SDD Series AC Servo Driver Manual: Hangzhou Bergerda Automation Technology LTD

SDD Series
AC Servo driver manual
Hangzhou Bergerda Automation Technology LTD

Please read this manual carefully before installing/debugging /using
Thank you for choosing SDD series servo driver. Please read this manual
before using. The main contents of this manual include:
* Servo driver inspection, installation and wiring steps.
* Digital panel operation steps, status display, trouble alarm and disposal.
* Servo system control mode, trial running and adjustment steps.
* List of all the parameters of the servo drives.
* Servo drives specifications.
For daily inspection, maintenance,finding the exception reasons and

countermeasures, please keep this manual for easy reference.
Note: Please give this manual to the end user so as to maximize the utility of
the servo drives.
● The manual contents may be changed due to the product improvements,

there will be no prior notice.
● Any changes made to the product by users, the company will not
undertake any responsibility and the product warranty will be invalid.
When reading this manual, please pay special attention to the following
warning signs
Indicates the wrong operation may cause disastrous

Warn
consequences—death or serious injury!
caution Indicates the wrong operation may hurt the operator

and also make damage to the equipment!
attention Indicates improper use may damage the product and

equipment!
2
Contents
Chapter 1 Product inspection and installation
1.1 Product inspection ······················································· 1-4
1.2 Servo driver specification··············································· 5-6
1.3 Servo driver installation················································· 6-7
Chapter2 Servo driver and motor wiring
2.1 Servo drive power supply and periphery device wiring diagram ·· 8-9
2.2 Position control mode wiring diagram1 ······························· 10
2.3 Position control mode wiring diagram2 ··························· 11-13
2.4 Terminal electrical connection ···································· 13-19
2.5 The principle diagram of single interference ···················· 19-23
Chapter 3 Operation and display
3.1 Keyboard operation······················································· 24
3.2 Monitoring approach ················································· 25-26
3.3 Parameter setting······················································ 27-28
3.4 Parameter management ·············································· 28-30
3.5 F1 operation mode ························································ 31
3.6 F2 run mode ······························································· 32
3.7 Others ······································································ 33
Chapter 4 Parameter
4.1 All parameters function and significance detail list ·············· 39-54
4.2 Parameter adjust diagram model ········································ 54
4.3 Servo key parameter description ···································· 55-56
4.4 Parameter adjust steps in actual application ······················· 56-57
Chapter 5 Operation and debugging
5.1 Special attention items when debugging ······························· 58
5.2 Position control mode ··············································· 58-59
5.3 Speed run mode ························································· 59
5.4 Jog operation ······························································ 60
5.5 Internal position/speed/torque control mode ······················ 60-68
5.6 Servo function application ··········································· 69-70
5.7 Simulation speed control mode ········································· 70
5.8 Simulation torque control mode ········································ 70
5.9 Position and simulation speed hybrid control mode ·················· 70
5.10 Position and simulation torque hybrid control mode ··············· 70
Chapter 6 RS485 Communication
6.1 RS485 communication hardware interface ···························· 71
6.2 Communication protocol ············································ 72-76
6.3 Communication error and data processing ························ 76-76
6.4 SDD series drive debugging software specification and usage · 77-79
6.5 Communication command example ································ 80-82
Chapter 7 Alarm and disposal
7.1 Alarm list ······························································ 83-84
7.2 Alarm process method ··············································· 84-87
7.3 Common problems in use or exception handling ················· 88-93
Appendix A SDD series drive and SM servo motor matching parameter list
························································································ 94-95
Appendix B Product after-sales service explanation ··························· 96
2

Summarize
SDD series servo is our third generation servo. All the input and output port
can define itself, which is convenient to the user; standard RS485 communication
function, realize uploads and downloads network control; internal simple PLC
function, the PLC can be completely eliminated in some easy control occasions so
as to lower the cost. Compare with the second generation SDB series servo, it has
obvious improvement on the function and performance.
1.1 Product inspection

Our servo products have been done a completely functional test before leaving
factory, in order to prevent the product exception in the process of shipment, please
check the following items carefully when open the package:
1) Check the servo drive and motor model whether same as ordered. 2) Check
the servo drive and motor appearance whether with damage or scratch. If there is
any above mentioned defective or abnormal signs, please contact with local
distributors immediately.
1.1.1 Model confirmation

Servo drive model
SD D 08 N K8—A
Version identification number

SD series servo drive
Shape code
Sub-series:
Power supply K7:
A series:
B series:
N：220V series K8:
C series: Output power H：380V series K9:
D series: 08：800W
E series: 13：1.3KW
20：2.0KW
1
1.1.2 SDD servo drive attached standard accessories

① CN1 plug（DB25 hole） 1 set
② CN2 plug（DB25 pin） 1 set
③ 5 pin power plug（SDD04NK7/SDD08NK8）1 piece
④ 3 pin power plug（SDD04NK7/SDD08NK8）1piece
⑤ RS485 communication line（model CABLE01）2 piece optional
⑥ Debugging communication line（model CABLE02）1 piece optional
1.1.3 Servo drive installation size
SDD04NK7 servo drive installation dimensional

!!!!Notice: L N is 220V power supply , PD,C is external braking resistor
terminals. It can not be connected wrong！
2
SDD08NK8 servo drive installation dimensional

!!!!Notice: L N is 220V power supply, PD,C is external braking resistor
terminals. It can not be connected wrong！
3
SDD**NK9 servo drive installation dimensional
4
1.2 Servo drive specifications

mode SDD04 SDD08 SDD13 SDD20 SDD50
10.7 10.7 12.7 18.0 25.0

Maximum current(A)
Basic single phase AC170~253V
specificat
Power supply 50/60Hz
ions
Cooling method Natural cooling/ fan Cooling ?
Control method SVPWM control
Encoder Provincial line or incremental encoder

display and operation Six of seven-segment display LED: four function keys
position control / speed trial run / jog run /internal positioning PLC
Internal Control model function/RS485 communication/ speed/ torque
functions Braking function Internally installed
Under voltage, over voltage, over load, over current, encoder

Protection function exception, braking, position error etc.
Command control model External pulse
External Form pulse+ direction cw/ccw A/B orthogonality
command Maximum
Differential motion:1MHZ open collector: 200KHZ
pulse input frequency
Position Electronic gear ratio 1～32767/1～32767
control
Speed control range speed ratio: 1:5000
model
Speed fluctuation ratio: ＜ ±0.03 （ load 0 ～ 100% ） . ＜ ±0.05
Speed rate of change
（power-15%～+10%）
Command smooth way Linear time constant 1 ms～10000ms（0r/min←→1000r/min）
frequency characteristic 300HZ
output type ABZ phase line drive output/ Z open collector output
input location
Frequency
/ signal output 1/225～1Frequency division
division ratio
output
7 points photoelectric
signal input signal Input point can be defined as any 21kinds, see parameter settings
isolation input
5
1) location/speed reach 2) servo alarm output；3)Z signal output 4)

output signal 4 collector open
brake output. Freely defined
Usage temperature Operation:0℃～55℃storage:-20℃～80℃
1.3 Servo drive installation
1.3.1 Installation environment conditions

Servo drive installation environment has a direct effection to the servo
function and service life, therefore, the drive installation environment conditions
must comply with following conditions:
Items SDD servo drive
usage 0℃～55℃（no frozen frost）
temperature/ 90%RH below（no condensation）
humidity
storage -20℃～80℃
temperature/ 90%RH（no condensation）
humidity
atmospheric In control cabinet, no corrosive gas, inflammable gas, oil mist or dust etc
environment
vibration less than 0.5G（4.9m/s2）10 Hz -60Hz（not run continuously）
Protection level IP54
When several drives installed in the control cabinet, please keep enough space for
sufficient heat dissipation; please add an additional cooling fan to keep the drive ambient
temperature below 55 ℃.
Please install the drive by vertical way, face forward, top up for heat dissipation.
Avoid any drilling cuttings or other things falling in the drive during assembly.
Please use M4 screws when installing.
If there is vibration source (punch) nearby and can not avoid it, please use vibration absorber
or add anti-vibration rubber gasket.
If there is a large magnetic switch, welding machine etc noise interference sources
nearby, the drive is easily interfered by outside and make wrong action, therefore, a noise
filter must be added; but the noise filter will increase leak current, so, an insulating
6
transformer must be installed at the input end of the drive.
1.3.2 Servo installation direction and interval

Below chart shows a drive and multiple drives installation interval, the
interval should be larger enough for a good heat dissipation conditions.
Ventilate direction Ventilate direction
7
Chapter 2 Servo drive and motor wiring
2.1 Servo drive power supply and peripheral devices wiring
Power
single220V 1kw and below
Leakage
Circuit breakers
The linker CN1 wiring

