For safety concerns, please fully understand the safety requirements and cautions before using.

Preface Thanks for using SD700 series AC servo drive. VEICHI SD700 series is the general purpose high performance servo drive which adopts a series of advanced motor control algorithm and 24-bit high precision encoder, featuring high control precision, fast tracking response, simple and convenient debugging to meet the function and performance requirements in high-end general purpose servo applications. Rich application functions such as built-in point control function, electronic cam, RS485 interface, CANopen interface and 16-bit analog input can provide high reliability and high cost performance solutions for machine tools, electronic equipments, robots, textile applications, packaging industry and etc. This manual is delivered with equipment and only introduces safety precautions, installation and wiring, function code table, fault diagnoses and processing, monitoring parameters and etc. For detailed function explanations and application specifications please refer to SD700 series product instructions or consult VEICHI company. As it is the basic guide for proper use and safe operation, please carefully read and keep it and be sure to handle it to end users. If any problems or special requirements, please feel free to contact our company, dealers or the customer service center, we will provide dedicated service for you. This manual is subject to change without notice, thanks for your kind support. 1

Safety Precautions For safety concerns, please fully understand the safety requirements and cautions before using. Operational Qualifications Only professional trained person are allowed to operate the equipment. In addition, operators must undergo professional skills training and be familiar with the equipment installation, wiring, operation and maintenance, and can correctly respond to various emergency situations in use. Safety Guidance Safety regulations and warning signs come for your security. They are measures to prevent the operator and machine system from damage. Please carefully read this manual before using and strictly observe the regulations and warning signs while operating. Correct transport, store, installation and careful operation and maintenance are important for servo system safe operation. In transport and store process, make sure the servo system is free from impact and vibration. It must be stored where is dry without corrosive air and conductive dust, and the temperature bust be lower than 60 This product carries dangerous voltage and controls driver machine with potential danger. If you don t abide by the regulations or requirements in this manual, there is danger of body injury even death and machine damage. Do not wire while the power is connected. Otherwise, there is danger of death for electric shock. Before wiring, inspection, maintenance, please cut off power supply of all related equipments and ensure main DC voltage in safe range. And operate it after 10 minutes. Power line, motor line and control line must be fastened. The grounding terminal must be grounded reliably and the grounding resistance is less than 10Ω. Human body static electricity will seriously damage the internal sensitive devices. Before operation, please follow ESD measures, or there will be danger of servo system damage. As the output volatge of servo system is pulse weave, if components such as capacitors for improving power factor or pressure-sensitive resistances for anti-thunder are installed at the output side, please dismantle them or change to input side. 2

No switch components such as breaker and contactor at the output side (if necessary, please be sure the output current is 0 while the switch acting). No matter where the fault is, there is danger of serious accident. So there must be additional external prevent measures or backup device. Only used in application fields as maker stated. No use in equipments related to special fields such as emergency, rescuer, ship, medical treatment, avigation, nuclear and etc. Maintenance of this product can only be carried out by the company or the authorized professionals, unauthorized modification or using non-approved parts may lead to product faults. Any defective devices must be replaced in time during maintenance. 3

Chapter 1 Installation and wiring 1.1 Installation Dimensions Dimension Structure SIZE A SIZE B SIZE C SIZE D Model SD700-1R1A-** SD700-1R8A-** SD700-3R3A-** SD700-5R5A-** SD700-7R6A-** SD700-9R5A-** SD700-2R5D-** SD700-3R8D-** SD700-160A-** SD700-6R0D-** SD700-8R4D-** SD700-110D-** SD700-170D-** SD700-240D-** SD700-300D-** Dimensions(mm) Installation dimensions (mm) Mou nting W H D W1 W2 H1 H2 A B apert ure 45 168 170 \ 20 160 \ 7.5 5 2-M4 71 168 180 58 58 160 \ 6.5 5 3-M4 92.5 188 182 82.5 75 180 \ 5 5 3-M4 120 260 210 100 84.5 250 236 \ \ 4-M5 4

