User Manual
SZGH-Servo Driver
V1.1
Shenzhen Guanhong Automation CO.,LTD
Website: www.szghauto.com
Add:Room 503 Anxin Building, No 536 Shenhui Road, Liuyue community, Henggang
Street ,Longgang District, Shenzhen City,Guangdong Province, ChinaProvince, China
Post code: 518115
Shenzhen Guanhong Automation Co.,Ltd
-Servo Driver User Manual-
-CatalogChapter 1 Technical Specifications...................................................................... 1
Chapter 2 Checking & Installation..................................................................... 2
2.1 Checking Products.......................................................................................2
2.2 Conditions for Installation...........................................................................2
2.3 Direction & Distance...................................................................................3
2.4 Conditions for Installation of Servo Motors................................................4
2.4.1 Environmental Conditions................................................................. 4
2.4.2 Method of Installation........................................................................4
2.4.3 Notice for Install Motor..................................................................... 5
Chapter 3 Wiring................................................................................................... 6
3.1 Basic Wiring for Servo Driver.................................................................... 6
3.2 Wiring for Servo Drives.............................................................................. 7
3.3 Specificatons of Wiring..............................................................................8
3.4 Motor Terminal Layout............................................................................... 9
3.5 TB Terminal.............................................................................................. 11
3.6 Wiring for Mechanical Brake....................................................................11
Chapter 4 Connection.......................................................................................... 12
4.1 Connection of Position Control.............................................................. 12
4.2 Output Signals from Servo........................................................................ 13
4.2.1 Diagram of CN3 Terminal (DB25)..................................................13
4.2.2 Encoder Connector of CN1 Terminal Layout..................................14
4.2.3 RS485 Modbus Connector of CN2 Terminal Layout...................... 14
4.3 Principle of I/O Interface.........................................................................15
4.3.1 Input signal interface (EN, CW, CCW, INTH, MODE).................15
4.3.2 Output signal interface (ALM, SRDY, BRAKE, COIN, OZ)........16
4.3.3 Pulse Input Signal Interface............................................................16
Chapter 5 Parameter........................................................................................... 20
5.1 Parameter table.......................................................................................... 20
Chapter 6 Panel Operator/Digital Operator..................................................... 26
6.1 Panel Operator........................................................................................... 26
6.2 Display of Servo........................................................................................ 27
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-Servo Driver User Manual-
6.3 Set parameter........................................................................................... 28
6.3.1 Input and Alter the password........................................................... 29
6.3.2 Write-in parameter.........................................................................29
6.3.3 Initialize parameter......................................................................... 30
Chapter 7 Debugging........................................................................................... 31
7.1 Working sequence..................................................................................... 31
7.1.1 Typical Wiring for Motor and Main Circuit....................................31
7.1.2 Sequence of Power ON....................................................................32
7.1.3 Sequence of Power off..................................................................... 33
7.2 Usage of Mechanical Brake “ BRAKER”................................................33
7.3 Debugging................................................................................................ 34
7.3.1 Inspect before degugging.................................................................34
7.3.2 JOG Control Mode.........................................................................35
7.3.3 Position Control Mode....................................................................35
7.3.4 Speed Control Mode....................................................................... 35
7.3.5 Torque Control Mode..................................................................... 36
7.3.6 4 Stage Inner Pulse Control Mode..................................................37
7.3.7 Return Zero & 4 Stage Inner Position Control Mode...................... 37
7.3.8 4 Stage Inner Speed Control Mode..................................................38
7.3.9 Inner Speed Control Mode..............................................................38
7.3.10 Stop when Inner Speed Control Torque is reached.......................38
7.3.11 Left/Right Limitation of Inner Speed............................................39
7.3.12 JOG Control with External Signal................................................ 39
7.4 Debugging................................................................................................ 39
7.4.1 Debugging of Zero Position of Encoder.......................................... 40
7.4.2 Debugging of Parameter of Zero position....................................... 40
7.4.3 Adjustment of gain and rigidity...................................................... 40
7.4.4 Basic Parameters Adjustment Diagrams.........................................42
7.4.5 Position Resolution & Setting of Electrical Gear............................ 43
7.4.6 Debugging of Start-Stop Feature..................................................... 44
Chapter 8 Maintenance & Repair...................................................................... 46
Shenzhen Guanhong Automation Co.,Ltd
-Servo Driver User Manual-
Warning and Alert
Warning

Do not proceed to the assembly of the line while electrifying.

Circuit & change components between entering shutting down the power supply and
stopping showing LED light of the Servo Driver.

The output of servo drive[U,V,W]must NOT touch the AC power

Alert
Install the fan if the temperature around is too high while the Servo Driver is installed
in the Control Board

Do not proceed to the Anti-Pressure-Test to the Servo Driver.

Confirm the quick stop function is available before operate Servo Driver.

Matching up machine to change the user parameter setting before machine performs.If
there is no according correct setting number,it could lead to out of control or
breakdown.
Safety Proceeding:
Check the covering letter detailes before installing,running,maintaining and examining.
Furthmore, only the profession-qualified people can proceed to the line-assembly.
Safety proceeding in the covering letter discriminate between “Warning” & “Alert”.
Warning : Indicating the possibility dangerous situation. It could cause the death
or serious damage if being ignored.
Alert
: Indicating the possibility dangerous situation. It could cause smaller or
lighter human injured and damage of equipment.
Please read the user manual detail before using Servo Driver.
Shenzhen Guanhong Automation Co.,Ltd
-Servo Driver User Manual-
First of all,thank you for using SZGH Servo Driver and Servo Motors.
SZGH Servo Driver can be controlled by CNC Controller or motion control card,
and provide excellent performance for a wide range of applications and different
requirement from customers.
Read this user manual before using SZGH Servo Driver.Contents of the
manual comprises:

Servo System checking,installing and procedure of assembly line.
 Controller procedure for digital board,Status displaying,unusual alarm and
strategy explanation.
 Servo System control function,running testing and procedures adjusted.

Explanation for all parameter of Servo Driver.
In order to daily examine,maintain and understand the reason of unusual
situation and handle strategy,please put this user manual in safe place to read it
anytime.
P.S: The end user should own this user manual,in order to make the Servo
Driver bring the best performance.
Shenzhen Guanhong Automation Co.,Ltd
-Servo Driver User Manual-
Chapter 1 Technical Specifications
Input Power
AC220V -15% ~ +10%
Model
SZGH-201(H)
SZGH-301(H)
SZGH-501(H)
SZGH-751(H)
Drive Current
20A
30A
50A
75A
Match Motor
≤ 0.75kW
≤2.3kW
≤3.7kW
≤5.5kW
Input Power
AC380V -15% ~ +10%
Model
SZGH-503(H)
SZGH-753(H)
Drive Current
50A
75A
Match Motor
≤5.5kW
≤11kW
The operating of
Termperature: Working: 45℃ Storing: -40℃ ~ 55℃
Evironment Conditions
Humidity: 40% ~ 80% (No Dewing)
Atmospheric
86 - 106 kpa
Control Mode
①Position ②JOG ③Speed ④Torque ⑤Position+Speed
⑥Inner Pusle ⑦Position+Torque
Pulse Command
①Pulse+Direction ②CW+CCW Pulse ③Two Phase AB Pulse
Controlling Accuracy
0.01%
Response Frequency
≤ 200Hz
Pulse Frequency
≥ 500Hz
Ratio
1:5000
Capacity of Overload
≥ 300%
Type of Feedback
Incremental: 2500PPR;
Encoder
Absolute: 17bit(single)/ 33bit(multi)
Displaying Function
Speed,Current,Torque,Position,Shift Error,Pulse,Frequency,
Linear Speed , I/O Diagnosis
Proection Function
Over-Speed , Over-Current , Over-Voltage, Undervoltage,
Over-load, Overproof, Encoder Error, Over-Temperture
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-Servo Driver User Manual-
Chapter 2 Checking & Installation
2.1 Checking Products
Our Servo Pack have already completely been functionally examined before
leaving the factory. In order to protect the products from the damage during
transportation, please check the items below before sealing off
the pack:

Check if the models of servo driver and motor are the same with the models
of ordering.