Contact I/O speed,connect to
the controller
Link to the
power
Noise filter
W phase The linker CN2 wiring

V phase Connect to the encoder
U phase
Connect to the phase and ground of the servo motor
SDD04NK7 servo drive peripheral devices wiring
8
Power 1.0kw and above

Single220V
Leakage
Circuit breakers
Link to the CN1

wiring
I/O speed,
Contact connect to the
controller
Link to the
power
W phase Noise filter

V phase
U phase
Link to the CN1
PE wiring
Connect to the encoder
Connect to the phase and ground of the servo motor
SDD20NK9 servo drive peripheral devices wiring
9
2.2 Position control mode wiring diagram 1
Pulse command signal
Direction command signal
SDD04NK7 position control mode wiring diagram
10
2.3position control mode wiring diagram 2
Electronic gear ratio switching
SDD20NK9 position control mode wiring diagram
11
internal position control mode wiring diagram(simple PLC function)
Internal position control model wiring diagram
12
24V power supply
Brake motor
Relay
16
Brake coil 24V power supply

Pulse feedback A
Brake release signal typical example
locking type brake motor wiring diagram
2.4 Terminal electrical connection
2.4.1 1、Definition of the power terminal (SDD04NK7 series)

Terminal
signal definition function
marking
L power input terminal～220V 50Hz

power
note: do not connect with motor output
N supply
terminal U, V, W.
Built-in braking resistor: P and D short circuit
P
external connect connection.
D brake resistor With external braking resistor:P and D

select terminal open.The external resistance connection
C between P and C.
1、grounding terminal resistance＜100Ω；

PE System grounding 2、Servo motor output and power input with
one public point grounding.
W Servo motor Servo motor output terminals must connect
13
V output with motor terminals W,V,U

U
2、Power terminal definition (SDD20NK9 series)
Terminal
signal definition function
marking
L1 power input terminal～220V 50Hz,single

Power supply
phase connect L1 L2
L2 single-phase or
note: do not connect with motor output
three phase
L3 terminal U, V, W.
grounding terminal resistance＜100Ω；
PE System grounding Servo motor output and power input with one
public point grounding
U
Servo motor Servo motor output terminals must connect
V
output with motor terminals W,V,U
W
Built-in braking resistor::P and D short circuit
P
external connect connection.
D brake resistor With external braking resistor:P and D
select terminal open.The external resistance connection
C between P and C.
2.4.2 Power line terminals wiring

 L1, L2, L3, PE, U, V, W terminal, transversal area≥1.5mm2(AWG14-16). L, N
terminal, transversal area≥1.0 mm2(AWG16-18)。
 Grounding: the grounding wire should be as thick as possible, drive and servo motor
grounding at PE terminal, grounding resistance＜100Ω。
 Suggest providing power supply by three-phase isolating transformer to reduce the
possibility of electric shock hurts.
 Suggest providing power supply by the noise filter to improve the anti-interference
ability.
 Please install non fuse type(NFB) circuit breakers, so that the external power supply
can be cut off promptly when the drive with failure.
2.4.3 Signal terminal definition
14
SDD servo drive unit interface terminal configuration as follows.CN1 signal

control terminal is DB25 connector, the socket is pin type, plug is hole type; CN2
terminal feeder is DB25 connector, socket is 25 core hole type, plug is 25 core pin
type.
Control terminal CN1
Terminal No signal name mark I/O System default function
Power supply positive pole of input terminal
Control Power
CN1-8 power Photoelectric coupler used for drive the input
supply COM+
supply terminals DC12～24V, electric
positive
current≥100mA
System default： input terminals of
Servo-enabled: SON ON：allow the drive to
CN1-21 Input port1 IN0（SON） input
work. SON OFF：drive off, stop working, the
motor in free state.
System default：servo alarm clear
IN1
CN1-9 Input port 2 input ON：servo alarm output normally OFF：
（ARST）
remove the system alarm
CN1-3 Input port 3 IN2（CCW） input System default：Forward drive prohibition
CN1-17 Input port 4 IN3（CW） input System default：Reverse drive prohibition

System default：position deviation counter
CN1-22 Input port 5 IN4（CLE） input reset CLE ON: position control, position
deviation counter reset
System default ： position command pulse
prohibit input terminals
CN1-10 Input port 6 IN5（INH） input
INH ON: command pulse input prohibited
INH OFF: Command pulse input effective
terminal No signal name mark I/O function
System default：electronic gear ratio choose
terminal（default as OFF）
IN6 ON：choose PN31 parameter as present
Input port 7 input
CN1-4 （GEARI） position control gear ratio
OFF：choose PN9 parameter as present
position control gear ratio
OUT1 System default：position reach.
CN1-1 Output port 1 output
（COIN） position reach signal output ,
15
when the servo position reach to the target

position（Pn12 parameter value）, output ON
System default：brake output
Open-drain output, normal working,
Output port 2 OUT2
CN1-14 output optocoupler breakover. Output ON
（HOLD）
No enable, drive prohibited. When alarm,
optocoupler cut-off; output OFF
System default: servo alarm output
ALM ON: servo drive without alarm, servo
OUT3
CN1-15 Output port 3 output alarm output ON.
（ALM）
ALM OFF: servo drive alarm, servo alarm
output OFF.
common
common Grounding common terminal of the control
CN1-16 terminal of the DG
terminal signal output terminal(except CZ)
output
encoder Z the encoder Z phase output terminals:
CN1-2 CZ+ output
phase output photoelectric code of the servo motor Z phase
pulse output
encoder Z
CN1-5 CZ- output CZ ON: Z phase signal appear, optocoupler
phase output
collector open circuit output
CN1-18 PULS+ external Command pulse input terminals
Command
input Note 1: the parameter Pn8 set pulse input
CN1-6 pulse PULS-
model;
CN1-19 SIGN+ 0．Command pulse+symbol mode;
command
input 1．CCW/CW Command pulse mode;
CN1-7 direction SIGN-
2. A/B orthogonal Command pulse mode
CN1-23 Output PEA output Each round of the motor with pulse output
encoder signal The output pulse is mainly used to return to
CN1-11 A PEAL output the upper machine. To achieve closed loop
CN1-24 Output PEB output control, the frequency of the output signal
encoder signal can be set by PN41,PN42..
CN1-12 B PEBL output
CN1-25 Output PEZ output Each motor round output a signal, the width of
encoder the signal related to the speed of the
CN1-13 signal Z PEZL output motor
16
External
If the pulse signal is 24 v, connect the power
public
CN1-20 VP input supply can be without resistance
power
supply
CN1-PE Shield ground PE
2) The feedback signal terminal CN2

terminal terminal
signal name I/O function
No mark
CN2-24 encoder signal A+ A+
CN2-12 encoder signal A- A-
CN2-23 encoder signal B+ B+ Encoder ABZ signal
CN2-11 encoder signal B- B-

CN2-22 encoder signal Z+ Z+
CN2-10 encoder signal Z- Z-
CN2-21 encoder signal U+ U+
CN2-09 encoder signal U- U-
CN2-20 encoder signal V+ V+
Match province line type motor, UVW encoder
CN2-08 encoder signal V- V-
signal does not need to connect. And PN74=1
CN2-19 encoder signal W+ W+
CN2-07 encoder signal W- W-
CN2-1.2
digital ground GND Digital
.3.4
CN2-5.6
+5V power VCC Power
.17.18
CN2-14 shielding ground FG
3) Serial communication terminal （SDD** NK**）CN5

terminal
signal name mark Model function
No.
RS485
3 485D+ RS485 communication signal
communication signal SDD**
RS485 NK**
1 485D- RS485 communication signal
communication signal
17
4) Serial communication terminal （SDD** NK**D）CN5

terminal
signal name mark Model function
No.
RS485
3 485D- RS485 communication signal
communication signal SDD**
RS485 NK**D
4 485D+ RS485 communication signal
communication signal
Terminal interface as shown below (SDD**NK** and SDD**NK**D ports):
SDD**NK** SDD**NK**D
2.4.4 signal terminals wiring

 Cable selection: use shield cable (It is better to choose twisted shielded
cable), wire core cross-sectional area≥0.12mm2(AWG24-26), shield
must connect with FG terminals.
 cable length: cable length as short as possible, CN1 control cable
should be less than 3meters, signal feedback CN2 cable should be less
than 20meters.
 Wiring: away from power cabling to prevent interference entering.
Please install surge absorber component in the relevant circuit inductor
components (coil); direct current coil anti-parallel free-wheeling diode,
AC coil in parallel and RC absorb return circuit.
2.5 The principle diagram of the signal interface
18
2.5.1 digital input interface circuit

Digital input interface circuit could be controlled by relay or open collector
transistor circuit. User provide power, DC12～24V, current≥100mA；note: if the
current polarity reversed, the drive does not work. Input signal IN0-IN6 all can
refer to this connection mode.
Servo driver
Switch
When input signal connect with OV, signal is ON input and effective. It can be
judged by display menu UN-17, when input ON, the corresponding nixie tube will
be light. Input OFF, the corresponding nixie tube will die out. Use this display
content properly, convenient for servo input signal debugging and maintenance.
Input terminal display

Light display ON, go out display OFF
2.5．2 Servo motor photoelectric encoder input interface

In the differential output mode, use AM26LS32、MC3487 or similar line drive
RS422 as a receiver.
19
Servo motor Servo driver
2.5.3 The pulse signal input interface circuit
In order to transmit pulse data correctly, suggest to use differential drive way; in
differential drive mode, use AM26LS31、MC3487 or similar line driver RS422 as
follow diagram
Servo driver
Using single-ended drive mode will lower the operating frequency.