1.2 Main circuit terminal size L1 L2 L3 L1C L2C B1 + / B2 B3 U V W Pins numb er Sign nam e 1 L1 2 L2 3 L3 Main circuit interface Function Power input of the main circuit Please determine whether the input power is 220V or 400V according to the nameplate 220V models: 200V ~ 240V, -15% ~ +10% 50 / 60Hz 400V models: 380V ~ 440V, -15% ~ +10% 50 / 60Hz Note: "L3" terminal, SD700-1R1A, 1R8A, 3R3A models are single-phase inputs without this pin 4 L1C Control power input 5 L2C Power input requirements same with L1, L2, L3 6 B1/ + 7 B2 8 B3 9 - Regenerative resistor connection terminal SD700-1R1A, 1R8A, 3R3A. When regenerative braking capacity is insufficient, connect an external regenerative resistor between B1 / + and B2; other models remove short wiring or short connection between B2 and B3, Connect an external regenerative resistor between B1 / + and B2, The external regenerative resistor need be purchased separately. "B1 / +" terminals can be used for common DC bus positive power supply terminals Note: "B3" terminal, SD700-1R1A, 1R8A, 3R3A models without this pin "-" terminal can be used for common DC bus negative power supply terminals 10 U 11 V Connect the U, V, W phase of the motor 12 W 13 Safe ground 5

1.3 CN1 Control Terminal No.1 No.2 No.26 No.27 The appearance seen from the arrow direction is shown below. No.24 No.25 No.49 No.50 6

1.4 Position Control Wiring Diagram 7

1.5 Speed Control Wiring Diagram 8

1.6 Torque Control Wiring Diagram 9

1.7 Output Port Attentions 1.8 Brake Wiring When servo motor is used for vertical axis situations, the brake can be used to prevent or keep the falling speed of heavy loads when servo drive is in power off state. Wiring diagram of electromagnetic brake is shown as below: Servo driver Note: brake winding must use specialized 24V power supply, and do not share power source with control power or RY relay coil. RY RY Emergency stop Motor SO1+ SO1- + - 12V~24V + - DC24V Power supply for brake winding Surge absorption Fuse (5A) Brake winding Electromagnetic brake must be provided with a dedicated 24V power supply, be prohibited to share power source with control signal; RY means relay coil, please note the diode direction ; Electromagnetic brakes are for holding and can not be used for normal parking; Though electromagnetic brake has function to prevent or keep heavy objects from falling, external braking devices are still necessary. 10

1.9 CN2 Encoder Signal Terminal A 2 1 4 3 6 5 Pins Define Sign Define AEnd Pins Number BEnd Pins Number +5V 0V BAT+ 1 2 3 1 2 3 BAT- 4 4 SD+ SD- 5 6 5 6 PE(Shield) Iron Shell 7 B 2 1 9 8 7 6 3 4 5 1.10 Motor Power Terminal U V W PE 1 2 4 3 Pins Define Sign Define Terminals Pins Number U 2 V 3 W 4 PE 1 1.11 CN6A/CN6B Bus Communication Terminal Pin 8 Pin 1 Pin 8 Pin 1 Port function table Pin No. Name Function Remarks 1 CANH CAN Data+ CN6A and 2 CANL CAN Data - CN6B has CAN 3 CAN Signal GND exactly same G signal 4 485-485 Data - distribution, 5 485+ 485 Data + and the internal 6 - - parallel can 7 GND 485Signal GND facilitate multiple 8 - - network Shell Shield connections. 11

1.12 Keyboard Layout and Function Specifications MODE DATA SET Key MODE/SET DATA/ Function Switch modes and return to menu interface Assist function execution Select up parameters or increase values; Switch between high, middle and low section value display. Select down parameters or decrease values; Switch between high, middle and low section value display. Long press=data (about 1 second) Enter sub-menu under parameter mode and enter parameter modification under editing mode, then confirm after parameter modification by shortly pressing = ; Change group code under parameter mode, and move the blinking characters left to select the modification parts under editing mode. 12

