Thank you for using this drive. This manual just provides relevant information of EA100 series AC servo drive and its adaptive motor.

Transcription

1 Operation Manual EA1 2~1W AC Servo Drive Version:E12.1 Thank you for using this drive. This manual just provides relevant information of EA1 series AC servo drive and its adaptive motor. Installation and inspection of the servo drive and servo motor Operation instruction of the servo drive panel Code instruction Malfunction instruction This manual suits for users as follows for reference Installation or wiring technician Debugging technician Maintenance and inspection technician Before use, please read this manual carefully, and put it on a safe place. Following instructions should be obeyed before going through this manual: There is no vapour, corrosive gas and inflammable gas on site. It is prohibited to connect 3-phase mains to the motor s terminals of U, V, W, which will damage the drive and motor. Grounding should conform to the related electrician regulations. Please do not disassemble the drive, motor or change its wiring when power is on. Please do not touch the radiator when power is on. Please consult our distributors or services center if you still have any query.

2 Safety Cautions (Please read the manual before use) It is a must to read this operation manual, technical data and relevant information of servo motor carefully before installation, use, maintenance and inspection. Description of Marks Related to Safety Wrong use will lead to danger or injury. Wrong use may cause danger, injury, or damage to the equipment. Prohibited operation may lead to damage or malfunction of the product. Receiving inspection Danger Please collocate and use the servo drive and motor as specified. Otherwise it may lead to fire or equipment malfunction. Installation cautions Danger Please do not expose the drive to the place of vapour, corrosive gas and inflammable gas. Otherwise it may lead to electric shock or fire.

3 Wiring cautions Danger Please make the grounding reliable. Poor grounding may lead to electric shock or fire. Please do not connect 3-phase mains to motor s output terminals U, V, W; otherwise it may lead to injury or fire. Please make sure the jump ring on mains and motor s output terminals will not fall off by minor external force, otherwise it may cause fire. When wiring, please wire according to the selection of wire rod to prevent from danger. Operation cautions Caution The setting values of parameters should meet the user s requirement before the mechanical equipment starts, otherwise, it may be out of control or cause malfunction. Prohibition It is prohibited to touch any part of motor when it is revolving, otherwise it may cause injury. To avoid accidents, please separate the belt from coupling of mechanical equipment before starting for the first time. Danger If wrong operation occurs after servo motor and mechanical equipment run, it will not only damage the equipment, but may lead to injury. It is strongly suggested to test if servo motor works well under no load before applying to the load, to avoid unwanted danger. Please do not touch radiator of servo drive when it is running, otherwise it may cause scald by high heat.

4 Maintenance and inspection Prohibition It is prohibited to touch interior of servo drive and servo motor, which may cause electric shock. It is prohibited to dismantle drive panel after power is on, there is risk of electric shock. Please do not touch any terminal in 1 minutes after power off. The residual voltage may cause electric shock. Please do not take servo motor apart, otherwise it my cause electric shock or injury. Please do not change the wiring when power is on, otherwise it may cause electric shock or injury. Installation, wiring and maintenance of servo drive and motor can be conducted by technician only. Wiring for main circuit Caution Please do not tie down or put the cable of power and signal through the same pipeline, and separate each other by more than 3 cm (11.8 inch) when making wiring. Regarding signal, it is advised to use stranded wire no longer than 3 m(9.84 feet), and as for encoder (PG) feedback, multi-core glue bulk shielding wire no longer than 2 m(65.62 feet). Even if power is off, high voltage may still remain inside the servo drive. Please pause for 1 minutes and do not touch mains terminals. Make sure to make the inspection after the indicator [CHARGE] goes out. Prohibition Please do not switch mains frequently, if necessary, the interval should be at least 1 minute.

5 Wiring of main circuit terminals Caution Please take the terminal blocks away from the drive. Please insert only one wire to every socket of terminal blocks. Please do not make short-circuit of the core-wires and nearby cables when inserting wires. Before power is on, please check carefully if the wiring is correct. Due to our continuous efforts in product updating and improvement, this manual may be changed without notification.

6 Contents 1 Inspection and Model Description Inspection Model of Servo Drive Model of Servo Motor Description of Servo Motor Adaptation Brief Introduction to Servo Drive Operation Mode Signal and Wiring of Servo Drive Installation Cautions Requirements of Storage Environment Requirements of Installation Environment Installation Space Wiring Power Line phase connection phase connection Standard Wiring Standard wiring of position mode Standard wiring of speed mode Standard wiring of torque mode Information of Signal Line Terminals Correspondence between CN4 terminals and signal Color description of control signal wires Panel Display and Operation Name of Panel Components Process of Parameter Setting Display of Memory State Display of Fault and Alarm Display of Positive/Negative Sign Function Codes Definition of Codes Codes List Malfunction Codes Appearance and Dimensions Appearance and dimensions of EA1 series servo drive Dimensions of Motor...52

7 1 Inspection and Model Description 1.1 Inspection To avoid any negligence during purchase and transportation, please carefully inspect items as follows: If motor shaft runs smoothly: Rotate the shaft by hand, if it runs smoothly, then it is ok. Appearance: Visually inspect if there is any damage or scratch on appearance. If any screw is loose. Please contact our agent for proper solutions in case any of the above cases occurs. 1.2 Model of Servo Drive EA 1-R7-2 A A Product Categories: EncoderType: EA:Servo Drive A: Incremental Product Series: 1: General Servo Drive B: Absolute C: Sine-Cosine Design Version: A-Z Adapted Load Power: R1 R KW.2KW R7.7KW Voltage Class: 1: 1-phase 22V 2: 3-phase 22V 3: 3-phase 38V 1.3 Model of Servo Motor 8 S R7 3 B B Flange Size: 6mm 8mm 13mm SINEE Motor Power: R2 R4 R6 R7 1R.2KW.2KW.6KW.7KW 1KW KW Rated Rotational Speed: B / A B With Brake Without Brake Minimal-wiring Non-Minimal-wiring 1RPM 2RPM 3RPM

8 1.4 Description of Servo Motor Adaptation Servo Drive Adapted Servo Motor Remarks of Servo Motor EA1-R2-2AA EA1-R4-2AA EA1-R6-2AA 6SR23A 6SR23AB 6SR23B 6SR23BB 6SR43A 6SR43AB 6SR43B 6SR43BB 6SR63A 2 2W, 6mm flange, rated rotational speed 3 rpm, minimal-wiring incremental encoder, servo motor without brake. 2W, 6mm flange, rated rotational speed 3 rpm, minimal-wiring incremental encoder, servo motor with brake. 2W, 6mm flange, rated rotational speed 3 rpm, non-minimal-wiring incremental encoder, servo motor without brake. 2W, 6mm flange, rated rotational speed 3 rpm, non-minimal-wiring incremental encoder, servo motor with brake. 4W, 6mm flange, rated rotational speed 3 rpm, minimal-wiring incremental encoder, servo motor without brake. 4W, 6mm flange, rated rotational speed 3 rpm, minimal wiring incremental encoder, servo motor with brake. 4W, 6mm flange, rated rotational speed 3 rpm, non-minimal-wiring incremental encoder, servo motor without brake. 4W, 6mm flange, rated rotational speed 3 rpm, non-minimal-wiring incremental encoder, servo motor with brake. 6W, 6mm flange, rated rotational speed 3 rpm, minimal-wiring incremental encoder, servo motor without brake.