A：Input circuit according to the pulse quantity. drive current 10～25mA
Limit external power maximum voltage as 24V, determine the value of resistance R.
experience data:VCC=24V，R=1.3～2k；VCC=12V，R=510～820Ω。External power
supply provided by user, please note that if the power polarity reversed, the servo
drive unit will be damaged. Details as follow diagram.
Controller driver
pulse
direction
Controller driver
pulse
20
direction
B：Don't concatenated resistance, with the internal resistance of the drive function
implementation. The wiring method as diagram below.
Single pulse
input controller
Servo drive
such as PLC
Position
commend
Direction
commend
2.5.4 driver speed output interface
Servo driver
2.5.5 The digital output interface circuit

Please pay attention to the power polarity when using external power, reversed
polarity will damage the drive. Digital output is open collector mode, limit external
voltage maximum as 24V, maximum current is 10mA. In terms of load, when
using relay etc inductive load, a diode need be added to parallel with inductive load,
21
if the polarity of the diode is reversed, the drive will be damaged.The status of the
output signal can be observed by UN-18.
Servo driver
Maximum
Maximum 25V 25mA
Keep
Output terminal display

22
Chapter 3 operation and display

3.1 Keyboard operation
 Servo panel with 6 LED nixie tube display and 4 buttons to display various
status, parameter setting . Key functions as follows:
：number, value increase, or forward.
：number, value decrease, or back.
：return to upper menu or cancel the operation.
：enter the next layer operation menu or input confirmation.
Note: 、 keep press down, repeat operation, the longer the holding time,
the faster the repetition rate.
*** 6 section LED digital tube display all kinds of status and data of the
system, all digital tube or the decimal point of the rightmost digital tube blink, it
means alarm.
*** According to multiple-layer menu to operate, the first layer is main menu,
including 8 kinds operation mode, the second layer is the function menu of all
operation modes. The below diagram shows the main menu operation:
Display status meaning

Status surveillance
parameter
Parameter operation
Internal speed run
Jog operation
23
Encoder adjustment
Open loop run
3.2 Monitoring method
Choose “Un-” in the first layer, press entering monitoring mode; there are 22
display status, the user use 、 to choose the display mode.
Display status Display code Display meaning Example

Current motor
Motor speed
speed is 500 turn
present position low 5
present position high 5
Command pulse low 5
Command pulse high5
Position deviation low
Position deviation high
Motor torque
24
Motor current
present linear speed
Control mode
pulse frequency
Speed command
Torque command
Rotor absolute position
Empty
Input signal status
Output signal status
Encoder signal status
Running status
Alarm code
Reserve
Display analog AD
value
25
3.3 Parameter setting
Choose “PN-” in the first layer, and press key to enter parameter setting
mode. Use 、 to choose parameter, press key , display the value of
the parameter, use 、 to modify parameter values. press or once,
parameter increase or decrease one, press and keep or , the parameter
can be increase or decrease continuously. When the parameter value is modified,
the rightmost LED digital tube lit up, press to make sure the modified value
effective, the LED digital tube decimal point of the right side go out, the modified
value will be reflected in the control immediately, then press or keep
on modify parameter, after modified press back to the parameter selection
status. If you are not satisfied with the value you are modifying, do not press
, can press to cancel, restore original parameter value, and back to the
parameter selection status.
26
Operation process
Operate Choose “PN” menu

In the first layer menu, and
Press Key
Operate Choose the parameter

Number need to be modified
Press “up” or “down” once and increase or decrease

1, press and keep “up” or “down” can increase or
Operate Display the original decrease setting value continuously. When modify
Value of this parameter parameters, the rightmost side LED digital tube
decimal point light
Operate Modify parameters
Press Cancel the

Modified value and restore
to the original value
No
Modify finished?
Yes
Determine the changed

Operate
Value
Yes Determine the changed

Re-modify? Value, the rightmost side
LED decimal point go out
No
Return to parameter
Press
selection state
3.4 Parameter management
Parameter management mainly deals with the operation between memory and
EEPROM, choose “Sn-” in the first layer, and press entering parameter
management mode. First, choose the operation mode, there are 5 modes, use 、
to choose. Take “parameter write in” for example, choose “Sn-Set”, press
27
and keep more than 2 seconds, if the write success, display “DONE”, if fail,
display “ERR”. Press again back to the operation mode selection status.
Sn－SEt parameter write in, it means to write the memory parameter to

the parameter area of EEPROM. When the users changed the parameters, only
the memory parameter values changed, next power supply will be restored to the
original value. If you want to change the parameter values permanently, need to
perform write in operation, write the memory parameter into parameter area of
EEPROM, next power supply will use the modified parameters.
 Operation process
Operate Choose “SN” menu

In the first menu layer, and
Press Key
Operate Choose “set”
Press And keep more than

If not display “DONE”
Two seconds (include “ERR”), please
contact the distributor for
technical support.
No
Display DONE?
Yes
Press Return to the first menu
 Sn－rd parameter read, it means read EEPROM data in parameter area

into the memory. The process will perform automatically when power on, at
28
the beginning, the memory parameter and the EEPROM parameter is the
same. But when the user modified the parameter, the memory parameter value
changed too. When the user is not satisfied with the modified parameter or the
parameter is messy, perform the parameter read operation, the data in the
ENPROM parameter area will read into the memory again and restore to the
original parameters when power on at the first time.
 Sn－SS backup parameters
 Sn－rS Restore backup area parameters to current memory
 Sn－dEF restore default value, it means to read all the parameter default
value(factory defaults) into the memory, and write in the EEPROM parameter
area, next power on will use the default parameter. When the user messed the
parameter and can not work properly, use this operation can restore all
parameters to factory default. As different drive mode with different
parameter default values, when using restore default parameters, firstly have
to ensure the motor ID (parameter PN1) is correct.
Operation process
Operate Choose “SN” menu

Press key
Operate Choose dEF
Press key
Yes

29
3.5 F1 operation mode (panel test-run function)

Choose “F1-” in the first layer, press entering speed trial operation mode.
Speed trial prompt is “S”, value unit is r/min. Speed command provided by keys,
use 、 can change speed command. The motor operated at the given speed.
Control the speed positive increasing, control the speed reducing
(reverse increasing). When the speed value is positive, the motor rotated in the
forward direction; when the speed value is negative, the motor rotated in the
reverse direction. Note: the speed mode is a continuous motion, please ensure
the motion axes with enough run distance to avoid impact and limit.
Operation
process
Set PN4 to 2
Opera Choose “F1-”

In the first menu layer,
Pre key
Opera Increase forward Opera Reduce forward

Decrease negative Increase negative
No
Test
Yes
Pre Return to the first
Note: if without outside enable signal, please set PN95 parameter as 1. Or the motor won’t
work.
3.6 F2 run mode(JOG run test function)
30
Choose “F2-”in the first layer, press entering jog operation mode. JOG run
prompt is “J”, value unit is r/min，speed command provided by keys. Enter F2
operation, press key and keep, motor run at jog speed, release the button,
motor stop running, retain zero speed; press and keep, the motor inverted
running at jog speed, release the key, the motor stop running, retain zero speed, jog
speed set by parameter PN22.

Operation process
Set PN4 to 3
Operate Choose “F2-” menu

Press key
Operate Run forward, Release, Operate Run negative, Release,

The motor stop The motor stop
No
Test finished?
Yes
Note: if without outside enable signal, please set PN95 parameter as 1. Or the motor won’t work.
31
3.7 Other
F4 is the photoelectric encoder zero set function, for motor manufactures use. The
user can not use it.