Chapter 1 Function Code List Functio n code Parameters Min value Max value Default Unit Effectiv e way Pn0 basic control Pn000 Control mode selection 0 11 3 - RST Motor rotation direction Pn002 selection 0 1 0 - RST Pn003 Default monitoring parameters 0x0000 0x0fff 0x0fff - INST Servo OFF and stop method Pn004 selection when occurs alarm 1 0 2 0 - RST Servo stop method selection Pn005 when occurs alarm 2 0x0000 0x0001 0 - RST Selection of overtaking alarm Pn006 detection 0 1 0 - RST Stop method selection while Pn007 servo overtaking 0 2 0 - RST Servo locking time after Pn008 electromagnetic brake action 0 50 0 10ms INST Electromagnetic brake action Pn009 delay 10 100 50 10ms INST Motor speed setting when Pn010 electromagnetic brake is 0 10000 100 rpm INST released Pn012 External braking resistor power 0 5000 0 10W INST Pn013 External braking resistor value 1000 65535 0 mω INST Pn015 Overload warning value 1 100 20 % INST Base current derating at motor Pn016 overload detection 10 100 100 % RST Pn030 Retention parameter 0 65535 0 - INST Parameter modification Pn031 operation lock 0 1 0 - RST Upper limit value of multi Pn039 rotating circles 0 65535 65535 Rev RST Instructions of absolute Pn040 encoder 0 1 0 - RST Function selection of under Pn045 voltage 0x0000 0x0002 0 - RST 13

Torque limit while main circuit Pn046 voltage drops 0 100 50 % INST Delay time of torque limit Pn047 release while main circuit 0 1000 100 ms INST voltage drops Pn050 Torque limitation set 0 3 1 - INST Pn051 Max torque limitation 1 0 500 300 % INST Pn052 Max torque limitation 2 0 500 300 % INST Pn053 Emergency stop torque 0 800 800 % INST Operator parameter display Pn061 selection 0x0000 0x0001 1 - RST Pn062 DB resistance power 0 65535 0 10W INST Encoder frequency-dividing Pn070 pulse 16 262144 2048 - RST Reverse direction of output Pn072 frequency division output 0 1 0 - RST Pn080 Local communication address 0x0000 0x007F 1 - RST RS485 communication baud Pn081 rate selection 0 4 1 - RST RS485 communication Pn082 verification mode 0 5 1 - RST Pn1 Gain parameters Pn100 Rotary inertia ratio 0 10000 100 % INST Pn101 First speed gain 1.0 2000.0 40.0 Hz INST First velocity integral time Pn102 constant 0.15 512.00 20.00 ms INST Pn103 First position gain 1.0 2000.0 40.0 1/s INST Pn104 First torque command filter 0.00 655.35 1.00 ms INST Pn105 Second speed gain 1.0 2000.0 40.0 Hz INST Second velocity integral time Pn106 constant 0.15 512.00 20.00 ms INST Pn107 Second position gain 1.0 2000.0 40.0 1/s INST Pn108 Second torque command filter 0.00 655.35 1.00 ms INST Gain switching mode selection Pn110 switch 0x0000 0x001 0 - INST Automatic position control gain Pn111 switching condition 0x0000 0x005 0 - INST 14

Pn112 Gain switching transition time 1 0 65535 0 ms INST Pn113 Gain switching transition time 2 0 65535 0 ms INST Pn114 Gain switching delay time 1 0 65535 0 ms INST Pn115 Gain switching delay time 2 0 65535 0 ms INST Pn120 Position integral time constant 0.0 5000.0 0.0 ms INST Pn121 Speed feedforward gain 0 100 0 % INST Pn122 Speed feedforward filter time 0.00 64.00 0.00 ms INST Use V-REF as the speed Pn123 feedforward selection 0x0000 0x0001 0 - RST Speed/Position control Pn124 selection (T-REF distribution) 0 1 0 - RST Speed detection method Pn126 selection (speed feedback 0x0000 0x0001 0 - RST moving average filter valid) Speed loop control method Pn130 (PI/IP) 0 1 0 - RST Speed loop P/PI switch Pn131 condition switch 0x0000 0x0004 0 - INST Speed loop P/PI switching Pn132 condition (torque command) 0 800 200 % INST Speed loop P/PI switching Pn133 condition (speed command) 0 10000 0 rpm INST Speed loop P/PI switching Pn134 condition (acceleration) 0 30000 0 rpm/s INST Pn135 Pn140 Pn142 Pn143 Pn150 Pn151 Speed loop P/PI switching condition (position deviation) Medium frequency vibration suppression control selection First medium frequency vibration suppression frequency First medium frequency vibration suppression attenuation gain Notch filter 1 automatic adjustment selection Notch filter 2 automatic adjustment selection 0 10000 0 Comma nd unit INST 0x0000 0x0013 0x0010 - INST 1.0 2000.0 100.0 Hz INST 0 300 0 % INST 0x0000 0x0001 1 - INST 0x0000 0x0001 1 - INST 15