9 6W, 6mm flange, rated rotational speed 6SR63AB 6SR63B 6SR63BB 8SR73A 8SR73AB EA1-R7-2AA 8SR73B 8SR73BB 8S1R25B EA1-1R-2AA 8S1R25BB 131R1A 3 3 rpm, minimal-wiring incremental encoder, servo motor with brake. 6W, 6mm flange, rated rotational speed 3 rpm, non-minimal-wiring incremental encoder, servo motor without brake. 6W, 6mm flange, rated rotational speed 3 rpm, non-minimal-wiring incremental encoder, servo motor with brake. 75W, 8mm flange, rated rotational speed 3 rpm, minimal-wiring incremental encoder, servo motor without brake. 75W, 8mm flange, rated rotational speed 3 rpm, minimal-wiring incremental encoder, servo motor with brake. 75W, 8mm flange, rated rotational speed 3 rpm, non-minimal-wiring incremental encoder, servo motor without brake. 75W, 8mm flange, rated rotational speed 3 rpm, non-minimal-wiring incremental encoder, servo motor with brake. 1W, 8mm flange, rated rotational speed 25 rpm, non-minimal-wiring incremental encoder, servo motor without brake. 1W, 8mm flange, rated rotational speed 25 rpm, non-minimal-wiring incremental encoder, servo motor with brake. 1W, 13mm flange, rated rotational

10 speed 1 rpm, minimal-wiring incremental encoder, servo motor without brake. 1W, 13mm flange, rated rotational speed 1 rpm, minimal-wiring 131R1AB incremental encoder, servo motor with brake. 1W, 13mm flange, rated rotational speed 1 rpm, non-minimal-wiring 131R1B incremental encoder, servo motor without brake. 1W, 13mm flange, rated rotational speed 1 rpm, non-minimal-wiring 131R1BB incremental encoder, servo motor with brake. 1.5 Brief Introduction to Servo Drive Operation Mode Single Mode Mixed Mode Mode Name Mode Mark Mode Code Speed Control Mode S Position Control Mode P 1 Torque Control Mode T 2 Speed-position Switch Mode Sp 3 Torque-speed Switch Mode Ts 4 Position-torque Switch Mode Pt Signal and Wiring of Servo Drive 4

11 5-bit 7-segment LED display panel, display parameter and fault 5 Analog monitoring output, connect to the external monitor 5-bit separate buttons for panel operation Mains, 3-phase 22 VAC External braking resistor Power supply indicator Motor cable RS232\RS485 communication cable, communicate with upper controller Connect to upper controller, input/output signal of 36 leads Encoder wire 5

12 2 Installation 2.1 Cautions Please pay attention to following cautions: The connection between drive and motor should not be tight. When installing drive, every screw should be fastened well. Motor axis must be well aligned to setting axis. Thicken the U, V, W cables and the encoder s connecting line if the wire between drive and motor is longer than 2m. Motor s retaining screws must be locked well. 2.2 Requirements of Storage Environment This product should be kept in packing case before installation. To make the product meet our company s warranty scope and maintaining in the future, please pay much attention to the following items when storing, if it will not be used for the present. Must be put on place where is dustless and dry. The storage temperature must be within -2 C to +65 C. The storage relative humidity must be within % to 9% and there is no moisture condensation. Avoid to store at surroundings where there is corrosive gas or liquid. You had better store it on shelf or platform after appropriate packaging. 2.3 Requirements of Installation Environment This drive s using environment temperature range is C~5 C. Please put it in drafty places if ambient temperature is over 4 C. It is suggested to be put in less 4 C if running for a long time to guarantee its unfailing performance. If this product is installed in distribution box, the overall dimension of the distribution box and the ventilation conditions must meet the overheating-proof needs of all inner electronic devices. And please notice that whether machinery shake will affect the electronic devices. Moreover, the using conditions also include: No highheat device. No water-drop, vapour, dust and oiliness dust. 6

13 No corrosive, inflammable gas or liquid. No shake. No electromagnetic noise. The motor s using ambient temperature range is C ~4 C. Its using conditions also include: No highheat device. No water-drop, vapour, dust and oiliness dust. No corrosive, inflammable gas or liquid. No floating dust and metal particle. 2.4 Installation Space Single drive installation Multiple drives installation 5mm 1mm 25mm 25mm 5mm 25mm 25mm 5mm Control Cabinet 5mm 1mm Control cabinet 3 Wiring 7

14 3.1 Power Line phase connection AC22V/5Hz Noise filter L1 L2 L3 L11 L12 PE U V W M Note 1 DC+ C D Servo drive phase connection AC22V/5Hz Noise filter Note 1 L1 L2 L3 L11 L12 PE DC+ C D Servo drive U V W M Note 1: Make direct connection between C and DC+ (factory connected) when using internal braking resistor; disconnect C and DC+ when using external braking resistor, and connect external resistor between D and DC+. 8

15 3.2 Standard Wiring Standard wiring of position mode Note 1 Pulse signal input Pulse direction input Alarm clear reset Deviation counter zero-clearing Command pulse forbidden Analog input 1 (V~+1V) Analog input 2 (V~+1V) Analog input 3 (V~+1V) Note 2 Servo ON input CCW Limit CW Limit PE PE Communication cable DI1 DI2 DI3 DI4 DI5 DI6 COM CN CN4 PULS+ 4 PULS- SIGN+ SIGN- AI1 GND AI2 GND AI3 GND CN CN3 EA1 Servo Drive CN4 33 COM DO1 DO2 DO3 DO4 DO5 DO6 CN4 35 /SA 36 SA 17 /SB 16 SB 14 /SZ 15 SZ CN1 1 M1 CN5 3 GND 2 M 3 GND PE Note 3 Communication cable Servo ready Motor rotation output Zero speed Position Arrival Torque limit ON Fault Alarm Encoder A-phase output Encoder B-phase output Encoder Z-phase output Analog output 1 Analog output M Note 1: The function and logic attribute of DI1, DI2, DI3, DI4, DI5, DI6 can be set in Function Codes. Note 2: Pulse command type can be set as orthogonal or pulse + direction in Function Codes. The pulse signal and pulse direction showed in the above figure is orthogonal signal when setting as orthogonal. In order to prevent input pulse from interference, please be sure to make the drive grounds well. Note 3: The function and logic attribute of DO1, DO2, DO3, DO4, DO5, and DO6 can be set in Function Codes. 9