Check if there are damage or scrape out side of the servo driver and motor.
(If there is any damage during transportation, do not power ON)

Check if there are any bad assembly or slipped component in the Servo Drive
and Motor

Check if the Motor’s rotor and shaft can be rotated smoothly by hand
(The Servo Motor with Mechanical-Brake can not be rotated directly)
If there is any bug or irregular under the situation above, please contact SZGH’s
Local sales representative or distributor instantly.
2.2 Conditions for Installation
The product should be kept in the shipping carton before installation. In
order to retain the warranty coverage, the AC drive should be stored properly
when it is not to be used for an extended period of time.
Some storage suggestions are:
Ambient Temperature: 0 ~ + 55 ℃; Ambient Humidity: Under 85% RH (Under
the condition of no frost).
Stored Temperature: - 20 ~ + 85 ℃; Stored Humidity: Under85%RH (Under the
condition of no frost).
Vibrating: Under 0.5 G (4.9m/S2).
Do not mount the servo drive or motor in a location where temperatures and
humidity will exceed specification.
To avoid the insolation.
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-Servo Driver User Manual-
To avoid the erosion of grease and salt.
To avoid the corrosive gases and liquids.
To avoid the invading of airborne dust or metallic particles.
When over 1 Drives are installed in control panel, enough space have to be kept
to get enough air to prevent the heat; the fan also must be installed, to keep the
ambient temperature under 55 ℃.
Please Install the drive in a vertical position, face to the front, in order to prevent
the heat.
To avoid the metal parts or other unnecessary things falling into the drive when
installing.
The drive must be stable by M5 screws.
When there were the vibrating items nearby, please using vibration-absorber or
installing anti-vibrationrubber, if the vibration can not be avoided.
When there is any big-size magnetic switch, welding machines or other source of
interference. Please install the filter. When the filter is installed, we must install
the insulation transformer.
2.3 Direction & Distance
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-Servo Driver User Manual-
2.4 Conditions for Installation of Servo Motors
2.4.1 Environmental Conditions
1． Ambient Temperature: 0 ~ + 40 ℃; Ambient humidity: Under 90% RH
(No Frost).
2． Storage Temperature: - 20 ~ + 60 ℃; Storage temperature: Under
90%RH (No Frost).
3． Vibration: Under 2.5 G.
4． In a well-ventilated and low humidity and dust location.
5． Do not store in a place subjected to corrosive gases, liquids, or airborne
dust or metallic particles.
6． Do not mount the servo motor in a location where temperatures and
humidity will exceed specification.
7． Do not mount the motor in a location where it will be subjected to high
levels of electromagnetic radiation.
2.4.2 Method of Installation
1. Horizontal Install: Please let the cable-cavity downside to prevent the
water or oil or other liquid flow into the servo motor.
2. Vertical Install: If the motor shaft is side-up installed and mounted to a
gear box, please pay attention to and avoid the oil leakage from the gear box.
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-Servo Driver User Manual-
2.4.3 Notice for Install Motor
1. Please using oil-seal-motor to avoid the oil from reduction gear flowing
into the motor through the motor shaft.
2. The cable need to be kept dry.
3. Please fixing the wiring cable certainly, to avoid the cable ablating or
breaking.
4. The extending length of the shaft shall be enough, otherwise there will be
the vibration from motor operating.
5. Please do not beat the motor when installing or taking it apart. Otherwise
the shaft and the encoder of backside will be damaged.
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-Servo Driver User Manual-
Chapter 3 Wiring
3.1 Basic Wiring for Servo Driver
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-Servo Driver User Manual-
3.2 Wiring for Servo Drives
1．The wire material must go by “Wiring Specifications.”
2．Wiring Length: Command Input Wire: Less than 3m.
Encoder Input Wire: Less than 20m.
The Wiring goes by the shortest length.
3．Please wire according to the standard wiring schema. Don’t connect if no
using.
4．Please use the NFB to meet IEC (or UL Certification) between power
supplier and servo drive.
5．In the addition of supplying max, voltage, the capability of short circuit
current must below 5000Arms, If there is possibility.
6．Drive output terminals (U,V,W) must be connected to motor correctly.
Otherwise the servo motor will abnormally function.
7．Shielded cable must be connected to FG terminal.
8．Don’t install the capacitor or Noise Filter at the output terminal of servo
drive.
9．At the control-output-signal relay, the direction of surge absorb diode
must be correctly connected, otherwise it can not output signal, and cause the
protect loop of emergency-stop abnormal.
10．Please do these below to avoid the wrong operation from noise:
Please install devices such as the insulated transformer and noise filter
at the input power.
Keep more than 30 cm between Power wire (power cable or motor
cable…etc.) and signal cable, do not install them in the same conduit.
11．Please set “emergency-stop switch” to prevent abnormal operation.
12．After wiring, check the connection-situation of each joint (ex: loose
soldering, soldering point short,
13．terminal order incorrect…etc.). Tighten the joints to confirm if surly
connected to the servo drive, if the
screw is tight. There can not be the situations such as cable break, cable pulled
and dragged, or be heavily pressed.
* Especially pay attention to the polarity between servo motor wiring and encoder.
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-Servo Driver User Manual-
3.3 Specificatons of Wiring
Connection Terminal
Terminal
Mark
(Sign)
R,S,T
Name of Termnial
10
U,V,W
Main Power
Terminal
Motor Terminal
1.25
(16)
1.25
(6.0)
PE
Ground
Connection Terminal
Terminal
Servo Drivers and Wire
Specifications mm2(AWG)
PIN no.
9
8
Name of Terminal
Speed/Torque
Command Input
Analog Input
6,7,18,1
Position command
9
Input(Pulse , Sign)
CN3
2, 9Digital Input(DI)
Joint
11,23
Control 1,12,20, Dighital Ouput(DO)
Signal
25
3-5,
Encoder signal ouput
15-17
(OA+/-,OB+/-,OZ+/-)
13
Digital input
common(DICOM)
CN2
3,4
Data transfer &
Commun
receive
ication
1,2
Communication
grounding wire
2,3
Output 5V &
CN1
0V(Incremental)
Joint of
4-15
Encoder signal input
motor
(Incremental)
encoder
1
Sheild
5,7
4,6
Output
5V&0V(absolutely)
Encoder input
15
20
30
50
2.0
(14)
2.0
(14)
2.0
(14)
3.5
(12)
3.5
(12)
Servo Drivers and Wire
Specifications
10
15
20 30 50
75
0.2mm ² or 0.3mm ²-> Twisted-paircable connecting to the I/O Grounding
wire (including shield cable)
0.2mm ² or 0.3mm ²-> Twisted-paircable connecting to the I/O Grounding
wire (including shield cable)
0.2mm ² or 0.3mm ²-> Twisted-paircable connecting to the I/O Grounding
wire (including shield cable)
P.S.:1. Please pay attention to the NFB and the capacity of noise filter when using
multi-drives.
2. CN3 ->25 Pins (D-SUB)
3. CN2 -> 4 Pins (USB)
4. CN1> 15 Pins(D-SUB)/7Pin(D-SUB)
8
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-Servo Driver User Manual-
3.4 Motor Terminal Layout
Table of Motor-Terminal Wiring
(1) General Joint
Terminal Symbol
Color
Signal
1
BLACK
U
2
RED
V
3
BULE
W
4
GREEN/YELLOW
PE
Brake Control
Fine Red
DC+24V
Wire
Fine BALACK
0V
(2) Military Specifications Joint(No Braker)
Terminal Symbol
Color
Signal
1
GREEN/YELLOW
PE
2
BLACK
U
3
RED
V
4
BULE
W
Table of Braker-Terminal Wiring
(a) Genernal Joint
Terminal Symbol
Color
Signal
1
RED
DC24V
2
BLACK
0V
(b) Military Joint
Terminal Symbol
Color
Signal
1
RED
DC24V
2
BLACK
0V
3
-
Null
9
1
2
Shenzhen Guanhong Automation Co.,Ltd
-Servo Driver User Manual-
Table of Encoder-Terminal Wiring
(1) General Joint
Terminal
Color
Signal
1
Shield
PE
2
BLACK
5V
3
BLACK/WHITE
0V
4
RED
B+
5
ORANGE/WHITE
Z-
6
YELLOW
U+
7
ORANGE
Z+
8
YELLOW/BLACK
U-
9
BROWN
A+
10
GREEN
V+
11
BULE
W+
12
GREEN/WHITE
V-
13
BROWN/WHITE
A-
14
RED/WHITE
B-
15
BULE/WHITE
W-
(2) Military Specifications Joint
Terminal