Automatic trap resonance Pn152 detection sensitivity 1 200 100 % INST Pn153 Notch filter 1 frequency 50 5000 5000 Hz INST Pn154 Notch filter 1 Q value 0.50 10.00 0.70 - INST Pn155 Notch filter 1 depth 0.000 1.000 0.000 - INST Pn156 Notch filter 2 frequency 50 5000 5000 Hz INST Pn157 Notch filter 2 Q value 0.50 10.00 0.70 - INST Pn158 Notch filter 2 depth 0.000 1.000 0.000 - INST Disturbance compensation Pn160 function selection 0x0000 0x0001 0 - INST Disturbance observer cutoff Pn161 frequency 1.0 1000.0 150.0 Hz INST Disturbance compensation Pn163 coefficient 0 100 0 % INST Disturbance observer inertia Pn165 correction factor 1 1000 100 % INST Pn166 Speed observer switch 0 1 0 RST Speed observer cutoff Pn167 frequency 1 500 80 Hz INST Friction torque compensation Pn170 cutoff speed 0 1000 20 rpm INST Pn171 Pn172 Friction torque forward compensation coefficient Friction torque reverse compensation coefficient 0 100 0 0 100 0 %/100rp m %/100rp m INST INST Pn175 Robust control options 0x0000 0x0001 0 - RST Pn177 Robust control tuning values 10.0 80.0 40.0 Hz INST Minimum load values of robust Pn178 control 0 500 0 % INST Pn185 Vibration detection selection 0x0000 0x0002 0 - INST Pn186 Vibration detection sensitivity 50 500 100 % INST Pn187 Vibration detection value 0 5000 50 rpm INST Pn2 Positional parameters Command pulse input selection Pn200 (low/high speed filter) 0 2 0 - RST Pn201 Pulse input form 0 6 0 - RST Pn202 Reversed pulse input direction 0 1 0 - RST 16

Command pulse input Pn203 magnification 1 100 1 x1 INST Pn204 Electronic gear ratio molecule 1 1073741824 4 - RST Electronic gear ratio Pn206 denominator 1 1073741824 1 - RST Position instruction low pass Pn211 filter time constant 0 6553.5 0 ms STOP Position command slide Pn212 average filter time 0 1000.0 0 ms STOP Low frequency vibration Pn230 suppression selection 0x0000 0x0002 0 - INST Low frequency vibration Pn231 suppression function automatic 0x0000 0x0001 1 - INST tuning selection Low-frequency vibration Pn232 detection sensitivity (relative 0.1 300.0 40.0 % INST positioning is completed) Low frequency vibration Pn235 suppression 1 frequency 1.0 200.0 200.0 Hz INST Low frequency vibration Pn236 suppression 1 correction 10 1000 100 % INST Low frequency vibration Pn237 suppression 2 frequency 1.0 200.0 200.0 Hz INST Low frequency vibration Pn238 suppression 1 correction 10 1000 100 % INST Instructions of external Pn250 encoders under full closed loop 0 3 0 - INST control mode Speed feedback selection Pn251 under full closed loop control 0x0000 0x0001 0 - RST mode Division coefficient of tuning 1 Pn252 cycle between motor and load 0 100 20 % INST Pn253 External grating ruler resolution 4 1048576 32768 P/Rev RST Pn257 Large mixed deviation set 0 1073741824 1000 Comma nd unit INST Pn259 Encoder output resolution 1 4096 20 P/pitch RST Pn260 NEAR signal length 1 1073741824 107374 1824 Comma nd unit INST 17