F5 function reserve.
32
Chapter 4 parameter
Chapter 4 parameter
SDD series servo with total 127 parameters can be adjusted, adjust the user parameters
can meet most requirements of the user. The motor mating parameters can not be modified
randomly, or there will be unpredictable results appear. Pn5-Pn16 are position control
parameters, Pn17-42 are speed control parameters, Pn43-Pn50 are current control
parameters, Pn51-Pn59 are I/O control parameters. Pn60-Pn96 are motor mating
parameters.Pn97- Pn127 are internal control parameters and communication control
parameters. Take the default parameters of the 130sm-m0425 motor as an example.
No. Name Value No. Name Value
position feed
Parameter forward low pass
0 168 7 300
password filter cut-off
frequency
Position command
1 Motor ID 15 8 0
pulse input form
Position command
2 Software version 1014 9 pulse fractional 1
frequency numerator
Position command
initial display pulse fractional
3 0 10 1
status frequency
denominator
Position control
4 control mode 0 11 motor rotation 0
direction
position Positioning
5 800 12 20
proportion gain completion range
Position out of
position feed
6 0 13 tolerance detection 800
forward
range
33
Chapter 4 parameter
Position out of
Back to zero
14 tolerance error 0 27 30
accredited range
invalid
Feedback output
Position command
15 0 28 pulse A/B/Z phase 0
smoothing filter
sequence
Acceleration/
drive ban input
16 1 29 deceleration time 200
invalid
constant
speed proportion
17 400 30 Reserved 0
gain
Position command
speed integral time pulse fractional
18 50 31 2
constant frequency
numerator 1
speed detection Internal control
19 500 32 1
low pass filter method selection
20 Rated speed 2500 33 Speed 1 -300
21 Arrive speed 500 34 Speed 2 -200
22 Jog speed 120 35 Speed 3 -100
23 Enable delayed 0 36 Speed 4 0
Back to zero absolute

24 positioning pulse 100 37 Speed 5 100
number
25 reserve 10 38 Speed 6 200
26 Back to zero speed -100 39 Speed 7 300
34
Chapter 4 parameter
input port high 3

40 Speed 8 400 54 0
reverse
numerator of the
41 1 55 output port reverse 7
encoder output pulse
Denominator of the Analog instruction,

42 1 56 1
encoder output pulse direction reversal
Electric current loop The second position
43 230 57 225
proportion gain proportion gain
Electric current
44 loop integral time 100 58 Reserved 0
constant
Z signal stretch
45 Internal torque1 50 59 0
ratio
46 Internal torque 2 -50 60 Reserved
47 Internal torque 3 100 61 current rated torque 40
48 Internal torque 4 -100 62 motor rated speed 2500
Motor maximum
49 Torque setting 300 63 3000
speed
Torque command
50 100 64 motor rated current 40
filter
system allowed
Input port low 4
51 0 65 maximum overload 300
force effective
capacity
Input port high 3 Current integral
52 0 66 800
force effective separation point
input port low 4 Analog voltage
53 0 67 30
reverse dead zone
35
Chapter 4 parameter
Current command
68 100 83 Key response time 20
low pass filter
Speed integral
69 200 84 Reserved
separation point
output port 1 Position error clear
70 2 85 234
function selection method
output port 2 Encoder line
71 0 86 2500
function selection number
output port 3
72 1 87 Encoder zero offset 2650
function selection
Input analog Current when
73 0 88 60
selection encoding disk is zero
Encoder type Motor thermal

74 0 89 105
selection overload
Overload torque Motor thermal

75 117 90 130
detection point overload torque
Overload point Motor thermal

76 200 91 900
torque overload time
Maximum
77 overload time of 1000 92 Motor pole pairs 4
the overload point
Analog voltage
78 100 93 Reserved
filter factor
Speed amplifier
Torque to reach
79 saturation 1500 94 150
output signal ratio
detection time
80
Blocking speed 20 95 Forced enable 0
Blocking
81 1000
confirmation time
36
Chapter 4 parameter
Input pulse filter

82 800 96 Reserved
frequency
Acceleration and
Internal position 0
97 0 109 deceleration of the 1
turns
internal position
Internal position 0 Input port 0
98 0 110 1
pulse number definition
Speed at internal
Input port 1
99 position 0 1000 111 2
definition
positioning

100 0 112 14
turns definition

101 0 113 15
pulse number definition
Speed at internal
Input port 4
102 position 1 1000 114 4
definition
positioning
103 0 115 3
turns definition
Internal position 2 Input port
104 0 116 0
pulse number 6definition
Speed at internal RS485
105 position 2 1000 117 communication 1
positioning address
Internal position 3 RS485
106 0 118 5
turns communication rate
RS485
Internal position 3
107 0 119 communication 0
pulse number
agreement
37
Chapter 4 parameter
Speed at internal Position/speed

108 position 3 100 120 integral saturation 0
positioning fault detection
Input port is
Analog speed
121 controlled 0 122 2048
proportional gain
selection
Analog torque High speed torque
123 2048 126 190
proportional gain coefficient
Analog control AD
124 Analog zero point 2048 127 0
mode
Torque mode
125 20
speed limit
4.1 All parameters function and significance detail list
parameter
No. name function
range
① password with different level, corresponding to
user parameters, system parameters
parameter
0 ② To modify the motor ID(Pn1) , must set this item 0~300
password
to 0, user parameter password is 168. Please
consult the manufacture for system parameters.
For supporting motor model. Each motor with a
unique ID number, Set password Pn0 to be 0 firstly,
1 Motor ID then modify this parameter. After the setting is 0~100
completed, the SN-DEF needs to be executed to be
valid. Please operate this parameter with caution.
software
2 Reserved by the manufacturer
ID
38
Chapter 4 parameter
Choose the display status when the drive power on

0: display motor rotation speed;
1: display current position low 5;
2: display current position high 5
initial display
3 8: display motor current; 0~20
status
11:display position command pulse frequency;
12:display speed command;
13:display torque command;
14:Display the rotor absolute position
The drive control mode can be set by this
parameter:
0: position control mode;
1: internal position/speed/torque control mode
2: internal speed control mode;
3: jog control mode.
4:zero mode.
5:Open loop operation mode.
6:Automatic gain adjustment mode.
7:Analog speed mode
8:Analog torque mode
9:Position and Analog speed mode.
4 control mode 0~12
10:Position and Analog torque model.
11: pulse speed control mode
12: Analog zero automatic adjustment (after
connecting the upper computer system,
Setting this parameter can automatically write the
zero point of the current analog and simplify the
debugging of the analog.
11 and 12 functions are available in V519 or later,
and the product model suffix with D also has these
two functions.
The internal position/speed/torque is determined by
the I/O port.
39
Chapter 4 parameter
Set the proportion gain of the location loop regulator.

position The greater the setting value, the higher the gain, and
the greater the stiffness, under the same frequency
5 proportion 1~1000
command pulse condition, the location hysteresis
gain
will be less. But if the value is too big may cause
oscillation or overshoot.
When the feed forward gain of the location loop
increase, the high-speed response characteristics of
position feed the control system will be enhanced, but it make the
6 0~100
forward system location loop unstable and easy to vibrate.
Unless very high response characteristics needed, the
location loop feedforward gain usually set to 0.
position feed
forward set position loop feedforward low-pass filter cutoff
7 low-pass frequency, the high the cutoff frequency, the better 1~1200
filter cutoff the position tracking, but easy to vibrate.
frequency
Set the position command pulse input form
0: pulse＋sign;
position 1: CCW pulse/CW pulse;
command CCW is observed from the axial of servo motor,
8 counter clockwise rotate, it defined as forward 0 ~2
pulse input
direction.
form CW is observed from the servo motor axial,
clockwise rotate, it defined as reverse direction.
2：A/B orthogonal signal
position
command
pulse
9 electronic gear ratio numerator 1~32767
frequency
division
numerator
40
Chapter 4 parameter
position
command
10 pulse electronic gear ratio denominator 1~32767
frequency
denominator
position
control motor 0: normal;
11 0 ~1
rotate 1: direction reversed.
direction
set the positioning finish pulse range under the
position control;
Positioning
12 This parameter provide basis whether drive unit 0~30000
finished range
judgment finished positioning under the position
control mode.
set position tolerance alarm detection range;
Position
Under the position control mode, when the count
tolerance
13 value in the position deviation counters over this 0~30000
detection
parameter, the servo drive unit will give position
range
error alarm.
0: position error alarm detection valid;

position error
14 1: position error alarm detection invalid, stop 0 ~1
invalid
detecting location error.
smooth filtering command pulse, with exponential

position form acceleration and deceleration, numerical value
command means time constant; 0ms~2000
15
smoothing The filter will not lose input pulse, but there will be 0×0.1ms
filter command delay phenomenon;
When set to 0, the filter doesn’t work.
drive ban 0: CCW、CW input ban valid;
16 0~1
input invalid 1: cancel CCW、CW input ban.
41
Chapter 4 parameter
Set the speed loop regulator proportion gain. 1.The

speed
greater the setting value, the higher the gain, and the 5Hz
17 proportion
greater stiffness. 2.The greater the load inertia, the ~2000Hz
gain
greater the setting value.
Set speed loop regulator integral time constant;
1.The smaller the set value, the faster integral speed
speed integral and the greater stiffness. 2.The greater load inertia, 1ms
18
time constant the greater of set value. At the frequent start-stop ~1000ms
small power occasion, the set value is small to
prevent overshoot.
set speed test low pass filter characteristic;
1. The smaller value, the low cutoff frequency, the
smaller of the motor noise. If the load inertia is
speed
large, could reduce the setting value. If the value is
19 detection low 1%~500%
too small may cause to low response and vibration.
pass filter
2. The larger the value, the higher the cutoff
frequency, the speed response faster. If high speed
response needed, could increase the setting value.
20 rated speed rated speed of the motor 0~ 6000
21 reach speed Set the speed value when input signal reach effective 0~3000
-3000 ~3000
22 jog speed Set jog speed.
r/min
23 Enable delay 0-1000ms
Orientation
Precise position when external triggering orientation
absolute
24 control 0-65535
positioning
Actual operation position is set value *2
pulse count
25 reserve reserve
The speed when external triggering orientation