Color
Signal
1
Shield
PE
2
BLACK
5V
3
BLACK/WHITE
0V
4
BROWN
A+
5
RED
B+
6
ORANGE
Z+
7
BROWN/WHITE
A-
8
RED/WHITE
B-
9
ORANGE/WHITE
Z-
10
YELLOW
U+
11
GREEN
V+
12
BULE
W+
13
YELLOW/BLACK
U-
14
GREEN/WHITE
V-
15
BULE/WHITE
W-
10
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-Servo Driver User Manual-
3.5 TB Terminal
Name
Sign
Control circuit power
r
Connecting to external AC Power.
input terminal
t
Single 220VAC +10 ~ -15% 50Hz ±5%
Main circuit power
R
input terminal
S
T
Detail
Connecting to external AC Power.
Single / 3 Phase 200~230VAC +10 ~ -15% 50Hz ±5%
GND
PE
Connecting to ground of ac power
Motor Power Ouput
U
Motor terminal wire is BLACK
terminal
V
Motor terminal wire is RED
W
Motor terminal wire is BULE
PE
Motor terminal wire is Yellow/Green
Motor-case grounding
terminal
3.6 Wiring for Mechanical Brake
Release BRAKER
a.
Use BRAKER+ (Red wire) to connect to DC24V .
b.
Use BRAKER- (Black wire) to connect to 0V.
Servo motor can operate normally after release braker.
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-Servo Driver User Manual-
Chapter 4 Connection
4.1 Connection of Position Control
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-Servo Driver User Manual-
4.2 Output Signals from Servo
4.2.1 Diagram of CN3 Terminal (DB25)
Pin
Sign
Signal name
I/O method
Signal Explaination
1
OZ
Encoder Z-
Output
Z pulse
2
CW
Forbid positive
rotation
Input
14
CCW
Forbid minus rotation
Input
As COM is available
P20=1 shield SZGH- this
function
3
OA+
Encoder A+
Output
A pulse positive
15
4
16
5
17
OAOB+
OBOZ+
OZ-
Encoder
Encoder
Encoder
Encoder
Encoder
Output
Output
Output
Output
Output
10
INTH
A pulse negative
B pulse positive
B pulse negative
Z pulse positive
Z pulse negative
When valid, Forbid
position order
6
CP+
18
CP-
7
DIR+
19
DIR-
8
21
Vin
Vgnd
11
COM+
23
EN
Servo enable
Input
9
MODE
Order mode selectin
Input
12
ALM
Servo alarm positive
terminal
Output
When alarm output is
on,forbid servo
25
SRDY
Servo ready positive
terminal
Output
As servo ready is on ,
servo is ready
20
coin
Posit finish
Output
As servo Posit finish
13
Outcom
0v
Input
0V
AB+
BZ+
Z-
Forbid position order
Pulse signal positive
terminal
Pulse signal negative
terminal
Direction signal
positive terminal
Direction signal
negative terminal
Analog voltage
Analog ground
Power positive
terminal
13
Input
Input
Input
Input
External position order
pulse+direction
Input
Input
Input
External speed Order
0~±10V
Input
+12V~24V
As COM is available
P6=1 shielSZGH- this
function
As available, select speed
order, otherwise position
order
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-Servo Driver User Manual-
4.2.2 Encoder Connector of CN1 Terminal Layout
a) Incremental Encoder (DB15)
Pin
Sign
Signal name
I/O method
Signal Explain
1
PE
Earthing
terminal
Input
System earthing
6
OZ+
Encoder Z+
Input
Z pulse positive pin
9
5
8
4
7
10
13
11
14
12
15
2
3
OZOB+
OBOA+
OAOU+
OUOV+
OVOW+
OWVCC
GND
Encoder ZEncoder B+
Encoder BEncoder A+
Encoder AEncoder U+
Encoder UEncoder V+
Encoder VEncoder W+
Encoder WPower +5V
Signal ground
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Output
Output
Z pulse negative pin
B pulse positive pin
B pulse negative pin
A pulse positive pin
A pulse negative pin
U pulse positive pin
U pulse negative pin
V pulse positive pin
V pulse negative pin
W pulse positive pin
W pulse negative pin
Encoder power
b) Absolute Encoder (DB15)
Pin
Sign
Signal name
I/O method
Signal Explain
7
VCC
+5V
Output
Supply 5V power
5
GND
Signal Ground
Output
Ground of Signal
6
4
3
2
1
SD+
SD-
SD+
SD-
PE
Earthing
Serial Data transimission+
Serial Data transimissionInput
System earthing
4.2.3 RS485 Modbus Connector of CN2 Terminal Layout
Pin
Sign
Signal name
I/O method
Signal Explain
1, 2
GND
GND
OUTPUT
Signal Ground
3
485+
485+
Modbus Positive End
4
485-
485-
Modbus Negative End
P.S.:
1.If there is unused terminal,please do not connect it or let it be the relay terminal.
2. The shileded wire of I/Os cables should connect to the groud.
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-Servo Driver User Manual-
4.3 Principle of I/O Interface
4.3.1 Input signal interface (EN, CW, CCW, INTH, MODE)
Switching Value Input Interface
The range of power input should be +12V~+24V, Current ≥ 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 forbiSZGH- 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.
P.S.: Servo driver will work abnormal if power polarity is reverse.
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-Servo Driver User Manual-
4.3.2 Output signal interface (ALM, SRDY, BRAKE, COIN, OZ)
Switching Value Output Interface
External power is supplied by customer owner,but must attention that it will
damage servo driver if power polarity is reverse.
The output is open collector mode, the max output current of OZ, SRDY ,
COIN & ALM is 20mA , the max current of BRAKE is 50mA.So BRAKE can
drive relay directly,and OZ,SRDY,COIN,& ALM cannot drive relay directly,need
to puls triode before drive relay. And max external voltage is 25V.So if voltage is
over 25V or connected to power dirctly,both will damage servo driver.
When servo system gives an alarm to show an error,besides LED displays
Error P, the output of ALM is available.
SRDY is servo ready signal,as available , exterior controller inputs control
order to servo System. the maximum output current is 20mA.
If load is like relay , inductive load,must equally connect with reverse diode.
If the connection of diode is wrong,it also will damage servo driver.
4.3.3 Pulse Input Signal Interface
Differential Drive Mode
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-Servo Driver User Manual-
Single Drive Mode
1) In order to ensure the transmission of pulses data right, signal input should
adopt differential drive mode.
2) With differential drive mode, adopt AM26LS31,MC3487 or RS422 driver.
3) When adopting single drive mode, according to pulse input circuit,the
current is 10~15mA,power need resistance to limit the current as max voltage is
25V. Experienced Data: VCC=24V,R=1.3~2k ; VCC=12V,R=510~820Ω;
VCC=5V, R=82~120Ω.The input signal line should be shielded twisted-pair in
order to reduce interference.
4) When adopt Single drive mode, external power is supplied by customer
owner. And please pay attention to the polarity of power is right.
5) Pulse input mode: Pulse Frequency ≤ 500KHz
Pulse mode
CW
Pulse+
PULS
Direction
SIGN
CCW+CW
A+B 90°
CCW
P14
0
PULS
1
SIGN
PULS
2
SIGN
6) Time Parameters of Pulse Input
Parameter
Diffenerital Drive Mode
Single Drive Mode
tck
>2us
>5us
th
>1us
>2.5us
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-Servo Driver User Manual-
tl
>1us
>2.5us
trh
<0.2us
<0.3us
trl
<0.2us
<0.3us
ts
>1us
>2.5us
tqck
>8us
>10us
tqh
>4us
>5us
tql
>4us
>5us
tqrh
<0.2us
<0.3us
tqrl
<0.2us
<0.3us
tqs
>1us
>2.5us
Sequence Chart
Pulse+ Direction（frequency ≤ 500kHz）
CW+CCW（frequency ≤ 500kHz）
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-Servo Driver User Manual-
Photoelectric Encoder of Servo Motor Input Interface
Pulse input wave map
4.3.4 Encoder output signal interface
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 5 Parameter
5.1 Parameter table
P
P0
P1
P2
P3
P4
P5
Paramter
name
Servo soft
version
Paranter function
Paranter
range
Factory
value
User cannot change
Guard against mistaken or illPassword
purposed change of parameter
1～9999
It is invalidation If it is 9999
0：Posit finish
1：Invalid when pulse input
Coin output 2：Inner pulse finish
0～5
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
5：Display low four bits of
First display
pluse count (pulse)
0～12
status
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
Driver’s
User cannot change
type
①The lower parameter value and
cut-off frequency are, the lower
motor noise is.
Speed
②Should minish this parameter
examines
1～300
value as load is high
lowpass
③Speed response is more rapid ,
as this parameter value is getting
biger
20
1
0
0
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P6
P7
P8
P9
P10
P11
P12
P13
-Servo Driver User Manual-
0：Enable
Set SRV-ON
0～1
1 ： Disable, won’t examine SRVdisable
ON input signal
0：Position control mode
1：JOG control mode
2：Speed control mode
3：Torque control mode