16 3.2.2 Standard wiring of speed mode Note1 Servo ON Input Alarm clear reset Speed direction selction Speed selection 1 Speed selection 2 Speed selection 3 Speed selection 4 CCW Limit CW Limit Analog speed input 1 (V~+1V) Analog speed input 2 (V~+1V) Analog speed input 3 (V~+1V) PE DI1 DI2 DI3 DI4 DI5 DI6 DI7 DI8 DI9 COM AI1 GND AI2 GND AI3 GND CN CN EA1 Servo Drive CN4 33 COM DO1 DO2 DO3 DO4 DO5 DO6 CN4 35 /SA 36 SA 17 /SB 16 SB 14 /SZ 15 SZ CN1 1 M1 3 GND 2 M 3 GND PE Note 2 Servo ready Motor rotation output Zero-speed Speed Arrival Torque Limit ON Fault Alarm Encoder A-phase output Encoder B-phase output Encoder Z-phase output Analog output 1 Analog output Communication cable CN3 CN5 Communication cable M Note 1:The function and logic attribute of DI1, DI2, DI3, DI4, DI5, DI6, DI7, DI8, and DI9 can be set in Function Codes. Note 2: The function and logic attribute of DO1, DO2, DO3, DO4, DO5, and DO6 can be set in Function Codes. 1

17 3.2.3 Standard wiring of torque mode Note 1 Servo ON Input Alarm Clear Reset CW Limit CCW Limit DI1 DI2 DI3 DI4 COM CN EA1 Servo Drive CN4 33 COM DO1 DO2 DO3 DO4 DO5 DO6 Note 2 Servo ready Motor rotation output Zero-speed Torque Limit ON Rotation Limit ON Fault Alarm Analog Input 1 (V~+1V) Analog Input 2 (V~+1V) Analog Input 3 (V~+1V) PE Communication cable AI1 GND AI2 GND AI3 GND CN CN3 CN4 35 /SA 36 SA 17 /SB 16 SB 14 /SZ 15 SZ CN1 1 M1 3 GND 2 M 3 GND PE Encoder A-phase output Encoder B-phase output Encoder Z-phase output Analog output 1 Analog output CN5 Encoder cable M Note 1: The function and logic attribute of DI1, DI2, DI3, and DI4 can be set in Function Codes. Note 2: The function and logic attribute of DO1, DO2, DO3, DO4, DO5, and DO6 can be set in Function Codes. 11

18 3.3 Information of Signal Line Terminals Correspondence between CN4 terminals and signal SIGN- PULS- SIGN+ PULS+ DI1 DI3 DI5 DI7 DI9 DO2 DO4 DO PLC /SZ SZ SB /SB 24V AI1 AI2 AI3+ AI3- GND GND DI2 DI4 DI6 DI8 DI1 DO1 DO3 DO5 COM COM /SA SA Real 3D graphic model: please make the actual using wire rod according to the line number identification as showed in the graphic model. In the figure above, the upper row terminals are even sequence 2, 4, 6 16,18 from right to left, and the lower row terminals are odd sequence 1,3 15,17 from right to left. In the figure above, the upper row terminals are even sequence 2, 22 34,36from right to left, 12

19 and the lower row terminals are odd sequence 19,21 33,35 from right to left Color description of control signal wires Signal wire 1 Color White White/black Red Red/black Green Green/black Signal DI1 Analog 2 Analog 1 GND DO1 COM Signal wire 2 Color White White/black Red Red/black Green Green/black Signal SIGN- SIGN+ PULS- PULS+ DI1 COM Signal wire 3 Color Brown Brown/white Red Red/black Orange Rrange/black Signal SIGN- SIGN+ PULS- PULS+ DI1 DI3 Color Yellow Yellow/black Green Green/black Blue Blue/white Signal DI5 DI7 DI9 DO2 DO4 DO6 Color Yellow/red Purple Purple/white White White/black Pink Signal 24V SZ+ SZ- SB- SB+ GND Color Pink/black Grey Grey/black Bright green Bright green/black Bright blue Signal Analog 2 Analog 3+ Analog 3- GND Analog 1 DI2 Color Bright blue/black White/red White/blue Red/white Red/blue Grey/red Signal DI4 DI6 DI8 DI1 D1 D3 Color Grey/blue Pink/red Pink/blue Green/white Bright green/blue -- Signal D5 COM COM SA- SA

20 4 Panel Display and Operation 4.1 Name of Panel Components Table 4-1 Description of panel components Fig 4-1 Panel cutline Component Name Function Digital display tube Displayer 5-bit, 7-segment LED digital tube is used for displaying monitoring values, parameters and setting values. MOD MODE Key Enter interblock mode or break away from interblock/interclass mode and parameter setting mode SHIFT Key UP Key Can be used for revising upper setting character value if the flashing character moves left in setting mode. Switchover the display between upper bit and lower bit if the displayed parameter is over 5 bits. Modify monitoring code, group number, parameter code or setting value. 14

21 DOWN Key Modify monitoring code, group number or setting value. SET SET Key Display and save setting value, enter interblock and parameter setting mode. 4.2 Process of Parameter Setting (1) Panel dislays the default monitoring code of drive for one second, and then enters monitoring display mode when drive is powered on. (2) In monitoring mode, press UP or DOWN to switchover monitoring codes.meanwhile, press SET to enter the monitoring display of the code. It will enter the monitoring display of the code automatically after one minute if no key operation. (3) In monitoring mode, monitoring parameter is as 32 bits, or when the value displayed is greater than 5 digits of binary number, press SHIFT key to switchover the digits displayed. When higher digits displayed, the decimal point of the highest digit LED will be lightened. (4) In monitoring mode, press MODE to enter parameter interblock mode, then press UP/DOWN to switchover group number, press MODE to break from interblock mode to monitoring mode. (5) In parameter interblock mode, press SET to enter parameter interclass mode. Press MODE to break from interclass mode to interblock mode. The flashing character will move left if pressing SHIFT, which can realize the modification of group numbers and interclass higher digits, to select required codes. (6) In parameter interclass mode, press SET to immediately enter parameter setting mode and display the setting value, press UP or DOWM to modify the later two digits. (7) In setting mode, the flashing character moves left when pressing SHIFT, and then set the higher digits through UP/DOWN. (8) After modification of the setting value, press SET to save codes or perform command. (9) After code setting, the displayer will display corresponding prompt codes such as -End-, and return to parameter interclass mode. (1) In setting mode, pressing MODE or no operation in one minute will lead to abandoning the modification of the parameter s setting value and returning to interclass mode. In other modes, no operation will also lead to returning to monitoring mode. The detailed flowchart is showed 15