Pn262 Position coverage area 0 1073741824 7 Pn264 Position deviation maximum tolerance value 1 1073741823 524288 0 Comma nd unit Comma nd unit INST INST Pn266 Large position deviation alarm 10 100 100 % INST Pn267 Pn269 Pn270 Alarm value of large position deviation when servo is on Alarm threshold of large position deviation when servo is on Speed limitation when servo is on 1 1073741823 524288 0 Comma nd unit INST 10 100 100 % INST 0 10000 10000 rpm INST Pn272 Retention pulse reset mode 0x0000 0x0003 0 - RST Position deviation reset mode Pn273 selection 0x0000 0x0002 0 - RST Pn274 / COIN output time 0x0000 0x0002 0 - RST Pn3 Speed parameters Pn300 Analog speed command gain 150 3000 600 0.01/rate d speed INST Reversed analog speed Pn301 command 0 1 0 - INST Analog speed command filter Pn302 time 0.00 655.35 0.40 ms INST Analog speed command dead Pn303 zone range 0 3 0 V INST Pn304 Internal speed 1 0 10000 100 rpm INST Pn305 Internal speed 2 0 10000 200 rpm INST Pn306 Internal speed 3 0 10000 300 rpm INST Speed command trapezoidal Pn310 acceleration time 0 10000 0 ms INST Speed command trapezoidal Pn311 deceleration time 0 10000 0 ms INST Pn312 Speed zero-clamp mode 0 3 3 - INST Speed zero-clamp threshold Pn313 value 0 10000 10 rpm INST Pn317 Rotation judgment value 1 10000 20 rpm INST Pn320 Speed matching range 0 100 10 rpm INST 18

Pn4 Torque parameters Pn400 Torque command selection 0 1 1 - INST Torque command 2nd order Pn401 low pass filter cutoff frequency 100 5000 5000 Hz INST Torque command 2nd order Pn402 low pass filter Q value 0.50 1.00 0.50 1 INST Torque command direction Pn403 setting 0 1 0 - INST Analog value torque command Pn404 filter time 0.00 655.35 0.00 ms INST Pn405 Analog value torque command gain 10 100 30 19 0.1V/rat ed torque INST Reversed analog value torque Pn406 command 0 1 0 - INST Analog torque command dead Pn407 zone range 0 3 0 V INST Internal torque command under Pn410 torque control -500.0 500.0 0 % INST Speed limitation mode setting Pn411 under torque control 0 1 1 - RST Pn412 Speed limitation selection 0x0000 0x0001 0 - RST speed limitation under torque Pn413 control 0 10000 1000 rpm INST Pn5 JOG related parameters Pn500 JOG speed 0 1000 500 rpm INST Pn502 Program JOG running mode 0x0000 0x0005 0 - INST Pn503 Program JOG moving distance 1 107374182 4 32768 Comma nd unit INST Program JOG Pn505 acceleration/deceleration time 2 10000 100 ms INST Pn506 Program JOG waiting time 0 10000 100 ms INST Pn507 Program JOG moving times 0 1000 1 次 INST Pn508 Program JOG moving speed 1 10000 500 rpm INST Pn6 Switch configuration related parameters Switch input signal distribution Pn600 mode 0 1 1 - RST Pn601 Switch 1 input configuration 0 0x114 0x001 - RST

Pn602 Switch 2 input configuration 0 0x114 0x002 - RST Pn603 Switch 3 input configuration 0 0x114 0x003 - RST Pn604 Switch 4 input configuration 0 0x114 0x004 - RST Pn605 Switch 5 input configuration 0 0x114 0x005 - RST Pn606 Switch 6 input configuration 0 0x114 0x006 - RST Pn607 Switch 7 input configuration 0 0x114 0x007 - RST Pn608 Switch 8 input configuration 0 0x114 0x00 - RST Pn609 Switch 9 input configuration 0 0x114 0x00 - RST Switch input internal Pn610 configuration 1 0 0x14 0x00 - RST Switch input internal Pn611 configuration 2 0 0x14 0x00 - RST Switch input internal Pn612 configuration 3 0 0x14 0x00 - RST Pn613 Switch 1 output configuration 0 0x109 0x000 - RST Pn614 Switch 2 output configuration 0 0x109 0x001 - RST Pn615 Switch 3 output configuration 0 0x109 0x002 - RST Pn622 Warning detection selection 0x0000 0x0001 0 - RST Pn7 Extension related parameters Pn705 Inertia identification initial value 0 20000 300 % INST Scan torque command Pn723 amplitude 1 800 15 % INST Pn730 No motor test function selection 0x0000 0x0001 0 - RST No motor test function encoder Pn731 resolution selection 0 3 1 - RST No motor test function encoder Pn732 selection 0x0000 0x0001 0 - RST Monitoring parameters 1 Un000 Motor rotation speed 0x800000 00 0x7fffffff 0 rpm INST Un001 Speed command 0x800000 00 0x7fffffff 0 rpm INST Un002 Internal torque command 0x800000 00 0x7fffffff 0 % INST Un003 Rotor pulse position relative to the Z axis 0x800000 00 0x7fffffff 0 pulse INST 20