4: Position and speed control mode
(C-MODE select)
Select
5: inner pulse contol inner startup
control
0～10
6：Null
mode
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
proportion
1～600
②Commonly
set
to
be
zero
except
gain
very high response
frequency is needed
①The bigger gain is, the higher the
rigidity is.
Speed
② The smaller load is, the smaller
proportion
1～400
set value
gain
③Should set bigger paramter value
under the condition of no
vibration and noise
Forward
As this is bigger, response is more
feedback
rapid, and easy to
1～400
gain
produce vibration
1 As this is less motor will run
more stabily, but rigidity will
Speed and
become bad
proportion
1～8000
2 As this is bigger, position
gain
control’s orientation will be
more rapidly
Position
1 Motor’s pulse number per
order pulse
1～30000
rotate
numerator 1
=10000x
numerator
/
denominator
Position
2 Electronic gear G= numerator /
order pulse
1～30000
denominator
denominator
1/30000<G<30000
21
1
0
430
80
100
100
1
1
Shenzhen Guanhong Automation Co.,Ltd
P14
P15
P16
P17
P18
P19
P20
P21
P22
P23
P24
-Servo Driver User Manual-
0：Pulse+Sign
Pulse mode 1：CW+CCW
2：A+B 90°
0：No change
Reverse
speed order 1：Reverse
2: Speed control direction by
direction
CW/CCW
Servo alarm
Servo alarm PER0-10
percent
Orientation
As difference count isn’t larger
finish
than this value, orientation will be
range
complete
Range
of
As difference count is larger than
checking
this value , alarm of
position
positioning will produce
error
Position
0：Enable
error is
1：Disable
disable
Settint limit 0：Enable
CW、CCW 1：Disable
Highest
motor
Set motor highest current
current
Highest
Set motor highest torque
motor torque
Interior
For JOG and speed mode
speed 1
Interior
For JOG and speed mode
speed 2
P25
Interior
speed 3
For JOG and speed mode
P26
Interior
speed 4
For JOG and speed mode
P27
Highest
rotate speed
Set motor highest rotate speed
22
0～2
0
0～2
0
1～300%
200
0～30000
2
0～30000
30000
0～1
0
0～1
0
1～800
x0.1A
100
1～800
x0.1Nm
0～±6000
r/min
0～±6000
r/min
0～±6000
r/min
P7=11
0～
±32000
0～±6000
r/min
P7=11
0～
±32000
0～6000
r/min
100
10
100
200
500
3600
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P28
P29
Speed
control zero
difference
compensatio
n
Power
proportion
gain
P30
Servo INTH
P31
Interior 4
P32
Pulse
numerator 2
P33
P34
P35
P36
P37
P38
P39
-Servo Driver User Manual-
Speed control compensates analog
input . positive compensates if it
is smaller than 10000;negative e 0～±4000
compensates if it is bigger than
10000
As this is bigger, response is more
rapid, and easy to produce
1～1000
vibration
0：Enable
1 ： Disable, won’t check INTH
0～2
signal input
2：Enable and Clear remain pulse
0：Enable
1 ： Disable, don’t check SCI
0～2
signal input
2: CWSTP,CCWSTP choose speed
0：Enable
0～1
1 ： Disable, don’t check SCI
signal input
Position
order Pulse Same as P12
numerator 2
Motor encoder zero varies from
factory to factory,
Motor zero
set it to make sure the current of
offset pulse
the motor positive and negative
rotate is same
Servo
motor’s pole Please look the motor manual book
number
Position
As this is bigger, Position response
control’s
is more rapid and acceleration is
accelerate
bigger
time
Position
control’s
As this is bigger, Position response
reduce
is more rapid and reduse is bigger
time
Speed
As this is bigger, speed response is
control’s
more rapid and acceleration is
accelerate
bigger
time
Speed
control’s
As this is bigger, speed response is
reduce
more rapid and reduse is bigger
time
23
0
300
0
0
0
1～30000
1
1～10000
/P35
2360
2～5
4
0～30000
1000
0～30000
1000
0～32000
P7=11
0～
±32000
0～32000
P7=11
0～
±32000
30
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P40
Inner pulse1
First segmeng pulse line
P41
Inner pulse2
Second segmeng pulse line
P42
Inner pulse3
Third segmeng pulse line
P43
Inner pulse4
Fourth segmeng pulse line
P44
P45
Null
Null
P46
Inner time1
First segmeng time
P47
Inner time 2
Second segmeng time
P48
Inner time 3
Third segmeng time
P49
Inner time 4
Fourth segmeng time
P50
P51
P52
P53
P54
Power
control
percent
Check
encode
signal
History
alarm
record
Power on/off
time
Analog
valtage
percent
-Servo Driver User Manual-
0～
±32000
0～
±32000
0～
±32000
1～
±32000
0～
32000ms
P7=11
0～
±32000
0～
32000ms
P7=11
0～
±32000
0～
32000ms
P7=11
0～
±32000
0～
32000ms
P7=11
0～
±32000
10000
10000
10000
30000
500
500
500
500
Output coin signal when this power
percent
0～100%
100
0：Enable
1 ： Disable, don’t check encode
signal input
0～1
0
1 ～ 10 ： Display History alarm
record
0～10
0
On/off brake delay time
Input valtage= Vin*P54/100
24
0～
30000ms
0～500%
P7=11:
0～
±32000
300
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Communicat
ion rate
Communicat
ion station
P
Encode
number
Mode
of
encoder
P55
P56
P57
P58
Speed
examines
lowpass
P59
-Servo Driver User Manual-
800、9600、14400、19200
No be 85 and 170
1024 、 1000 、 2000 、 2048 、
2500、3000、5000、6000
0：U、V、W signal
1：No U、V、W signal
①The lower parameter value and
cut-off frequency are, the lower
motor noise is.
②Should minish this parameter
value as load is high
③Speed response is more rapid ,
as this parameter value is getting
biger
9600
0～255
1
2500
0～1
0
1～400
100
P.S.:
1. Must be sure to forbid the motor’s running as setting or changing
parameters.
2. The motor’s electrical wire must come away when changing the
parameter P35
3. Parameter P11 must be reasonably used with parameter P12、P13、P33
4. All parameter’s setting only need to press “Enter”and needn’t reboot, only
P34 parameter will be valid after reboot, but must operate parameter
read-in when save the parameter forever is needed.
5. Must wait for over 30 second after cut-off the driver’s electricity .
6. When servo driver is used for CNC system, Set Mothod of P12&P13 as
follow:
P12/P13 = Gear Raito * Pulse Equivalent*10000/ Lead of ball screw.
Noramlly the pulse equivalent of cnc system is 0.001mm.
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-Servo Driver User Manual-
Chapter 6 Panel Operator/Digital Operator
6.1 Panel Operator
The operator keypad & display contains a 6 digit 7segment LED display and
4 control keys on the board. LED display are used for displaying servo System’s
all kinds of status and parameters; Key is used for reading and setting parameters.
Key
Name
Function Keys Decription
1.To select a basic mode, such as the status display mode,
MODE/SET
utility function mode,parameter setting mode,or monitor
mode.
2. Returning back to parameter selection from data-setting
screen.
INCREMENT
1. Parameter Selection.
2. To increase the set value.
DECREMENT
DATA SETTING
1. To confirm data and parameter item.
& DATA ENTER
2. To shift to the next digit on the left.
3. To enter the data setting (press 2 sec.)
At normal display mode: press “Mode”key to select & operate “Parameter”,
“Write-in parameter”, “Initialize parameter” circularly.
(1) Parameter: P1~P56
(2) Write-in parameter
(3) Initialize parameter
When display “write-in parameter”, “initialize parameter”, press key of“↑”
to return the status of System boot-strap.
P.S.: If not input System password you only enter “setting parameter”,
moreover , only read parameter, input password and change parameter P3,
cannot change other parameters.
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6.2 Display of Servo
Servo System commonly has 12 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：parameter P3=5 unit: pulse
7)
High four bits of input pluse：parameter P3=6 unit: pulse
8)
Motor’s linear speed: parameter P3=7
9)
Input Pulse Frequency: parameter P3=8
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unit: mm/min
unit: kHz
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-Servo Driver User Manual-
10) Input Interface Diagnosis: parameter P3=9
Display with 16 binary system
D0=1 , EN input is valid;
D1=1, INTH input is valid;
D3=1, MODE input is valid;
D5=1, CW input is valid;
D6=1, CCW input is valid.
11) Output Interface Diagnosis: parameter P3=10
Display with 16 binary system
D0=1 , SRDY output is valid;
D1=1, ALM Output is valid;
D2=1, BRAKE Output is valid;
D3=1, COIN Output is valid.
12) Error Number: parameter P3=11(set P52,which can check history
error, when set P1=12345,it will clear history error record.)
6.3 Set parameter