22 on next page. Monitoring Mode \/ or /\ Monitoring Parameters MODE Basic parameter Position control parameter SET Auxiliary Fucntion Parameter interblock mode Motor Parameter P- P1- P2- P8- PE- \/ or /\ P-1 P-2 P1-1 P1-2 MODE P2-1 P2-2 Parameter interblock mode SET P8-1 PE-1 P8-2 PE-2 \/ or /\ Display setting value /\ or SET \/ 1 11 Setting mode P-22 Save setting parameter SET -End- Fig 4-2 Flowchart of panel operation 16

23 4.3 Display of Memory State Press SET Key to display the state in parameter-setting mode Display Mark Content Description -End- The setting value is saved correctly. Po-On The parameter is active only after power on again. SrvOn Parameter can not be set in starting of servo Err-r Read-only code, unmodifiable. resvd Reserved code, unmodifiable. 4.4 Display of Fault and Alarm Display Example Content Description When drive malfunction occurs, the panel will display fault as the mark AL. and xx. The range of xx is 1~FFH. Pressing operation button at AL.xx mean time, you can see other marks. But the lowest decimal point of LED will flash until the malfunction is cleared. It will display AL. ---when no fault or alarm. When drive alarm occurs, the panel will display alarm as the mark AL.E AL.Exx and xx. Pressing operation button this moment, you can see other marks. But the lowest decimal point of LED will flash until the alarm is cleared. 4.5 Display of Positive/Negative Sign Display Example Content Description After entering setting mode, you can press UP/DOWN to increase and decrease the displayed codes, press SHIFT to modify the carry value of 1528 the code you want to change. The carry value is displayed as flashing state at the moment. When a code has positive/negative sign and its setting range is less than digits, after operation as above, the highest character will be displayed as a minus sign, i.e., negative state. When a code has positive/negative sign and its setting range is more than digits, after operation as above, the lower right of the highest two 17

24 characters will occur a dot, which means the code is in negative state. The lower right decimal of the highest digit is lightened when displaying. 23 higher digits, which means the one displayed is a higher digit. It will display when the code is a 32-bit number and its decimal value 2468 is over 5-digit number, and the highest of lower 5 digits is, which means there is still higher digit not displayed. 5 Function Codes 5.1 Definition of Codes 18

25 The codes are divided into 1 groups as follows. The 1 st code after initial code P is a group number, and the subsequent two codes are the internal numbers. The communication address is made up of group number and internal number. The code groups are defined as follows: P-xx Group : Monitoring codes P1-xx Group 1: Basic codes P2-xx Group 2: Position control codes P3-xx Group 3: Speed control codes P4-xx Group 4: Torque control codes P4-xx Group 5: Tuning codes P6-xx Group 6: Input/output setting codes P7-xx Group 7: Communication codes P8-xx Group 8: Auxiliary function codes PE-xx Group E: Motor codes Code setting attributes instructions: ( ): Set at all times, effective immediately. ( ): Set at all times, effective when power on again. ( ): Set when the drive halt, effective immediately. ( ): Set when the drive halt, effective when power on again. ( ): Read-only codes cannot be set. Control modes instructions: P Position control mode S Speed control mode T Torque control mode 19

26 5.2 Codes List Group P Monitoring Codes Code Instruction Factory Setting Attri Running Unit Setting Range. Mode Display actual rotational P- speed of motor when - - rpm P S T running P-1 Percentage relative to rated torque - - % P S T P-2 Present electrical degree display - - P S T P-3 Display actual DI input level P S T P-4 Display DO state (ON or OFF) P S T P-5 Version number of software P S T P-6 Reserved P-7 Reserved P-8 Actual voltage value of AI1 sampling - - mv P S T P-9 Actual voltage value of AI2 sampling - - mv P S T P-1 Actual voltage value of AI3sampling - - mv P S T P-11 Present bus voltage value - - V P S T P-12 Effective value of present running current - - A P S T P-13 Actual value of Iu-phase current A P S T P-14 Actual value of Iv-phase A P S T 2

27 current P-15 Reserved P-16 Present pulse command (Servo is OFF, clearing) - - plus P S T P-17 Reserved P-18 P-19 P-2 P-21 P-22~ P-27 Display selected malfunction code of P P S T Rotational speed when P16 malfunction occurs - - rpm P S T Bus voltage value when P16 malfunction occurs - - V P S T Effective current value when P16 malfunction occurs - - A P S T Reserved P-28 Present output pulse Nos - - plus P S T 21

28 Group P1 Basic Codes Code Instruction Factory Setting Running Unit Attri. Setting Range Mode Control mode selections: : Speed control mode 1: Position control mode P1-2: Torque control mode ~5 - P S T 3: Speed-position switch mode 4: Torque-speed switch mode 5: Position-torque switch mode P1-1 Position command source selections: : External pulse command (pt) 1:Internal multi-stage command (pr) ~1 - P Input modes of external pulse command : :Pulse + direction, positive P1-2 logic ~3 - P 1:Pulse + direction, negative logic 2: Orthogonal, positive logic 3: Orthogonal, negative logic Multi-stage performance of P1-3 internal position command selections: :Run from pr1 to pr16, circulate 1:Run from pr1 to pr16, not circulate ~2 - P 22

29 2: External Di switch P1-4 Reserved P1-5 Speed command sources: :Internal digital setting (P3- setting) 1: Analog value 1 (AI1) setting 2: Analog value 2 (AI2) setting 3: Analog value 3 (AI3) setting 4: Internal speed command switch 5: JOG (need active external DI JOG) ~5 - S Multi-stage speed selections: : Multi-stage auto-switch, P1-6 circulate 1: Multi-stage auto-switch, not ~2 - S circulate 2: Multi-stage speed external DI switch P1-7 Reserved P1-8 Torque command sources: : Internal digital setting (P4- setting) 1: Analog value 1 (AI1) setting ~3 - T 2: Analog value 2 (AI2) setting 3: Analog value 3 (AI3) setting P1-9 P1-1 P1-11 P1-12 Reserved Position S-type smoothing 1 1~1 ms Pr 23