0x800000 Un004 Electrical angle 00 Un005 Speed of input pulse command 0x800000 00 Un006 Counter of input command pulse Un007 Counter of feedback pulse Un008 Counter of feedback pulse 1 Un009 Position deviation Un00A Cumulative load rate Un00B Regeneration load rate Un00C Electricity consumption of DB resistance 0x800000 00 0x800000 00 0x800000 00 0x800000 00 0x800000 00 0x800000 00 0x800000 00 21 0x7fffffff 0 deg INST 0x7fffffff 0 rpm INST 0x7fffffff 0 0x7fffffff 0 0x7fffffff 0 Comma nd unit Comma nd unit Encoder pulse unit INST INST INST 0x7fffffff 0 pulse INST 0x7fffffff 0 % INST 0x7fffffff 0 % INST 0x7fffffff 0 % INST Un00D Effective gain monitoring 1 2 1 - INST Un00E Total running time 0 0xFFFFFFFF 0 100ms INST Un00F Overload rate 0 0xFFFFFFFF 0 % INST Un035 DSP software version 0 0xFFFF 0 - INST Un036 FPGA software version 0 0xFFFF 0 - INST Un090 Heat sink temperature 0 0xFFFF 0 INST Monitoring parameters 2 Un100 IO port input signal monitoring 0 0xFFFF 0 - INST Un101 IO port output signal monitoring 0 0xFFFF 0 - INST Un102 T-REF monitoring 0 0xFFFF 0 % INST Un103 V-REF monitoring 0 0xFFFF 0 rpm INST Pulse command input Un104 frequency 0 0xFFFFFFFF 0 pps INST Safety terminal HWBB input Un105 signal monitoring 0 0xFFFF 0 - INST Un108 Un110 External input command pulse counter Integrated monitoring of internal signal status 0 0xFFFFFFFF 0 Comma nd unit INST 0 0xFFFFFFFF 0 - INST

Integrated monitoring of Un120 internal input signal status 0 0xFFFFFFFF 0 - INST Integrated monitoring of Un130 internal output signal 0 0xFFFFFFFF 0 - INST Un140 Main circuit bus voltage 0 0xFFFF 0 V INST Un141 Effective current feedback 0 0xFFFF 0 % INST Un142 Instantaneous load rate 0 0xFFFF 0 10% INST Instantaneous regenerative Un143 load rate 0 0xFFFF 0 % INST Electricity consumption of Un144 instantaneous DB resistance 0 0xFFFF 0 % INST Un145 Maximum cumulative load rate 0 0xFFFF 0 % INST Command monitoring of D-axis Un14B current 0 0xFFFF 0 % INST Monitoring parameters 3 Un300 Current alarm code 0 0xFFFF 0 - INST Un301 Last alarm code 0 0xFFFF 0 - INST Un302 Timestamp while alarm occurs 0 0xFFFFFFFF 0 100ms INST Motor speed while alarm Un303 occurs 0 0xFFFF 0 rpm INST Speed command while alarm Un304 occurs 0 0xFFFF 0 rpm INST Internal torque command while Un305 alarm occurs 0 0xFFFF 0 % INST Input command pulse speed Un306 while alarm occurs 0 0xFFFF 0 rpm INST Deviation counters (position Un307 deviation)while alarm occurs 0 0xFFFFFFFF 0 pulse INST DC bus voltage while alarm Un308 occurs 0 0xFFFF 0 V INST Effective current feedback Un309 while alarm occurs 0 0xFFFF 0 % INST Cumulative load rate while Un30A alarm occurs 0 0xFFFF 0 % INST Regenerative load rate while Un30B alarm occurs 0 0xFFFF 0 % INST Electricity consumption of DB Un30C resistance while alarm occurs 0 0xFFFF 0 % INST 22