Select parameter number：If press key of “↑”, then increase parameter
number; If press key of “↓”, then decrease parameter number.

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.

Press key of “MODE”: enter the status of write-in parameter.
Note: when open parameter P1, only display “0”, also don’t display
system password.
1）Press “↑”key, current number add 1 (Current number is the currently
displayed figure).
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2）Press “MODE”key, current number (decimal) 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.
Note

When enter parameter P1 , it display 0,also donot display system password.

It is invalid and return displaying condition when user don’t input password
before alter parameter.
6.3.1 Input and Alter the password
On each boot and set parameter, system password must be input at first, the
parameter P1 is the password. Only when input correct password, we can set
parameters, otherwise we cannot change it.
If user want to alter password , we must firstly input old password, then set
parameter P1. If user forget system password, please contact with suppliers.
If password ,also P1, set to 9999 , it will no need to input password when
booting next time , and it can alter parameters direclty .
6.3.2 Write-in parameter
On this time, press “MODE”key: enter the status of initializing parameter.
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-Servo Driver User Manual-
As users need to save revised parameter for long time, he must operate writein parameter. Press and hold“Enter”for about three second, the parameter will be
written in the interior EEPROM. Write-in processes as follow
On this time,press“Enter”key to return.
6.3.3 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:
On this time, press“Enter”to return.
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-Servo Driver User Manual-
Chapter 7 Debugging
ATTENTION:

Motor and driver must connect to GND, PE must connect GND with Motor.