30 forward command acceleration and deceleration time constant Position S-type smoothing P1-13 reverse command acceleration 1 1~1 ms Pr and deceleration time constant Acceleration and deceleration P1-14 smoothing time constant of position S-type smoothing 1 ~1 ms Pr curve P1-15 Reserved Speed S-type smoothing P1-16 command acceleration time 1 1~1 ms S constant P1-17 P1-18 P1-19 Speed S-type smoothing command deceleration time constant 1 1~1 ms S Acceleration and deceleration smoothing time constant of 1 ~1 ms S speed S-type smoothing curve Lowpass filtering smoothing time of speed command 5. ~1. ms S P1-2 Analog speed command gain 3 ~5 rpm S P1-22 Lowpass smoothing constant of torque command ~1. ms T P1-23 Torque command when analog input is maximum (1V) 1 ~1 % T P1-24 Reserved P1-25 Reserved P1-26 Reserved P1-27 Electronic gear numerator 1 1 1~ P P1-28 Electronic gear denominator 1 1~ P 24

31 P1-29 Electronic gear numerator 2 1 1~32767 P P1-3 Electronic gear numerator 3 1 1~32767 P P1-31 Electronic gear numerator 4 1 1~32767 P Position approach width, which P1-32 P1-33 P1-34 P1-35 will output position approach signal when deviation counter 2 1~65535 Puls P is less than the set value. Position completing width, which will output position completing signal when 1 ~65535 Puls P deviation counter is less than the set value. Deviation-clear action selections of external DI signal: : Clear through CLR rising edge. 1: Clear through CLR low level. ~3 - P 2: Clear through CLR high level. 3: Clear through CLR failing edge. Position deviation clear selections: : Clear deviation only when malfunction occurs. 1: Clear deviation when ~2 - P malfunction occurs and the servo is OFF. 2: Do not clear deviation. 25

32 P1-36 Position deviation follows 1~ warning value Puls P P1-37 Position deviation follows malfunction value ~65535 Puls P P1-38 Torque reaches threshold value ~1. % T Maximum rotational speed P1-39 setting (over-speed setting 5 ~5 rpm P S T value) P1-4 Zero-speed signal output value 1 ~1 rpm P S T P1-41 Rotational signal output value 1 ~1 rpm P S T P1-42 Speed approach threshold 1 1~3 rpm S P1-43 Speed reaching threshold 2 1~3 rpm S P1-44 Zero fixed value of analog speed command 1 ~3 rpm S P1-45 Reserved P1-46 Foreward maximum torque.~ 3 threshold 3. % P S T P1-47 Reverse maximum torque.~ 3 threshold 3. % P S T P1-48 P1-49 ~ Torque-limit source selections: : Internal limit [P1-46 P1-47] 1: Limited by analog value 1 and P1-46, P1-47 2: Limited by analog value 2 and P1-46, P1-47 3: Limited by analog value 3 and P1-46, P1-47 Reserved 26 ~3 - P S T

33 P1-52 P1-53 P1-54 P1-55 P1-56 P1-58 ~ P1-59 P1-6 Halt mode selections: : Free stop when the servo is OFF. 1: Zero-speed stop when the servo is OFF. Delay time after the servo is ON and before electromagnetic brake signal is open (braking removed). Delay time after the servo is OFF and before electromagnetic brake signal is closed (braking started) Speed command when electromagnetic brake is active Reserved Malfunction display selections: : The latest malfunction 1: The previous malfunction before the latest one 2: The second malfunction before the latest one 3: The third malfunction before the latest one. ~1 - P S T 1 ~5 ms P S T 1 ~5 ms P S T 1 1~1 rpm P S T ~3 - P S T 27

34 System parameters initialization: : No operation P1-61 1: Clear malfunction record 2~65534: No Operation 65535: Recover factory setting (auto-reset when power on again) P1-62 Reserved code P1-63 Reserved code ~ ~ ~ P S T - P S T - P S T Group P2 Position Control Codes Factory Running Code Instruction Setting Range Unit Attri. Value Mode P2- P2-1 P2-2 P2-3 P2-4 P2-5 Cycles of internal -3~ position command 1 +3 rev P Pulses of internal position -9999~ command Puls P Move speed of internal 1~Rated 1 position command 1 Value rpm P Time-lag between the completion of Pr1 and 1..~3. s P starting Pr2 Cycles of internal -3~ position command 2 +3 rev P Pulses of internal position -9999~ command Puls P P2-6 Move speed of internal 1 1~Rated rpm P 28

35 position command 2 Value Time-lag between the P2-7 completion of Pr2 and 1..~3. s P entering Pr3 P2-8 P2-9 P2-1 P2-11 P2-12 P2-13 P2-14 P2-15 P2-16 P2-17 P2-18 P2-19 Cycles of internal -3~ position command 3 +3 rev P Pulses of internal position -9999~ command Puls P Move speed of internal 1~Rated 1 position command 3 Value rpm P Time-lag between the completion of Pr3 and 1..~3. s P entering Pr4 Cycles of internal -3~ position command 4 +3 rev P Pulses of internal position -9999~ command Puls P Move speed of internal 1~Rated 1 position command 4 Value rpm P Time-lag between the completion of Pr4 and 1..~3. s P entering Pr5 Cycles of internal -3~ position command 5 +3 rev P Pulses of internal position -9999~ command Puls P Move speed of internal 1~Rated 1 position command 5 Value rpm P Time-lag between the completion of Pr5 and 1..~3. s P 29

36 entering Pr6 P2-2 P2-21 P2-22 P2-23 P2-24 P2-25 P2-26 P2-27 P2-28 P2-29 P2-3 P2-31 P2-32 Cycles of internal -3~ position command 6 +3 rev P Pulses of internal position -9999~ command Puls P Move speed of internal 1~Rated 1 position command 6 Value rpm P Time-lag between the completion of Pr6 and 1..~3. s P entering Pr7 Cycles of internal -3~ position command 7 +3 rev P Pulses of internal position -9999~ command Puls P Move speed of internal 1~Rated 1 position command 7 Value rpm P Time-lag between the completion of Pr7 and 1..~3. s P entering Pr8 Cycles of internal -3~ position command 8 +3 rev P Pulses of internal position -9999~ command Puls P Move speed of internal 1~Rated 1 position command 8 Value rpm P Time-lag between the completion of Pr8 and 1..~3. s P entering Pr9 Cycles of internal -3~ position command 9 +3 rev P 3