Maximum cumulative load rate Un30D while alarm occurs 0 0xFFFF 0 % INST Rotation inertia ratio while Un30E alarm occurs 0 0xFFFF 0 % INST Abnormal times of serial Un30F encoder communication while 0 0xFFFF 0 - INST alarm occurs Internal signal monitoring while Un310 alarm occurs 0 0xFFFFFFFF 0 - INST Internal input signal monitoring Un313 while alarm occurs 0 0xFFFFFFFF 0 - INST Internal output signal Un317 monitoring while alarm occurs 0 0xFFFFFFFF 0 - INST Un320 Fault code history 1 0 0xFFFF 0 - INST Un321 Fault code history 2 0 0xFFFF 0 - INST Un322 Fault code history 3 0 0xFFFF 0 - INST Un323 Fault code history 4 0 0xFFFF 0 - INST Un324 Fault code history 5 0 0xFFFF 0 - INST Un325 Fault code history 6 0 0xFFFF 0 - INST Un326 Fault code history 7 0 0xFFFF 0 - INST Un327 Fault code history 8 0 0xFFFF 0 - INST Un328 Fault code history 9 0 0xFFFF 0 - INST Un329 Fault code history 10 0 0xFFFF 0 - INST Un330 Fault time history 1 0 0xFFFFFFFF 0 100ms INST Un331 Fault time history 2 0 0xFFFFFFFF 0 100ms INST Un332 Fault time history 3 0 0xFFFFFFFF 0 100ms INST Un333 Fault time history 4 0 0xFFFFFFFF 0 100ms INST Un334 Fault time history 5 0 0xFFFFFFFF 0 100ms INST Un335 Fault time history 6 0 0xFFFFFFFF 0 100ms INST Un336 Fault time history 7 0 0xFFFFFFFF 0 100ms INST Un337 Fault time history 8 0 0xFFFFFFFF 0 100ms INST Un338 Fault time history 9 0 0xFFFFFFFF 0 100ms INST Un339 Fault time history 10 0 0xFFFFFFFF 0 100ms INST Note: Effective ways INST: effective immediately; RST: restart effect; STOP: effective after motor stop. 23

Fault code Er.020 Er.021 Er.022 Er.030 Er.040 Er.041 Er.042 Er.050 Er.0B0 Er.100 Chapter 3 Fault Code and Countermeasure Fault type Parameters and check exception Parameters formatted exception (inconsistent version) System and check exceptions Main circuit detection part exception Parameters setting exception Frequency-dividing pulse output setting exception Parameter combination exception Mismatching drive and motor capacity Invalid alarm of servo on command Over current Countermeasures 1.Input parameters again after formatting 2. Servo drive malfunction and needs replacement 1. Write in parameters of other servo drive that has the same software version and mode, then turn on power supply. 2. Servo drive malfunction and needs replacement Servo drive malfunction and needs replacement Servo drive malfunction and needs replacement 1. The modified parameters should be within the set range. 2. The electronic gear ratio must be within the set range. 3. Servo drive and servo motor capacity must match. Set proper value for the encoder frequency-dividing pulse. 1. The electronic gear ratio must be within the set range. 2. Make the program JOG setting meet logic. The drive does not match the motor capacity 1. Turn on the drive power again. 2.Reset software; 1. Might be cable short circuit. Change cable. 2. Might be servo motor fault. Change servo motor. 3. Servo drive fault, change servo unit. 24

Er.300 Er.320 Er.400 Er.410 Er.510 Er.511 Er.520 Regenerative fault Regenerative overload Over voltage Under voltage Over speed Over speed of frequency dividing pulse Vibration alarm 1.Correctly wire the external regenerative resistance. 2. After troubleshooting the wiring, change servo drive if it has fault. 1. Set the supply voltage within the specification range. 2. Correctly set the value of resistor and capacity. 3. Servo drive malfunction and needs replacement. 1. Adjust the AC/DC power voltage to the specification range. 2. According to the actual situation, analyze the capacity of the regenerative resistance. 1. Adjust the AC / DC power voltage to the specification range. 2. Expand power capacity. 1. Check motor wiring. 2. Reduce speed command value, or adjust the gain 1. Reduce frequency diving pulses. 2. Reduce running speed. 1. Reduce motor speed or speed loop gain. 2. Correctly set rotation inertial ratio. Er.550 Max speed setting exception Correctly set max speed Er.710 Er.720 Overload (instantaneous max load) Overload (constant max load) Er.730 BD overload 1 1. Check motor wiring and encoder wiring 2. Inappropriate motor or encoder selection. 1. Check motor wiring and encoder wiring. 2. Inappropriate motor or encoder selection. 1. Reduce motor command speed 2. Decrease rotation inertial ratio. 3.Servo drive malfunction and needs replacement. 25