Suggestions power drive provide by the isolated transformer for safely and
anti-interference.

Before power on, check all of connected wire are correctly.

After driver fault alarm, confirm if fault are settled before re-start.

Don’t touch motor and driver within 5 minutes after power off for prevent
shock?

It may high temperature after motor & driver running a long time for prevent
burns.
7.1 Working sequence
7.1.1 Typical Wiring for Motor and Main Circuit
Please make the connection of main circuit as following A&B wiring
diagram.
1) Input main power (220V/380V ) to RST and input control power to r t
ports through Electromagnetic Contactor , Noise filter & reactor .
2) After input power,delay about 1.5s,Servo Ready (SRDY) is valid,and then
driver can accept servo enable signal(EN),after detect EN is valid,Output of driver
is valid,motor is activated & be on power. When detect EN is invalid or servo
alarm,circuit of motor’s activate will be closed,motor is on free.
3) When Servo Enable & Power get through at same time,the circuit of
motor’s activate will be open after 1.5 seconds apprximately.
4) If turn on/off power frequently,it will damage Soft-start circuit & dynamic
braking circuit.The limitation of On/Off frequency is within 5 times per hour,30
times each day.If over-heated,it needs to more than 30minutes to coolant before
reboot.
Note: When input power, please pay more attention to the voltage of servo
driver & servo motor. Otherwise it will damage the devices.
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-Servo Driver User Manual-
A) The wiring example of single phase main power (220V)
B)The wiring example of three phase main power (380V)
7.1.2 Sequence of Power ON
When only input power,enable singal will be valid within 1s.
When connect control power, servo driver alarms within 400ms; when main
power is on, the alarm disappear, servo ready signal & servo enable will be ON
within 1.5s, internal servo’s enable become effective, the motor excitation is on
within 10ms.When Alarm,enable will be invalid within 1s.
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7.1.3 Sequence of Power off
Alarm sequence during motor’s running: SRDY signal and servo enable
signal are ineffective at the same time, and the motor’s electromagnetic brake
signal is off 4ms later.
Power input
No electricity
Power on
Servo alarm
ON
400ms
OFF
SRDY
OFF
ON
Motor electricity state
300ms
Power on
No electricity
Electromagnetic brake
ON
4ms
OFF
7.2 Usage of Mechanical Brake “ BRAKER”
Mechanical brake is used to lock the vertical or tilt table connecting motor, to
prevent motor from falling down after power-failure. The motor with brake
feature should be selected to achieve this function. This brake can only be used for
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-Servo Driver User Manual-
keep the table, not for motor’s deceleration or machine’s stop. After connecting
with the required voltage, the internal brake will open, and the motor bearings can
rotate freely.
Using Driver BRAKE signal control intermediate relay, which is start braking
power by intermediate relay (Braking power provide by user). Brake signal are va
lid when delay time is P53 after drive motor power on; power off or alarm when B
RAKE signal auto shutdown, delay time is P53, power off power again.
When install the signal, brake power must have enough capacity, then it must
use free-wheeling diode as surge absorber.
Braking power
Motor
Relay
Driver
BRK+
24
22
Driver
BRK-
DC 12-24
7.3 Debugging
7.3.1 Inspect before degugging
After connection is done well ,there are some points as follow need to be confir
med firstly before being on power.
1
The connection of power is right & stable?Input voltage is right?
2
The line of power & motor if is short-circuit and GND?
3
The connection of control port is right?Polarity & size is right?
4
The connection between driver & motor is right & stable?
5
The axis of motor if is with load? Suggestion no-load debugging firstly,
then load debugging.
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7.3.2 JOG Control Mode
When servo parameter P7=1 or P7=7, servo system is JOG control mode.
When P7=7,the direction of motor is controlled by “CW”(PIN2_CN3) &
“CCW”(PIN14_CN3),not “ ” “ ” in the panel.
Press and hold “ ” to make servo motor rotation in positive direction ,
release key to stop motor’s rotation .The speed of rotation is determined by the
parameters P23&P31, when P31=1 or 2,it ups to the input of MODE/INTH,when
MODE/INTH is valid,the ratating speed is set by the paramete of P26.
Press and hold“ ”to make servo motor minus rotation, release the key to
stop motor rotation. The speed of rotation is determined by the parameter P23 &
P31,when P31=1 or 2,it ups to the input of MODE/INTH,when MODE/INTH is
valid,the ratating speed is set by the paramete of P26.
When turn on input CW signal,motor run in positive direction; when turn off CW,
motor stop. The speed is determined by P23 & P31. When P31=1 or 2 , it ups to
the input signals of MODE & INTH .when MODE&INTH is valid,the speed is set
by P26.
7.3.3 Position Control Mode
When system parameter P7= 0, or P7= 4/P7=8 & MODE is invalid,system is
in position control mode. Rotation speed is determined by input pulse frequency,
direction is determined by input Direction & servo parameter P15. The type of
pulse is set by the parameter of P14.
When P30=1 or 2, & INTH is valid,which can forbid the function.
When P32=0,electrical gear is determined by P12& P13.
When P32=1,servo driver have the function of dynamic electrical gear.
Note:
Exact-Stop control: When P20=0,P32=0,CCW is as start signal of exactstop , P23 is set for the speed of exact-stop,P45_D0 is set for the direction of
exact-stop , P40 is set for offset of exact-stop, when P2=2 , output COIN singal.
The acceleration constant of Position Control Mode is set by the parameter of
P36,The deceleration constant is set by the parameter of P37.
7.3.4 Speed Control Mode
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When System parameter P7 = 2 , or P7= 4 and MODE is valid, servo system
is in speed control mode. The max speed is determined by the parameter P24 &
P31. When P31=1or 2 , it ups to input of MODE/INTH ,when MODE/INTH is
valid, the max speed is set by P26,which is the speed when input 10V. The
rotating speed is determined by the voltage of Vin1, Vin1 = Vin*P54/100, P54 is
the percentage of input voltage. When P15=2, direction is determined by inputs of
CW/CCW .
The zero drift of Speed Control is adjusted by P28,which is set for the speed
is 0 when input voltage is 0V.
The acceleration constant of Speed Control Mode is set by the parameter of
P38,The deceleration constant is set by the parameter of P39.
Note: When P7=4,switch of MODE,send codes must after 10ms when MODE is
reached.
7.3.5 Torque Control Mode
When parameter P7=3,or P7=8 & MODE is valid,servo system is on Torque
Control Mode. Torque is determined by voltage of Vin1,Direction is determined
by polarity of Vin1 & P15. When P15=2,direction is determined by CW & CCW.
CW & CCW is Torque in Positive & Nagative direction respectively. When Vin
input 10V, it is max torque,max speed is determined by inner speed , P23.
P21 is the rated current of motor,P22 is the rated torque of motor.
Zero drift is set by P28,which is for output 0, when Vin is 0.
Torque can be adjusted by P29,the bigger P29 is, the bigger the torque is.
The acceleration constant of Torque Control Mode is set by the parameter of
P38,The deceleration constant is set by the parameter of P39.
Wehn Output torque reach at the percentage of torque of P22 , also P50 ,
servo system will output COIN signal. COIN is pulse signal,width is 10ms. P2=3
or P7=3 / 8,Output COIN when torque reach at set value of P50.
Note:
1.
When Torque control mode, P21 & P22 must be same to parameters of motor.
2.
When P7=8,MODE is cutting,must wait 10ms when MODE is reached ,and then
send codes.
Steps of Parameter set:
1. Set same P21&P22 to parameter of motor.
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2. Set P23,which is the max speed when input 10V .
3. Without load, Vin input 10V,adjust P28 ,which make speed & P23 same.
4. With load, Vin input 10V, adjust P29 , which make output torque & P22 same.
5. Set P50 ,which make motor’s torque is reached ,output COIN signal.
Attention: when vibration during controlling,if big motor,decrease P29; if small
motor,increase P29. Experienced values: 7.7NM/2.3kW Motor, P29=250; 1.3NM/400W ,
P29=1000. And also we could adjust P38&P39.
7.3.6 4 Stage Inner Pulse Control Mode
When P7=5 ,servo system in on inner pulse control mode. This function can
be used for fixed-length processing.
The control mode is determined by the parameter of P44.
When P44=0,start with servo automatical cycle; P44=1,Input MODE is valid,
start with servo automatical single stage; P44=2,Input MODE is valid,start with
servo automatical cycle. Input INTH is valid, Pause;and input INTH is valid again,
exit the current stage,If input MODE is valid,keep on current stage.
Start automatically,driver run the program cycle from 1st stage -> 2nd stage ->
3rd stage -> 4th stage,the table as following:
Stage
Pulses
Speed
Dwell
Direction
Output COIN
1st stage
P40
P23
P46
P45_D0
2nd stage
P41
P24
P47
P45_D1
When P2=2 ,
3rd stage
P42
P25
P48
P45_D2
Output COIN
4th stage
P43
P26
P49
P45_D3
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 set by P46,P47,P48,P49.
Note: Length = Pulses* Electrical gear*Pulse Equivalent.
7.3.7 Return Zero & 4 Stage Inner Position Control Mode
When P7=11,servo system in on inner position control mode.this function
also can be used for fixed length processing.Servo Start when input MODE is
valid,direction is determined by the polarity of pulses. Pause when input INTH is
valid,and (must wait over 0.5s) input INTH is valid again ,exit current stage,if