Orientation 0~3000
26 control, by setting plus or minus speed to decide
speed r/min
rotation direction when positioning.
42
Chapter 4 parameter
Orientation
Identified range when external triggering orientation
27 complete 0-10000
control
range
Drive motor output pulse A/B/Z phase sequence
during initial power-up
Feedback
0: Normal; 1: Phase A is inverted; 2: Phase B is
output pulse
28 inverted; 3: A/B is reversed when it is the same; 4: 0-7
A/B/Z phase
Phase Z is inverted; 5: A/Z is reversed
sequence
simultaneously; 6: B/Z is also Inverse; 7: A/B/Z is
also reversed
Set value means the motor acceleration/ deceleration
Acceleration/ time from 0r/min~1000r/min. Acceleration and
0ms
29 deceleration deceleration are linear.
~1000ms
time constant Only used for speed control mode, it is invalid for
position control mode;
30 reserve reserve
Position
command
pulse
31 1～65536
frequency Position control the second gear ratio numerator
second
numerator
43
Chapter 4 parameter
1. Internal speed and external pulse position

switching
2. Internal torque and external pulse position
switching
3. Internal position and external pulse position
switching
It is only necessary to define the corresponding input
Internal control port as function 19 when switching. If only internal
32 method speed or internal torque or internal position is used, 0～3
selection the corresponding input port is defined as function
19 when there is no need to switch functions.
At the same time, the input port is permanently set
high or low according to the actual situation.
When working in multiple modes, you need to
observe what control mode is currently in progress.
You can check un-11 to determine the working status
and facilitate debugging.
-6000 ~6000
33 Speed 1
r/min
Internal speed control mode: by external I/O point
-6000 ~6000
34 Speed 2 status to control the speed. For example:
r/min
SC1 SC2 SC3
Pn33：OFF OFF OFF -6000 ~6000
35 Speed 3
Pn34：ON OFF OFF r/min
Pn35：OFF ON OFF -6000 ~6000
36 Speed 4
Pn36：ON ON OFF r/min
Pn37：OFF OFF ON -6000 ~6000
37 Speed 5 Pn38：ON OFF ON r/min
Pn39：OFF ON ON -6000 ~6000
38 Speed 6 Pn40：ON ON ON r/min
-6000 ~6000
39 Speed 7
r/min
-6000 ~6000
40 Speed 8
r/min
44
Chapter 4 parameter
numerator of
Every loop feedback pulse encoder output after
41 the encoder 1~65536
through the gears within the drive unit.
output pulse
Denominator
Every loop feedback pulse encoder output after
42 of the encoder 1~65536
through the gears within the drive unit.
output pulse
1.The higher the set value, the greater the gain, the
current loop
current tracking error is smaller. But too much gain
43 proportion 1～500
will produce vibration or noise, 2.it related with the
gain
servo motor, 3. Independent of load
1.The smaller the set value, the faster the integral
speed, and the current tracking error is smaller. But
current loop too small integral will produce vibration or noise.2.
44 integral time It related with servo motor, 3. Independent of load. 1~10000
constant 4.Try to set larger value under the condition of the
system without vibration.
Internal Internal torque control mode: the size of the torque

45 is controlled by the status of the external I/O point.
0%~300%
torque 1
Internal For example:
46 T0 T1 -300%~0%
torque 2
Pn45：OFF OFF
Internal Pn46：ON OFF
47 0%~300%
torque 3 Pn47：OFF ON
Internal Pn48：ON ON
48 -300%~0%
torque 4
49 torque set internal speed, jog speed torque 0~300%
45
Chapter 4 parameter
1. Setting the torque command filter characteristics

can restrain the vibration which produced by torque
(the motor give out sharp vibration noise).
torque
2. The smaller of the value, the lower of the cutoff
50 command 1%~500%
frequency, the smaller noise produced by motor. If
filter
the load inertia is very big, can reduce the set value
properly. If the value is too small, may result in slow
response and may cause instability.
The lower four bits of the input signal are forced
ON. Invert the binary, set the value to decimal, for
Input low 4
example: 1 (0001) the lowest bit is forced to be
51 enforce 0~15
valid, 2 (0010) the second bit is forced to be valid, 4
effective
(0100) the third bit is forced to be valid ,8 (1000) the
fourth bit is forced to be valid.
Input high 3
52 enforce Input signal high 3 enforce ON 0~7
effective
input low 4 input signal low 4 reverse, used to match the
53 0~15
reverse electrical level of the input signal contact spot
input high 3 input signal high 3 reverse, used to match the
54 0~7
reverse electrical level of the input signal contact spot
output port Output signal reverse, used to match the electrical
55 0~15
reverse level of the output signal
Analog instruction, Analog instruction, direction reversal. Switch
56 0~1
direction reversal direction.
The function is same with PN5, which
The second
parameter used as position proportion gain in
position
57 system, is determined by external I/O, in default 1-65536
proportion
situation, with PN5 as system internal position
gain
proportion gain.
58 Reserved Reserved
46
Chapter 4 parameter
When using a host computer such as a PLC, if

the Z signal reception is difficult, this parameter can
Z signal
59 be used to widen the output Z signal to facilitate the 0-31
stretch ratio
use of the upper computer. When set to 0, no stretch
function
60 Reserved
Reserved
motor rated set motor rated torque
61 1～1000
torque
motor rated Set motor rated speed. 0～6000
62
speed r/min
Motor
Set motor maximum speed 0～6000
63 maximum
r/min
speed
motor rated Set motor rated current. 1～500×
64
current Set value is valid. 0.1A
system
allowed
65 maximum Set system allowed maximum overload multiple 0～300%
overload
capacity
Current Current error over the set value, the current loop
integral
66 from PI change to P, value is the percentage of 0～800%
separation
rated current
point
Analog voltage dead zone AD value, set this value
Analog
reasonable，with the absence of the input voltage,
67 voltage dead 0～4096
and solve the motor rotation produced by the zero
zone
voltage wave.
47
Chapter 4 parameter
Set current command low pass filter cutoff

current frequency.
68 command low Used to limit the current command frequency band, 1～1500HZ
pass filter avoid the current shock and vibration, and make the
current response stably.
Speed
integral When speed error over the set value, the speed
69 0～300
separation change from PI to P
point
Set output port 1 function:
0: break output function
1: servo alarm output
Output port 2: position reach

70 1function 3: speed reach 0-7
selection 4: servo ready
5: back to zero complete
6: out of torque reach
7: Motor stall signal output
Output port2
71 function Set Output 2 function: refer to Pn70 0-7
selection
Output port3
72 function Set output 3 function: refer to Pn70 0-7
selection
0; -10V~10V Voltage analog input, positive and
negative voltage determines the direction
1; 0V~10V Voltage input, input signal determines
Input analog direction
73 0-3
selection 2; -10V~0V Voltage input, input signal determines
direction
3: 0-10V voltage input, a signal determines the
direction
48
Chapter 4 parameter
Encoder type 0; 15core 2500p normal encoder

74 0～1
selection 1; 9core line 2500p encoder
Set the start torque value of the overload protection,
Overload rated percentage.