37 P2-33 P2-34 P2-35 P2-36 P2-37 P2-38 P2-39 P2-39 P2-4 P2-41 P2-42 P2-43 P2-44 P2-45 Pulses of internal position -9999~ command Puls P Move speed of internal 1~Rated 1 position command 9 Value rpm P Time-lag between the completion of Pr9 and 1..~3. s P entering Pr1 Cycles of internal -3~ position command 1 +3 rev P Pulses of internal position -9999~ command Puls P Move speed of internal 1~Rated 1 position command 1 Value rpm P Time-lag between the 1..~3. S P completion of Pr1 and 1..~3. s P entering Pr11 Cycles of internal -3~ position command rev P Pulses of internal position -9999~ command Puls P Move speed of internal 1~Rated 1 position command 11 Value rpm P Time-lag between the completion of Pr11 and 1..~3. s P entering Pr12 Cycles of internal -3~ position command rev P Pulses of internal position -9999~ command Puls P P2-46 Move speed of internal 1 1~Rated rpm P 31

38 position command 12 Value Time-lag between the P2-47 completion of Pr12 and 1..~3. s P entering Pr13 P2-48 P2-49 P2-5 P2-51 P2-52 P2-53 P2-54 P2-55 P2-56 P2-57 P2-58 P2-59 Cycles of internal -3~ position command rev P Pulses of internal position -9999~ command Puls P Move speed of internal 1~Rated 1 position command 13 Value rpm P Time-lag between the completion of Pr13 and 1..~3. s P entering Pr14 Cycles of internal -3~ position command rev P Pulses of internal position -9999~ command Puls P Move speed of internal 1~Rated 1 position command 14 Value rpm P Time-lag between the completion of Pr14 and 1..~3. s P entering Pr15 Cycles of internal -3~ position command rev P Pulses of internal position -9999~ command Puls P Move speed of internal 1~Rated 1 position command 15 Value rpm P Time-lag between the completion of Pr15 and 1..~3. s P 32

39 entering Pr16 P2-6 P2-61 P2-62 P2-63 Cycles of internal -3~ position command rev P Pulses of internal position -9999~ command Puls P Move speed of internal 1~Rated 1 position command 16 Value rpm P Time-lag between the completion of Pr16 and 1..~3. s P entering Pr1 Group P3 Speed Control Codes Code Instruction P3- Internal speed command register 1 P3-1 Internal command 1 running time setting P3-2 Internal speed command register 2 P3-3 Internal command 2 running time setting P3-4 Internal speed command register 3 P3-5 Internal command 3 running time setting P3-6 Internal speed command register 4 P3-7 Internal command 4 running time setting Factory Running Setting Range Unit Attri. Value Mode 4-5~ +5 rpm S 1..1~ s S -5~ +5 rpm S 1..1~ s S -4-5~ +5 rpm S 1..1~ s S -5~ +5 rpm S 1..1~ s S 33

40 P3-8 P3-9 P3-1 P3-11 P3-12 P3-13 P3-14 P3-15 P3-16 P3-17 P3-18 P3-19 P3-2 P3-21 P3-22 Internal speed command -5~ 8 rpm S register 5 +5 Internal command ~ s S running time setting Internal speed command -5~ rpm S register 6 +5 Internal command ~ s S running time setting Internal speed command -5~ -8 rpm S register 7 +5 Internal command ~ s S running time setting Internal speed command -5~ rpm S register 8 +5 Internal command ~ s S running time setting Internal speed command -5~ 12 rpm S register 9 +5 Internal command ~ s S running time setting Internal speed command -5~ rpm S register 1 +5 Internal command ~ s S running time setting Internal speed command -5~ -12 register rpm S Internal command 11 running time setting 1..1~ s S Internal speed command -5~ register rpm S 34

41 P3-23 P3-24 P3-25 P3-26 P3-27 P3-28 P3-29 P3-3 P3-31 Internal command ~ s S running time setting Internal speed command -5~ 16 rpm S register Internal command ~ s S running time setting Internal speed command -5~ rpm S register Internal command ~ s S running time setting Internal speed command -5~ -16 rpm S register Internal command ~ s S running time setting Internal speed command -5~ rpm S register Internal command ~ s S running time setting Group P4 Torque Control Codes Code Instruction Internal digital torque P4- command setting Speed threshold value by P4-1 torque control Torque speed threshold command sources: P4-2 : P4-1 setting 1: Analog value 1 setting Factory Setting Running Unit Attri. Value Range Mode ~ 3. % T 1 ~5 rpm T ~3 -- T 35

42 2: Analog value 2 setting 3: Analog value 3 setting P4-3 Torque speed threshold command gain 3 ~PE-6 rmp T P4-4 Torque compensation cycles ~2 -- T Group P5 Tuning Codes Code Instruction Factory Setting Running Unit Attri. Value Range Mode P5- Position regulator proportional gain 2. 1.~2. Hz P P5-1 Reserved P5-2 Position regulator feedforward gain..~1. % P P5-3 Position feedforward smoothing time 5 2~1 ms P P5-4 Speed regulator proportional gain 2..1~3. Hz S P5-5 Speed loop integral constant 4..1~3. ms S P5-6 Speed Loop Feedforward gain..~1. % S P5-7 Reserved P5-8 Load-inertia Ratio = Total Inertia/Motor Inertia 1..1~5. % P S T Group P6 Input/Output Setting Codes Factory Running Code Instruction Setting Range Unit Attri. Value Mode P6- DI Filtering Setting 2 ~2 ms P S T P6-1 DI Level Logic ~3FFH - P S T 36

43 P6-2 DI1 Function No. 1 ~99 - P S T P6-3 DI2 Function No. 2 ~99 - P S T P6-4 DI3 Function No. 3 ~99 - P S T P6-5 DI4 Function No. 4 ~99 - P S T P6-6 DI5 Function No. 5 ~99 - P S T P6-7 DI6 Function No. 6 ~99 - P S T P6-8 DI7 Function No. 7 ~99 - P S T P6-9 DI8Function No. 8 ~99 - P S T P6-1 DI9 Function No. 9 ~99 - P S T P6-11 DI1 Function No. 1 ~99 - P S T P6-12 DO Level Logic ~3FH - P S T P6-13 DO1 Function No. 1 ~99 - P S T P6-14 DO2 Function No. 2 ~99 - P S T P6-15 DO3 Function No. 3 ~99 - P S T P6-16 DO4 Function No. 4 ~99 - P S T P6-17 DO5 Function No. 5 ~99 - P S T P6-18 DO6 Function No. 6 ~99 - P S T P6-19 AI1 Bias Regulation -1~1 mv P S T P6-2 Ai2 Bias Regulation -1~1 mv P S T P6-21 AI3 Bias Regulation -1~1 mv P S T P6-22 AI1 Filtering Time 2 ~1 ms P S T P6-23 AI2 Filtering Time 2 ~1 ms P S T P6-24 AI3 Filtering Time 2 ~1 ms P S T P6-25 AO1 Bias Regulation -1~1 mv P S T P6-26 AO2 Bias Regulation -1~1 mv P S T AO1 Functional P6-27 Planning : Motor Rotational ~4 - P S T Speed 37