Er.731 BD overload 2 1. Reduce motor command speed. 2. Decrease rotation inertial ratio. 3. Servo drive malfunction and needs replacement. Er.7A0 Heat sink overheat 1.Improve installation environment and decrease ambient temperature. 2. Re-confirm the load conditions and operating conditions. 3. Servo drive malfunction and needs replacement. Er.B33 Safe terminals input Correctly connect safe terminals Er.BF4 Hardware over current 1. Might be cable short circuit. Change cable. 2. Might be motor fault. Change servo motor. 3.Servo drive malfunction and needs replacement. Er.C10 Out of control alarm 1. Check motor wiring. 2. Reduce speed command value or adjust gain. Er.C90 Er.C91 Er.C92 Er.CA0 Er.CB0 Er.D00 Er.D01 Er.D02 Encoder communication fault: disconnection Data acceleration exception of encoder communication position Timer exception of encoder communication Encoder parameters exception Encoder loopback checking exception Large position deviation Large position deviation under servo ON Large position deviation alarm caused by speed limitation under servo ON. 1.Correctly select encoder cable. 2.Improve using environment and correctly wire the encoder. 3.Shorten encoder cable, correctly connect shield wires. 4. Might be servo drive fault and needs replacement. 1. Correctly set gear ratio, gain, position filter, torque limit and etc. 2.Check the wiring of encoder cable. 3.Might be servo drive fault and needs replacement. Correctly set value of position deviation under servo ON. 1.Correctly set speed limitation value under servo ON. 2.Reasonably set alarm value of position deviation under servo ON. 26

Alarm code AL.900 AL.901 AL.910 AL.911 AL.920 AL.921 AL.941 AL.971 Alarm type Large position alarm deviation Alarm of position deviation excess when servo ON Overload alarm Vibration alarm Regenerative overload alarm DB overload alarm Alarm of re-power due to parameters update Under voltage alarm Countermeasures 1.Set correctly gear ratio, gain, position filter, torque limit etc. 2.Check connecting cable of motor and encoder 3.After eliminating reasons, it s possible.that servo drive malfunction, please replace it. Set correctly threshold value of position deviation excess when servo ON. 1. Check the wiring of motor and encoder. 2. Inappropriate motor or encoder selection. 1. Reduce motor speed or speed loop gain. 2. Correctly set rotation inertial ratio. 1. Set power voltage within the specification range. 2. Correctly set the value of resistor and capacity. 3. Servo drive malfunction and needs replacement. 1. Adjust the AC/DC power voltage within product specification range. 2. According to the actual situation, analyze the capacity of the regenerative resistance. Restart drive after power down 1. Adjust the AC/DC power voltage to the product specification range. 2. Expand power capacity.. 27

Appendix I: Braking resistor selection Model Braking voltage Built-in resistors External resistance minimum value External resistor maximum value SD700-1R1A 380 None 40 400 SD700-1R8A 380 None 40 200 SD700-3R3A 380 None 40 100 SD700-5R5A 380 40Ω 60W 25 70 SD700-7R6A 380 40Ω 60W 15 50 SD700-9R5A 380 40Ω 60W 15 40 SD700-160A 380 30Ω 200W 10 30 SD700-2R5D 700 80Ω 60W 80 225 SD700-3R8D 700 80Ω 60W 55 180 SD700-6R0D 700 40Ω 60W 35 110 SD700-8R4D 700 40Ω 60W 25 85 SD700-110D 700 40Ω 60W 25 70 SD700-170D 700 30Ω 200W 30 50 SD700-240D 700 30Ω 200W 15 40 SD700-300D 700 30Ω 200W 15 30 Note: If needing external braking resistor, please according to the onsite braking frequency and the braking resistor heat dissipation condition to choose proper braking resistance value on the above table. If any queries, please consult the manufacturer. 28

Appendix II: Parameter record table Recorder Record time Function code Initial debugging value First modified value Second modified value Remark 29

Packing list Items Description Quantity 1 Servo Drive 1 2 SCSI Plus(50P) 1 3 Simple Manual 1 4 7P Pluggable Terminals Block 1 5 3P Pluggable Terminals Block 1 6 Terminal Handle 1 Remark: Item 4, 5 and 6 are only for below modes: SD700-1R1A-**/SD700-1R8A-**/SD700-3R3A-** When open the package, please carefully check if the contents are consistent with the packing list. Any doubt, please contact your dealer. 30