75 torque detect When the present torque over this value, the 0-300%
point systerm internal overload counter work, counter
exceeds, system output overload alarm.
Set overload point torque, This parameter and Pn77
Overload
make up the overload characteristic of the motor
76 feature point 0-300%
together. Set by the motor overload characteristic
torque
parameters. Note Pn76》Pn75
Maximum
overload time
0-3000×10
77 of the refer to Pn76
ms
overload
point
Analog
Analog voltage filter coefficient, the greater the
78 voltage filter 0-1000
setting, the more stable the speed.
coefficients
When the continuous saturation time of the system's
Speed
internal speed regulator exceeds this value, a speed
amplifier 0-3000×10
79 saturation alarm is generated. Used to prevent
saturation ms
mechanical jamming or other reasons caused the
time
continuous current larger.
Blocking When the torque control, the motor is blocked after
80 0~100
speed the value is lower than the set value.
Output blocking signal from the time when the lock
Blocking
is confirmed to the set value
81 confirmation 0.1ms
When the stall signal is enabled, the output port
time
function is set to 7 to be effective.
Input pulse Set input pulse pass frequency, unit 1 means 1KHZ,
82 filtering set at 500, means the system maximum pass 1-10000
frequency frequency is 500KHZ.
49
Chapter 4 parameter
83 Key period The key response time 2~200
84 Reserved Reserved
0：no enable status, position deviation command

Position
difference pulse accumulation reset
removal 1：no enable status, position deviation command

85 method/pulse pulse accumulation is not reset, count continuously. 0-500
speed V519 version and product model with D version,
instruction this parameter function is pulse speed command
filter filter;
Encoder line
86 Encoder line number 1-65536
number
The encoder
87 The encoder zero division angle with U. 1-65536
zero offset
Encoder Set current value when the encoder reset, the
88 current when percentage cannot too big to avoid motor 0-300%
reset overheating
Motor
thermal
89 overload Thermal overload use I*I*T calculate method 10-300%
torque detect
point
Motor
thermal
90 Set this parameter bigger than Pn89 10-300%
overload
torque
Motor thermal
91 Set thermal overload maximum time 0-1000S
overload time
Set servo motor pole pairs, different manufacture
motor pole
92 and different model motor may with different pole 1~36
pairs
pairs, cannot change this parameter randomly
50
Chapter 4 parameter
Position gain
1～100×
93 attenuation Set the position gain attenuation factor.
0.1A
coefficient
Torque Simulation control torque reaches the set value,
reached
94 torque reach output signals effectively. The value is 0～300%
output signal
the percentage of rated torque.
ratio
0：servo enable is controlled by external I/O
95 Force enable 1：automatic servo enable when forced power on, do 0~1
not need to connect external signal
96 Reserved reserve
Internal Set internal position 0 precise position

-65535~655
97 position 0 When the internal position control: target position
35
turn determine by these 2 parameters, position 0=
Pn97*10000+ Pn98*2
Internal
For example: Pn97=2 Pn98=1000
98 position 0 1~65535
Indicates internal position movement
pulse
=2*10000+2000=22000unit
Speed at
internal 0～3000
99 The speed of positioning to internal position 0
position 0 r/min
positioning
Internal
-65535~655
100 position 1
35
turn Set internal position 1 precise position
Internal Refer to Pn97 Pn98
101 position 1 1~65536
pulse
Speed at
internal 0～3000
position 1 r/min
positioning
51
Chapter 4 parameter
Internal
-65535~655
103 position 2
35
104 position 2 1~65535
pulse
Speed at
internal 0～3000
position 2 r/min
positioning
Internal
-65535~65
106 position 3
535
107 position 3 1~65535
pulse
Speed at
internal 0～3000
position 3 r/min
positioning
Acceleration of the Acceleration and deceleration time when internal positioning,
109 0~2000
internal position the greater the value, the faster the acceleration.
Input port 0 Servo enable function, this input port cannot define
110 1
definition other functions
52
Chapter 4 parameter
Used to define the function of the input port, for the

convenience of customers
The set value and functions as follows:
0：no definition, no function
1：servo enable
2：alarm clear
3：input pulse prohibited
4：position deviation counter reset
5：speed command input 0
8：empty
9：position gain switch
10: position gear ratio numerator switch
11：empty
Input port 1
111 12：torque command input 0 0-23
definition
13：torque command input 1
14：positive drive prohibited
15：reverse drive prohibited
16：internal position command 0
17：internal position command 1
18：internal position running start
19：internal control method option 0
20：internal control method option 1
21：directional control functions
22: Voltage analog input inversion
23: Voltage analog input forward
Note: V1014 version or above, internal/analog speed and
pulse position switching; internal/analog torque and pulse
position switching; after setting PN4 PN32, only need to
set the switching input point function to 19
53
Chapter 4 parameter
Input port 2
112 Refer to Pn111 0-23
definition
Input port 3
113 Refer to Pn111 0-23
definition
Input port 4
114 Refer to Pn111 0-23
definition
Input port 5
115 Refer to Pn111 0-23
definition
Input port 6
116 Refer to Pn111 0-23
definition
Communicate More than one drive communicate, set the station
117 0-127
address number
Communication rate
0：4800
1：9600
Communication
118 2：19200 0-5
rate
3：38400
4：57600
5：115200
Transport protocol, use RTU mode
0：8 O 1 （MODBUS，RTU）
Transport 1：8 E 1 （MODBUS，RTU）
119 0-2
protocol 2：8 N 2
Note: 8 means 8 bits data, E means 1 even
O means 1 odd 1 means 1 end bit
position/spee 0：detect integral saturation fault
d integral sa
120 1：do not detect integral saturation fault 0-1
turation
fault detect
Input port is Set I/O port as controlled object

121 controlled 0：controlled by external input terminal CN1 0-1
section 1：controlled by RS485 communication control
54
Chapter 4 parameter
Simulation
speed Certain input voltage, the bigger of the set values,
122 0-4096
proportional the higher speed got.
gain
Simulation
torque Certain input voltage, the bigger of the set values,
123 0-4096
proportional the bigger of the torque got.
gain
Set up to simulate zero voltage, adjust the
Simulation
124 symmetry of positive and negative direction of 0-4096
zero
speed or torque.
The speed
125 limit of Torque control mode to limit the speed 0-4000
torque mode
High speed
126 torque Ascension of coefficient of high speed torque 0-500
coefficient
Analog control AD conversion mode:
0: When the voltage is higher than the dead zone,
start to accelerate and deceleration from0.
Analog AD 1: When the voltage is higher than the dead zone,

127 conversion the speed starts to jump to the speed corresponding 0-2
method to the dead zone voltage start acceleration and
deceleration.
2: When the voltage is lower than the dead zone,
add position control and lock the current position.
55
Chapter 4 parameter
4.2 parameter adjust diagram model
Position feed Feed forward low-pass
forward
Input pulse form

Electronic position Speed up and Current
Speed PI Current PI
gear ratio gain slow down time low pass
Position Speed low-pass Current
calculate detection
4.3 Description of Servo key parameters

As the default motor mating parameters has been optimized, therefore, the
parameters (except electronic gear) do not need to adjust in most applications and
can be used directly. But the actual mechanic is complex. If abnormity appear or
needs high response when adjusting, then need to adjust the parameters to meet
requirement. The adjustment principle is first current loop, second speed loop, last
position loop.
The current loops do not need to adjust except for individual situation. The too fast
speed response results in current shock and AL11 alarm. It can adjust PN64 to
solve.
Speed loop: If high speed response needed, can increase PN17 or decrease PN18.
However, the PN17 setting too large will cause vibrate. In the occasion of too big
load inertia, if the load motor park unstably when decelerating and wag from side
to side, need to increase PN18 to solve.
Position loop: If high location response needed, can increase PN5. Some occasions
56
Chapter 4 parameter
can increase PN6 to meet requirement. But PN5 PN6 is too large will cause
vibrate. The setting precondition is to adjust PN5 prior, only in the short distance
and high response occasion can use PN6.
electronic gear ratio: 1）if calculate from rotate speed angle, the below formula
can be used
f ×( PN9/PN10)=131072
in which f denotes the upper computer pulse, unit is KHZ/circle
If knows the pulse number from the upper computer and make the motor or load
turn a circle, the gear ratio set value can be calculated with the above formula.
2）calculate according to the position accuracy directly

（lead/pulse equivalent）×( PN9/PN10)=10000
For example: screw lead is 5mm, motor and screw lead connected directly, the
motor rotates a circle, the load move 5mm. If the accuracy need 0.001mm, there
are 5000 pulse needed for motor rotating a circle; that is: PN9=10，PN10=5
Pulse input form: support pulse with direction and double pulse (positive and
negative pulse), set PN8
4.4 parameter adjusting steps in actual application

In the process of adjusting or application, if there is vibration, noise or
cannot reach the control accuracy, can adjust system parameters and meet the
control requirement as the following methods.
When the motor is in static locking state, if there is vibration or sharp noise,
please decrease parameter Pn43; set this parameter as large as possible under the
condition without vibration. The larger the parameter, the better the current
tracking effect and the faster the motor response; but too large parameter results in
57
Chapter 4 parameter
vibration or noise.
（1）: speed control mode parameters adjustment
1）[speed proportion gain]（parameter Pn17）set value, as large as possible
under the condition without vibration. Generally, the larger of the load inertia, the
larger of the set value.
2）[speed integral time constant]（parameter Pn18）set value, try to set as small
as possible according to the given condition. If the set value is too small, the
response speed will be increased, but easy to vibration. Try to set the value as small
as possible under the condition of no vibration. If the value is too large, when the
load changed, the speed will change bigger.
（2）: position control mode parameter adjustment
1）according to the above method to set proper[speed proportion gain] and
[speed integral time constant].
2) [position feed forward gain]（parameter Pn6）set to 0%.