44 1: Speed Command 2: Torque Command 3: Position Bias (The Electronic Gear) 4: Position Command Speed AO2 Functional Planning : Motor Rotational Speed P6-28 1: Speed Command 2: Torque Command 1 ~4 - P S T 3: Position Bias (The Electronic Gear) 4: Position Command Speed Table 5-1 Digital Input (DI) Function Definition List Input Signal Function Instruction Setting Value Name Function Name Description Disabled Invalid function OFF-Servo motor 1 /S-ON Servo enabling is forbidden Enabling ON-Servo motor is active when power on 2 Malfunctions are divided /ALM-RS Alarm Reset into resettable and T Signal non-resettable.this Trigger Mode Triggered by level Triggered by edge Runnin g Mode P S T P S T 38

45 function can be used for malfunction resetting. 3 /P-CLR Clear of The trigger mode is Position showed on P232 Control Pulse description Bias Counter Selection of OFF-Default the 4 /DIR-SEL Speed command direction Command ON- Negative direction to Direction the command Internal 5 CMD Command bit This signal acts as Internal Position Multi-stage 6 CMD1 Command bit Switch-over Function 1 when in Position Control Internal Mode, while as Speed 7 CMD2 Command bit Multi-stage Switch-over 2 Function when in Speed Internal Control Mode. 8 CMD3 Command bit 3 9 CTRG Internal Trigger condition of Command multi-stage position Trigger 1 MSEL Switch-over Be used for switch-over of Control of mixed control modes Mode 11 Reserved Invalid function 39 Triggered by edge/level Triggered by level Triggered by level Triggered by level Triggered by level Triggered by level Triggered by edge Triggered by level P S P S P S P S P S P P S T

46 ON-Command pulse input forbidden 12 /INHIBIT Pulse OFF-Command pulse Forbidden input allowed Enter overtravel preventing function when 13 P-OT mechanical movement Forward exceeds removable range. Drive OFF-Forward drive Forbidden forbidden ON-Forward drive allowed Enter overtravel preventing function when 14 N-OT mechanical movement Backward exceeds removable range. Drive OFF-Reverse drive Forbidden forbidden ON- Reverse drive allowed 15 Reserved Invalid function 16 Reserved Invalid function Triggered by level P Triggered by level P S T Triggered by level P S T 17 ON-Input according to given Triggere /JOGCM command Forward JOG d by D+ OFF-Stop the input of level running command S 18 ON-Backward input Triggere /JOGCM according to given command Reverse JOG d by D- OFF- Stop the input of level running command S 4

47 Selections of 19 /TDIR-SE Torque OFF-Default direction L Command ON-Command reverse Direction Numerator Selection of 2 GNUM GNUM1 GNUM Gear Electronic Gear Ratio Ratio P GNUM1 1 P1-29 Numerator 1 P1-3 Selection 1 of 1 1 P1-31 Electronic Gear Ratio 22~99 Reserved Invalid Function Triggere d by level Triggere d by level ered by level T P P Table 5-2 Digital Output Function Definition List Function Instruction of Output Singnal Setting Value Name Function Name Description Running Mode Disable Invalid Function 1 /S-RDY+- Servo is Ready 2 /BK+- Brake Output 3 /TGON+- Output Signal Servo state is ready, S-ON signal can be received: Active-Servo is ready Inactive-Servo is not ready Output of brake signal: Active-Closed, unlocking the brake Inactive-Start the brake Output signal when servo motor rotates: 41 P S T P S T P S T

48 of Motor Active-Motor rotating signal is Rotating active Inactive-Motor rotating signal is inactive Output signal when servo motor stops: 4 /ZER+- Zero-speed Active-Rotational speed of motor is Signal zero Inactive- Rotational speed of motor is not zero In speed control, it is active when absolute value of the difference 5 /V-CLS+- Velocity between servo motor speed and Approaching speed command is less than the setting value P142 of speed deviation. In speed control, it is active when absolute value of the difference 6 /V-CMP+ Velocity between servo motor speed and - Reaching speed command is less than the setting value P143 of speed deviation In position mode, it is active when 7 /PNEAR+ Position position deviation pulse reaches the - Approaching setting value of position completing width P132. In position mode, it is active when 8 /COIN+- Position position deviation pulse reaches the Reaching setting value of position completing width P133. P S T S S P P 42

49 9 /C-LT+- Confirming signal of torque Torque limitation: Limitation Active-Motor torque is limited Signal Inactive-Motor torque is not limited In torque control, the confirming Rotational signal of speed limiting : 1 /V-LT+- 11 /WARN+- 12 /ALM+- 13 /Tcmp Speed Limitation Signal Active-Motor rotational speed is limited Inactive-Motor rotational speed is not limited Output Signal The warning output signal is of Warning conductive Output Signal The detected malfunction state of Malfunction signal is effective Output Signal Output corresponding signal when of Torque the torque reaches the setting value Reaching P S T P S T P S T T 14~99 Reserved Invalid Function Table 5-3 Multi-stage (DI) Functions of Internal Speed Command Internal CMD CMD CMD CMD Corresponding Speed Code Command Instruction Spd1 P3-1 Setting speed (~±5) Spd2 1 P3-12 Setting speed (~±5) Spd3 1 P3-14 Setting speed (~±5) Spd4 1 1 P3-16 Setting speed (~±5) Spd5 1 P3-18 Setting speed (~±5) Spd6 1 1 P3-2 Setting speed (~±5) 43

50 Spd7 1 1 P3-22 Setting speed (~±5) Spd P3-24 Setting speed (~±5) Spd9 1 P3-26 Setting speed (~±5) Spd1 1 1 P3-28 Setting speed (~±5) Spd P3-3 Setting speed (~±5) Spd P3-32 Setting speed (~±5) Spd P3-34 Setting speed (~±5) Spd P3-36 Setting speed (~±5) Spd P3-38 Setting speed (~±5) Spd P3-4 Setting speed (~±5) Table 5-4 Multi-stage (DI) Functions of Internal Position Command Pr Command CM D3 CM D2 CM D1 CM D CTR G Pr1 Pr2 1 Pr3 1 Pr3 1 Pr4 1 1 Pr Corresponding Instruction Code Cycles P2- (~±3) P2-1 Pulses(~±9999) Cycles P2-4 (~±3) P2-5 Pulses(~±9999) Cycles P2-8 (~±3) P2-9 Pulses(~±9999) Cycles P2-12 (~±3) P2-13 Pulses(~±9999) Cycles P2-16 (~±3) P2-17 Pulses(~±9999) Speed Setting P2-2 P2-6 P2-1 P2-1 P2-14 P2-18