input MODE is valid, keep on the current stage. Please check the table as
following:(0: Invalid , 1: Valid)
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CCW
CW
MODE
Pulses
Speed
0
0
1
Return-Zero
P23
0
1
1
P41
P24
1
0
1
P42
P25
1
1
1
P43
P26
Note: Length = Pulses* Electrical gear*Pulse Equivalent.
7.3.8 4 Stage Inner Speed Control Mode
When P7=13,servo system is on inner speed control mode. Input MODE is
valid, Servo Start . Direction is determined by size of speed.Please check the table
as following:(0: Invalid , 1: Valid)
CCW
CW
MODE
Speed
0
0
1
P23
0
1
1
P24
1
0
1
P25
1
1
1
P26
7.3.9 Inner Speed Control Mode
When P7=9,servo system is on inner speed control mode.
Motor start when input MODE is valid, Motor stop when input INTH (NC
singal) is valid , (When P30=1 or 2 , motor stop immediately).Speed is determined
by inputs of CW & CCW.Table as following:
MODE
INTH
CCW
CW
Speed
0
0
1
1
0
0
P23(max speed when Vin=10V)
1
1
0
1
P24
1
1
1
0
P25
1
1
1
1
P26
7.3.10 Stop when Inner Speed Control Torque is reached
When P7=10,servo system is that motor stop when inner speed control torque
reach at P50. Speed is determined by CW & CCW.
MODE
CCW
38
CW
Speed
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-Servo Driver User Manual-
1
0
0
P23
1
0
1
P24
1
1
0
P25
1
1
1
P26
7.3.11 Left/Right Limitation of Inner Speed
When P7=12 ,servo system is on inner speed control,motor stop when left or
right limitation is reached, motor stop or reverse when torque is reached during
moving. MODE is starting switch.
INTH
Direction
Stop after detected
Speed
1
Direction of P23
CW
P23
0
Direction of P24
CCW
P24
When torque reached at the value of P50,when P44=0,motor stop,when
P44=1, motor turn reverse.
7.3.12 JOG Control with External Signal
When P7=7, servo system is JOG control with external input CW&CCW
signal.
When turn on input CW signal,motor run in positive direction; when turn off
CW, motor stop. The speed is determined by P23 & P31. When P31=1 or 2 , it ups
to the input signals of MODE & INTH .when MODE&INTH is valid,the speed is
set by P26.
When turn on input CCW signal,motor run in negative direction; when turn
off CCW, motor stop. The speed is determined by P23 & P31. When P31=1 or 2 ,
it ups to the input signals of MODE & INTH .when MODE&INTH is valid,the
speed is set by P26.
The acceleration constant is set by the parameter of P38,The deceleration
constant is set by the parameter of P39.
This control mode is similar to JOG control mode,only change Key in the
panel to External Signal.
7.4 Debugging
 Suggestion no-load debugging firstly, then load debugging.
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 Wrong Parameter set will broken down the device,please confirm if
parameter is right before turn on servo driver.
7.4.1 Debugging of Zero Position of Encoder
When zero position offset occurs,must be corrected by servo driver.
Open the cover of motor,set parameter P7=1,P3=1(show current of motor),
Make motor run in positive & negative direction with JOG mode(Speed is from
low to max),adjust encoder of motor,and make the curret of CW&CCW is same &
min when speed is at Max speed .
In order to avoid alarm as over-current,th speed can be from lower speed to
the max speed.
7.4.2 Debugging of Parameter of Zero position
Different brand servo motor,the parameter maybe different,so it needs to
adjust parameter P34 , solution as follow:
Set parameter P7=1,P3=1(show current of motor), Make motor run in
positive & negative direction with JOG mode(Speed is from low to max),adjust
parameter P34, and make the curret of CW&CCW is same & min when speed is
at Max speed .
After alter P34 every time,it must do wirte-in operation & reboot ,and then
P34 will be effective.
In order to avoid alarm as over-current,th speed can be from lower speed to
the max speed.
7.4.3 Adjustment of gain and rigidity
The servo system applies feedback system of PID adjustment, current loop,
speed loop and position loop. The rule it obeys is: the inside of the ring, the need
to improve its ability of response. Or it will appear over-adjust or vibration. As the
current loop is enough to ensure its ability of response, usually it doesn’t need to
change. What should be adjusted are position loop and speed loop.
Speed Proportion Gain P9: bigger in its set value,bigger in gain,but louder in
noise ;normally the heavier the load,the bigger the value; under the condition of
no noise,the bigger , the better.
Current Proportion Gain P8: bigger in its set value,the faster in current gain;
when motor vibrate, we could increase P8; When use motor with small rotor
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inertia & over-heated,we can decease P8. Generally it doesn’t need to be adjusted
except special askes.
Position Loop Gain P11: bigger in its set value, the faster positioning , the
smaller follow deviation count, higher in gain ,but eailer to virbate & overshoot;
Smaller in its set value, more stable, but wores in gain.Without causing vibration
or noise on the mechanical system,the position loop gain value can be increased to
speed up response and shorten the positioning time.
Position Loop Feed Forward Gain P10: It can be used to reduce the track
error of position control and speed up the response. If the feed forward gain is too
large,it might cause speed overshoot and in position oscillations which result in
the repeated ON/OFF operation of the output contact INP(“In Position” Output
siganl ).
Speed Loop Feed Forward Gain P59: It can be used to increase gain &
rigidity ; if it is too large,it might cause vibration; the bigger the load,the smaller
the value. Without causing vibration,the bigger the better.
Knowledge of mechanical system’s rigidity:
● If the rigidity of the conveyors connected by belt is low, please use low
rigidity parameter;
● If the rigidity of the ball screw drove by gear box is medium, please use
medium rigidity parameter;
● If the rigidity of ball screw drove by servo motor is high, please use high
rigidity parameter.
The adjustment of servo depends on the system, which needs your careful
watching, thinking, then you can find suitable parameters.
NOTE:
1.If motor happen to screaming noise,it can increase the parameter of P8.
2. If it happen to screaming noise when moving ball screw,it can decrease the
parameter of P9.
3.When moving ball screw,it happen to vibration,it can decrease the parameter of
P10; when the vibration is too much,and decrease P10 doesn’t work,it can decrease the
parameter of P11.
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7.4.4 Basic Parameters Adjustment Diagrams
A) Position & Speed Control Flow Diagram
B) Torque Control Flow Diagram
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7.4.5 Position Resolution & Setting of Electrical Gear
Position resolution (an impulse travel) ups to the stroke per turn on the servo
motor and encoder feedback pulses per turn Pt, which can be expressed with the
below formulation:
l 
S
Pt
Equation,
Δl:
A pulse travel（mm）；
ΔS: Servo motor stroke per revolution（mm/r）；
Pt : Encoder feedback pulses per revolution（pulse/r）。
The system has four multiplier circuit, so Pt ＝4×C，wherein, C refers to the
number of lines per revolution of encoder. In this system, C = 2500 lines / turn, so
Pt = 10000 pulses / turn.
A command pulse multiplies electronic gear ratio G and then it can be
transferred into position control pulse, so a command pulse stroke is expressed as
follows:
l  
S * C
Pt
Command Pulse Divider numerator
Equation, G ＝
Command Pulse Divider denominator
When the drive is used for numerical control system, the parameters P12 and
P13 are calculated as follows:
P12
Mechanical reduction ratio x system pulse equivalent x 10000
———— = ——————————————————————————
P13
Screw pitch(mm)
General CNC pulse equivalent: 0.001mm
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7.4.6 Debugging of Start-Stop Feature
Servo System start-stop feature refers to the time of acceleration and
deceleration, which is determined by the load inertia, start, and stop frequency,
and also limited by the servo drive and servo motor performance. Frequent startstop, too short acceleration and deceleration time, too big load inertia will result in
overheating of the drive and motor, over voltage alarm of main circuit. Therefore
it must be adjusted upon the actual conditions.
1) Load inertia and start-stop frequency
When used under the situation of high start-stop frequency, it is necessary to
confirm in advance whether the motor is in the allowed frequency range. Allowed
frequency range varies in terms of the different motor type, capacity, load inertia,
and motor speed. Under the condition of load inertia of m times motor inertia,
start-stop frequency and recommended acceleration and deceleration time of servo
motor are as follows:
Multiples of the load
Allowed start-stop frequency
inertia
＞100Times/min：Acceleration and deceleration
m≤3
time constant is 500 or less
60～100Times/min：Acceleration and deceleration
m≤5
time is 150 or less
＜60Times/min：Acceleration and deceleration
m＞5
time is 50 or less
2) Impact of servo motor
Different types of servo motors permitted start-stop frequency and
acceleration and deceleration time vary according to different load conditions,
run-time, duty cycle, and ambient temperature. Please refer to electrical
specifications and make the adjustment upon specific conditions, to avoid
overheating resulted in the alarm or affect the service life.
3) Adjustment method
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General load inertia should be less than 5 times of rotator inertia. If always
used for large load inertia, the motor may generate over-voltage of main circuit or
abnormal braking at the time of slowing down, and then the following methods
can be adopted:

Increase the acceleration and deceleration time. You can set a little too big
value firstly and then gradually reduce it to be an appropriate value.

Reduce the internal torque limit value and lower current limit.

Reduce the maximum motor speed.

Use motor with bigger power and inertia.
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Chapter 8 Maintenance & Repair
Errors alarm list:
Alarm
code
ER0-1
Alarm
content
Motor
speed
rotates
too high
Alarm cause
1
2
Rotation speed too
high
Parameter P27
too small
Servo system
doesn’t connect
with power
2 Insurance ruins
1
ER0-3
Power error
1
2
ER0-4
Position
error too
big
3
4
5
ER0-6
Memory
error
Machine is block
Parameter P17
too big
Parameter P18
too small
Parameter P27
too small
Input pulse
frequency too high
U19 are bad
Solution
1
2
1
2
3
1
2
3
Reduce rotation
speed
Change P27
Connect with
servo main power
Replace insurance
Replace bad
pieces
Examine machine
Change
correspond
parameter
Induce rotation
speed
Replace bad pieces
The CWSTP switch be 1 Rotate in CCW
direction
bumped
②
Set
P20=1
2 Parameter
P17 too
small
③ Change P17
1
ER0-7
Forbid
CWSTP
3
ER0-8
Forbid
CCWSTP
The CCWSTP switch is
bumped
②Parameter P17 too small
1
Encode signal
error
② Encode wire ruins or
shield isn’t good
1
Motor and downlead wire are
short or motor
insulation
breaks
down
2
Parameter P16 is too
small
1
ER0-9
ER0-10
Encode
trouble
Motor
Power is
too
big
46
3
Rotate in CW
direction
2
Set P20=1
③ Change P17
1
2
Replace encode or
wire
Set P51=1
1
2
Replace motor
Change P16
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ER0-11
IPM
module
trouble
ER0-12
Motor
current is
too
big
Others
Don’t
display
-Servo Driver User Manual-
IPM module ruins
1
Replace IPM
Temperatuer is
module
too high
2
Replace motor
3 Voltage is too high
3
Check power
4 Motor insulation ruins
3
Motor and downlead wire are
short or motor
3
Replace motor
insulation
breaks 4 Replace IPM
down
module
4
Parameter P21 is too 5 Change P21
small
5
IPM module is bad
Cutting off and
Wait for one
booting’s interval is too minute, then
short
operate
1
2
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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This manual may be modified when necessary because of improvement of the
product,modification,or changes in specifications,this manual is subject to change
without notice.
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