Rotation speed is determined by the parameter
P23。

3.4 Servo System’s position control

When system parameter P7 is０，or P7 is 4 ，or P7 is 8 and MODE

is disable, the servo System is in position control mode。Rotation speed
is determined by CP frequency，direction by DIR。INTH and P30 may
forbid this function。

3.5 Servo System’s speed control

When System parameter P7 is 2 ，or P7 is 4 and CMODE is enable,

servo System is in speed control mode。The maximum rotation speed is

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determined by the parameter P24。Rotation speed is determined by the
voltage of Vin，direction by the sign of Vin or CW/CCW (P15=2)。

3.6 Inner pulse control

When System parameter P7 is 5 ,may startup inner

pulse,P40,41,42,43 are executed one by one with speed of P23,24,25,26
and direction of P45. the speed must be less then 60*P12/P13 .
The dwell time of between segments is P46,P47,P48,P49.

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 Chapter 4 servo system’s maintenance
Errors alarm list:
Alarm Alarm
Alarm cause Solution
code content
Motor ① Rotation speed too
① Reduce rotation
speed high
ER0-1 speed
rotates ② Parameter P27
② Change P27
too high too small
① Connect with
servo main
① Servo system
power
Power doesn’t connect
ER0-3 ② Replace
error with power
insurance
② Insurance ruins
③ Replace bad
pieces
① Machine is block
② Parameter P17 ① Examine
too big machine
Position ③ Parameter P18 ② Change
ER0-4 error too too small correspond
big ④ Parameter P27 parameter
too small ③ Induce rotation
⑤ Input pulse speed
frequency too high
Memory
ER0-6 U19 are bad Replace bad pieces
error
① The CWSTP switch ① Rotate in CCW
Forbid be bumped direction
ER0-7
CWSTP ② Parameter P17 too ② Set P20=1
small ③ Change P17
③ ③
① The CCWSTP switch ① Rotate in CW
Forbid is bumped direction
ER0-8
CCWSTP ②Parameter P17 too ② Set P20=1
small ③ Change P17
① Encode signal
① Replace encode
Encode error
ER0-9 or wire
trouble ② Encode wire ruins or
② Set P51=1
shield isn’t good
① Motor and down-
Motor
lead wire are
ER0- Power is ① Replace motor
short or motor
10 too ② Change P16
insulation breaks
big
down

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 ② Parameter P16 is
too small
① IPM module ruins
② Temperatuer is ① Replace IPM
IPM
ER0- too high module
module
11 ③ Voltage is too high ② Replace motor
trouble
④ Motor insulation ③ Check power
ruins
③ Motor and down-
lead wire are
Motor short or motor ③ Replace motor
ER0- current is insulation breaks ④ Replace IPM
12 too down module
big ④ Parameter P21 is ⑤ Change P21
too small
⑤ IPM module is bad
Cutting off and Wait for one
Don’t
Others booting’s interval is too minute，then
display
short operate

As servo System produce alarm，don’t boot before clear up the

alarm cause，otherwise， it is easy to ruin servo System。
When need debug System as servo System doesn’t connect with servo
main power and servo System produces alarm P8，may press“Enter”key
to enter servo debug System。

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