51 Pr6 1 1 P2-2 P2-21 Cycles (~±3) Pulses(~±9999) P2-22 Pr7 1 1 P2-24 P2-25 Cycles (~±3) Pulses(~±9999) P2-26 Pr P2-28 P2-29 Cycles (~±3) Pulses(~±9999) P2-3 Pr9 1 P2-32 P2-33 Cycles (~±3) Pulses(~±9999) P2-34 Pr1 1 1 P2-36 P2-37 Cycles (~±3) Pulses(~±9999) P2-38 Pr P2-4 P2-41 Cycles (~±3) Pulses(~±9999) P2-42 Pr P2-44 P2-45 Cycles (~±3) Pulses(~±9999) P2-46 Pr P2-48 P2-49 Cycles (~±3) Pulses(~±9999) P2-5 Pr P2-52 P2-53 Cycles (~±3) Pulses(~±9999) P2-54 Pr P2-56 P2-57 Cycles (~±3) Pulses(~±9999) P

52 Pr Cycles P2-6 (~±3) P2-61 Pulses(~±9999) P2-62 Group P7 Communication Codes Code Instruction Factory Setting Running Unit Attri. Value Range Mode P7- Station No. setting 1 1~254 - P S T Communication transfer P7-1 rates :48; 1:96; 2:192; 3:384; 4:576; 1 ~4 bps P S T Communication data P7-2 formats :No check 1+8+N+1; 1:Odd check 1+8+O+1; 2:Even check 1+8+E+1; 3:No check 1+8+N+2; 4:Odd check1+8+o+2; 5:Even check 1+8+E+2; ~5 - P S T Group P8 Auxiliary Function Codes Code Instruction Factory Setting Running Unit Attri. Value Range Mode Software resetting: : No operation; P8-1: System software resets automatically once performing. ~1 - P S T 46

53 Malfunction Resetting : No operation; P8-1 1:Malfunction resets ~1 - P S T automatically once performing. P8-2 JOG Function(when pilot run) Enter the function code, press UP, and then the motor will rotate forward at P83 setting value and stop if the button is loosened, press Down, and then the motor will reverse at JOGEn - - P S T P83 setting value and stop if it is loosened. Press MODE to leave this function code, so JOG is inactive. P8-3 JOG speed setting 1 ~3 rpm P S T P8-4 Reserved P8-5 Internal SON commands : Internal servo ON inactive, auto-reset after power-on ~1 - P S T 1: Enable internal servo ON P8-6 Reserved P8-7 Reserved P8-8 Overheating warning point of 4~ 7 P S T drive P8-9 P8-9 Overheating malfunction P8-8~ 8 P S T point of drive 1 P8-1 Fan detecting selections ~1 - P S T 47

54 : Fan malfunction detecting 1: No detecting Fan control selections : Fans run when the servo is P8-11 ON in malfunction and the temperature is greater than ~1 - P S T 4 C; 1: Fans run when power-on. P8-12 Drive warning setting 8 2~1 % P S T P8-13 P8-14 P8-15 P8-16 Motor overload warning setting 8 2~1 % P S T Son requirements selections of each stop mode : Free-stop, start Son according to requirements ~1 - P S T P8-15 1: Free-stop and zero-stop are selected at the same time Son requirements: : Start Son according to the time condition (P8-16) after Soff; 1: Start according to speed ~3 - P S T condition(p8-17); 2: Start according to time and speed conditions; 3: ON immediately. Valid required time-lag of.1~ 5. Son after Soff 3. S P S T P8-17 Active speed setting of Son 2 ~Rated rpm P S T 48

55 Group PE Motor Parameters Code Instruction Factory Value Setting Range Unit Attri. Running Mode PE- Manufacturer Parameters ~ P S T Note: Reserved codes are invisible. 6 Malfunction Codes Marks Name Malfunction Actions Type Malfunctions AL.1 Hardware Detected short-circuit protection of power components Nonresttable Protection AL.2 HOC Detected over-current protection of power components Nonresttable AL.3 AD Initialization Fault Initial revision fault of AD modules Nonresttable AL.4 Abnormal Code Storage EEPROM storage is abnormal or frequent Nonresttable AL.5 Abnormal System Parameters It acts when parameters exceed normal range. Nonresttable AL.6 AD Sampling Module Fault AD translation exception (deviation oversize or ranslation overtime ) Nonresttable AL.7 Encoder Abnormality 1 Encoder breaks line. Nonresttable AL.8 Encoder Abnormality 2 Abnormal running. Nonresttable AL.9 Encoder Abnormality 3 Abnormal running. Nonresttable AL.A Undervoltage The bus voltage is under 2V when power supply is 22V. Resettable 49

56 AL.b Overvoltage The bus voltage is over 4V when power supply is 22V. Resettable AL.C Overcurrent Output current of servo drive is over its permitted range. Nonresttable AL.d Motor Overload Exceed certain time when motor is over 12% of rated load Resettable AL.E Drive Overload Exceed certain time when drive is over 11% of rated load Resettable AL.F Motor Overheat The temperature of motor exceeds motor s permitted value. Resettable AL.1 Drive Overheat Drive is overheated. Resettable AL.11 Fan Abnormality Fan breaks line or stalls. Resettable AL.12 Overspeed Motor s rotational speed exceeds its maximum value. Resettable AL.13 Over-deviation of Position Retention pulse in deviation counter exceeds its permitted range. Resettable Warning AL.E1 Motor Overheat Warning Motor s temperature will reach the overheat threshold. AL.E2 Drive Overheat Warning Temperature of drive s major loop will reach its overhead threshold. LED display is AL.E3 Motor Overload Warning The overload inverse time limit curve of motor will reach. auto-cleared after warning is AL.E4 Drive Overload Warning The overload inverse time limit curve of drive will reach. cleared up. AL.E5 Over-deviation of Position Warning DC retention pulse in deviation counter exceeds the warning range. 5

57 7 Appearance and Dimensions 7.1 Appearance and dimensions of EA1 series servo drive Notes: 1) The unit of mechanical dimensions is mm; and the weight s unit is kg. 2) The mechanical dimensions and weight are subject to chang without notice. 51