3) [position proportion gain]（parameter Pn5）set value, set as large as
possible in the stable range. When the parameter is large, the position tracking will
be good and hysteresis error is small, but easy to produce vibration when stop
positioning. When the parameter is small, the system in stable state, but the
position tracking become worse and hysteresis error become larger.
4) If position tracking requirement quite high, can increase Pn6 set value;
but if it is too big, can lead to overshoot.
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Chapter 5 operation and adjustment

5.1 special attention during debugging:
1)（large/medium-power model suffix are K8）servo drive Connect the three
phase AC 220V power to input terminal. three phase connect L1、L2、L3,
single phase connect L2、L1.
2)（small power model suffix is K7）servo drive single phase connect L、N.
3) motor power line U，V，W，PE，the sequence cannot reverse.
4) Drive connection as above. The wrong connection may cause burning,
motor does not run, alarm etc. please check the line connection correct or not.
5.1.1 Power on sequence
1) When the power supply switch on, servo alarm signal output in 1S, after
1.5S signal output ready, after 10MS response to enable signal, less than 10MS
motor excitation lock; waiting for running.
5．2 Position control mode
1) Connect control circuit power and main circuit power, the display of the
drive lighten. If there is alarm, please check the line connection.
2) Set below parameters:
parameter No. parameter name definition Set value
0: position mode
Pn4 Control mode 1:internal position 0
mode
0: Single pulse
Position
1: double pulse
Pn8 command pulse 0
2: A/B orthogonal
input mode
pulse
Gear ratio 1
Pn9
numerator
Gear ratio 1
Pn10
denominator
0: external enable
Pn95 Servo enable 1
1: force enable
59
3) Confirm there are no alarm and any abnormal situation, make enable servo
(SON) ON, at this time, the motor motivated, in a state of zero velocity. If enable
signal cannot connect wire, set Pn95 as 1 can make enable motor automatically.
4) Adjust the pulse frequency of the input signal; make the motor running
according to command.
5.3 speed trial run mode
drive lighten.If there is alarm, please check the line connection.
2) Set parameter as below:
Set value
parameter No. parameter name definition
0: position mode
1:internal position
Pn4 Control mode 2
mode
2: trial run
0: external enable
Pn95 Servo enable 1
1: force enable
4) Through key operation enter F1 speed trial operation mode, speed trial
operation prompt “S“, value unit is r/min, system in the speed trial mode, speed
command provided by key, use change speed command, the motor run
based on the setting speed.
60
5.4 Jog operation
drive lighten. If there is alarm, please check the line connection.
Set value
0: position mode
1:internal position
Pn4 Control mode mode 3
2: trial run
3: jog run
0: external enable
Pn95 Servo enable 1
1: force enable
4) Through key operation enter F2 speed trial operation mode, JOG run
prompt “J”, value unit is r/min, system in the speed control mode, speed and
direction determined by parameter Pn22, press motor running according to the
speed and direction which determined by Pn22, press motor running opposite
direction according to the given speed.
5.5 Internal position/speed/torque control mode
1) Connect control circuit power and main circuit power supply, the drive
display light. If there is alarm, please check the line connection.
61

Set value
0: position mode
Pn4 Control mode 1
1:internal position mode
0: external enable
Pn95 Servo enable 1
1: force enable
18
Pn111 IN1 definition Define as position trigger
21
Pn112 IN2 definition Define as orientation start
Define internal mode 19

Pn113 IN3 definition
selection 0
16
Pn114 IN4 definition Define internal position 0
17

selection 1
3) Power off, re-up electricity, Confirm there are no alarm and any abnormal
situation, make enable servo (SON) ON, at this time, the motor motivated, in a
state of zero velocity. If enable signal cannot connect wire, set Pn95 as 1 can make
enable motor automatically.
4) By switching the status of IN3 IN6 can switch under the mode position,
speed and torque
Corresponding method as follows:
IN3. IN6 input signal Internal control
status mode
OFF OFF position
ON OFF speed
OFF ON torque
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5) By switching the status of IN4 IN5 can realize 4 point positioning movement,
the speed of 4 point positioning movement and accurate position set by Pn97-
Pn109.
IN4 IN5 input signal Internal control
status mode
OFF OFF Position A
ON OFF Position B
OFF ON Position C
ON ON Position D
63
5.5.1 Internal position application example

Use internal position control to realize the belowing 4 point movement mode.
The framework consists of one of the simplest microcontrollers and this

servo system. The one-chip computer is used to send three control signals to
the servo to trigger the servo's internal position control mode and the precise
positioning of the operation. This example can be omitted high-end computer
such as: PLC motion controller. At the same time, interference during pulse
transmission is eliminated. More accurate servo positioning. In the case of
repeated positioning within four points, it has a very economical cost and
64
excellent control performance.

Control detailed description: IN3 IN6 signal connect with OV signal, it means
choose internal position control mode. IN0 signal connect with OV signal, it
means choose servo automatic enable after power on. Singlechip control
process: system power on, the singlechip send a low level signal to servo IN2
signal, start servo and orientation back to the origin point A. carry out every
time when starting up, it means wherever the origin position is, will be back to
the fixed position before work. When servo position back to point A, the
singlechip send two level signal to servo IN4 IN5 so as to control servo move
from point A to point B, C, D and back to point A, complete a circulation.
Every time start and trigger are done by IN2 signal. Rising edge effective.
This system has the characteristics of simple control, accurate
positioning, and strong anti-interference ability. The run speed and precise
position set by Pn97- Pn109. The parameters needed to be set as below:

0: position mode
Pn4 Control mode 1
18
Pn111 IN1 definition Define as position trigger
21
Pn112 IN2 definition Define as orientation start

selection 0
16
17

selection 1
65
Internal position
Pn 97
0 turns
Internal position
Pn 98
0 pulse
Internal position
Pn 99 speed of 0
positioning
Internal position
Pn 100
1 turns
Internal position
Pn 101
1 pulse
Internal position
Pn 102 speed of
Set relevant
1positioning
parameters
Internal position
Pn 103 according to
2 turns
the actual
Internal position
Pn 104 ABCD four
2 pulse
coordinates
Internal position
Pn 105 speed of 2
positioning
Internal position
Pn 106
3 turns
Internal position
Pn 107
3 pulse
Internal position
Pn 108 speed of 3
positioning
Acceleration
and deceleration
Pn 109
time constant of
internal control
66
5.5.2 internal speed application example
As shown in the figure, according to this example, 8 kinds of internal

speed control and 2 types of internal torque control can be realized. And can be
switched to each other. IN1 IN2 and IN3 are internal speed switch signals.
Internal speed value set by parameters Pn33- Pn40. IN4 IN5 are internal speed
and torque mode switch signals. Internal torque value set by parameters Pn45-
Pn46.
Servo relevant parameters set as below:
0: position mode
Pn4 Control mode 1
0: external enable
Pn95 Servo enable 1
1: force enable
1
Pn110 IN0 definition Servo enable
67
5
Pn111 IN1 definition Define as speed 0
6
7
Define internal 19
selection mode 0
Define internal 20
selection mode 1
Define as moment of 13
force 1
Pn 33 Speed 1
Pn 34 Speed 2
Pn 35 Speed 3
Pn 36 Speed 4
Set relevant
Pn 37 Speed 5 parameters
according to
Pn 38 Speed 6 the actual run
speed and
Pn 39 Speed 7 moment of
force
Pn 40 Speed 8 requirements
Pn 45 Internal torque 1
Pn 46 Internal torque 2
68
5.6 Servo features application

Servo start orientation function
when input port set as servo start orientation function, only set input signal
as ON, the orientation function will start automatically(except torque control
mode). Rotate direction of orientation is determined by Pn 26. precise position
of orientation is determined by Pn 24 Pn 25. if set single turn orientation, the
precise position is determined by Pn 24; if set multi turns orientation, the
precise position is determined by（Pn 25*131072）+ Pn 24. when input signal
OFF, orientation function turnoff.
5.6.1 Position gear ratio switch function
When input port set as position gear ratio switch function, and input signal set
as ON, the system use parameters of Pn 31 as present input pulse electronic
gear. When input signal set as OFF, the system use the parameters of Pn9 as
present input pulse electronic gear. This function mainly used to the
occasions that dynamic electronic gear ratio needed.
5.6.2 Position gain switch function
When input port set as position gain switch function and input signal set as
ON, the system use the parameters of Pn57 as present position loop control gain.
When input signal set as OFF, the system use parameters of Pn5 as present position
loop control gain. This function mainly used to the occasions that dynamic position
gain needed.
5.6.3 Input pulse command filter
In the practice industry application sit, there is much interference, the input
pulse command may caused the servo counting error because of the external
interference. Therefore, affect the servo repositioning accuracy. Setting this
filter can prevent the interference into the servo system. Improve the ability of
anti-interference of the system.
69
The relationship of set value and the passable frequency as below:

Pn 82 set value The maximum passable pulse frequency
1000 1MHZ
500 500KHZ
250 250KHZ
100 50KHZ
5.7 Simulation speed control mode

Input analog voltage signal by the CN6, and set PN4 to be 7,Servo work in
analog speed. We can control the speed of motor by adjust the size of voltage.
5.8 Simulation torque control mode
Input analog voltage single by the CN6, and set PN4 to be 8.Servo work in
analog torque. We can control the torque of motor by adjust the size of voltage.
5.9 Position and simulation speed hybrid control mode
Input analog voltage single by CN6, and set PN4 to be 9,pulse command
input from the control port. Servo work in position and analog speed hybrid
control mode. Can be realized the switch between position and analog speed by
I/O port control. Typical applications such as machine main axis.
5.10 Position and simulation torque hybrid control mode
Input analog voltage single by CN6, and set PN4 to be 10,pulse commend input
from the control port.Servo work in position and analog torque hybrid control
mode. Can be realized the switch between position and analog torque by I/O port
control. Typical applications such as: Injection molding machine, screw machine.
70
Chapter 6 RS485 communication

6.1. RS485 communication hardware interface
6.1.1 This servo drive added RS485 communication function; it can drive servo
system, change parameters, monitoring servo system status etc. So as to adapt to
specific application.
6.1.2 External connection diagram
External thumbnails
HMI/PLC controller
6.1.3 Several external connection diagrams:
NO.N NO.4 NO.3 NO.2 NO.1
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6.2 Communication protocol

This servo system uses a standard asynchronous serial master-slave MODBUS
communication protocol. Only one device host in the network can establish a protocol.
Other device slaves can respond to the host's commands only by providing data or perform
corresponding actions according to the host's commands. The host computer refers to a
personal computer, an industrial control device or a PLC, etc. The slave refers to the servo
system.
When the transmitting equipment(host) send communication command to the receiving
equipment(device), the device which conform to corresponding address code receive the
communication command and read message according to function code and relevant
requirements. If CRC verify is correct, carry out the corresponding tasks and send the
execution result (data) to the host. The returned information include address code, function
code, execution data and CRC verify code. If CRC verify error, there will be no return
information.
Communication form structure use RTU mode
6.2.1 Communication code and data description
Function
definition operation（binary system）
code
03 Read register data Read one or several register data
06 Write one way register Write the binary system data in single register
Write multichannel
10 Write the binary system data in multi- register
register
6.2.2 Function code“03”: read multiplex register input

For example: host read address is 01, initial address is 3 device register data of 0116.
Bdevice（PDM）data register address and data is:
Register address Register data（hexadecimal） Corresponding PDM electricity
0116 1784 UA
0117 1780 UB
0118 178A UC
72
Message format sent by host:

Host send bytes number Sent message remark
Send to the device which the
bdevice address 1 01
address is 01
Function code 1 03 Read register
Initial address 2 0116 Initial address is 0116
Data length 3 0003 Read 3 registers（total 6 bytes）
CRC code 2 E5F3 Get CRC code from the host
Bdevice（PDM）response the returned message format
Returned
Bdevice response bytes number remark
message
Bdevice address 1 01 From bdevice 01
Function code 1 03 Read register
Read data 1 06 3 registers total 6 bytes
Register data 1 2 1784 Address is 0116 memory content
Register data 2 2 1780 Address is 0117 memory content
Register data 3 2 178A Address is 0118 memory content
CRC code 2 5847 Get CRC code from the bdevice
6.2.3 function code“06”：write one way register
For example: The host wants to save the data 07D0 to the slave register with address 002C
(the slave address code is 01). After the communication data is saved, the PDM table with
the address 002C with the original stored information as below.
address Original stored data（hexadecimal）
002C 04B0
Message format sent by host:

bytes
Host send Sent message For example
number
Bdevice
1 01 Send to the bdevice which address is01
address
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Function code 1 06 Write one way register

Initial address 2 002C Register address need to write in
Write in data 2 07D0 Corresponding new data
CRC code 2 4BAF CRC code get from the host
bdevice(PDM) response to the returned message format:
Message format and data are exactly the same with those sent from host.
6.2.4 Function code“10”: write multi-channel register

The host using this function code to save multiple data into data memory of the PDM sheet
Modbus communication protocol register is 16 bit( 2 bytes), and MSB first. Such PDM
memory is 2 bytes. As the Modbus communication protocol allows to save maximum 60
registers each time, therefore, PDM is allowed to save maximum 60 data registers each
time.
for example: the host want to save 0064, 0010 into bdevice memory with address 002C,
002D（bdevice address code 01）. After the communication data is saved, the PDM table
with the address 002C/002D with the original stored information as below.
address Original stored data（hexadecimal）
002C 04B0
002D 1388
Message format send by host:
Host send Bytes Send example
number message
Bdevice address 1 01 send to bdevice 01
Function code 1 10 write multi-channel register
Initial address 2 002C The register initial address needed to write in
Saved data bytes length 2 0002 Save data bytes length（total 2 bytes）
Saved data bytes length 1 04 Save data bytes length（total 4 bytes）
Save data 1 2 04B0 data address 002C
Save data 2 2 1388 data address 002D
CRC code 2 FC63 CRC code get from the host
74
bdevice（PDM）respond returned message format:

Bytes Bytes
Bdevice response example
number number
Bdevice address 1 01 Come from bdevice 01
Function code 1 10 write multi-channel register
Initial address 2 002C Initial address is 002C
Saved data bytes length 2 0002 Save 2 bytes length data
CRC code 2 8001 CRC code get from bdevice
6.2.5 error verify code（CRC verify）：

Ths host or bdevice can use check code to judge whether the received message is correct or
not. Due to the electroic noise or other interference, the information may wrong during
transmission, error verify code（CRC）can verify whether the information of the host or
bdevice is correct in the process of transmission, the wrong data can be given up（whether
send or receive）,which increased the safety and efficiency of the system. MODBUS
protocol CRC(redundancy cycle code) include 2 bytes, namely 16 bit binary number. CRC
code calculated by transmitting equipment(host), place to the end of send information frame.
The receive information equipment (bdevice) re-calculate the received CRC of the
information, and compare the calculated CRC with the received CRC, if they are not
consistent, then means wrong.
When doing CRC calculation, use only 8 data bits. start bit and stop bit, if there is a parity
bit also including the parity bit, do not participate in the CRC calculation.
● CRC code calculation method is:
1．Preset a 16-bit register as hexadecimal FFFF（that is all 1）; called this register as CRC
register;
2．The first 8-bit binary data (ie, the first byte of the communication message frame) is
XORed with the lower 8 bits of the 16-bit CRC register, and the result is placed in the CRC
register.
3．Right shift the content of CRC register a bit ( forward the low bit ) use 0 fill the highest
bit, and check the shift bit after the right shift;
4．If the shift bit is 0: repeat the third step(right shift a bit again); if shift bit is 1: CRC
75
register XORed with polynomial A001（1010 0000 0000 0001）;

5．Repeat step 3 and 4, until right shift 8 times, then, all the 8 bits data are processed
entirely;
6．Repeat Step 2 to Step 5 to process the next byte of the communication information frame;
7．When calculated all the bytes of the communication frame according to above steps,
exchange the high and low bytes get from 16-bits CRC register;
8．At last the result of CRC register content is: CRC code.
6.3 Communication error and data process:
When PDM table detected other errors except CRC code error, must return the
information to the host, the highest bit of the function code is 1, the function code from
bdevice return to the host is on the basis of the host function code add 128. The following
code indicates that an unexpected error has occurred
PDM received information from the host with CRC error, will be ignored by PDM
table.
PDM returned error code format as below (except CRC code)
Address code: 1 byte
Function code: 1 byte （the highest bit is 1）
Error code: 1 byte
CRC code: 2 bytes
PDM response and return below error code:
81．Illegal function code.
PDM table do not support the received function code.
82．Illegal data position
Specified data position beyond PDM table range.
83．Illegal data value
Received the host sending data values exceed the PDM corresponding data range.
6.4 SDD series drive debugging software description and usage

This servo debugging software is green software and does not require installation. After
obtaining the software from the manufacturer and storing it on the computer, it can be run
directly. To connect the computer with the servo driver, you must use the manufacturer's
76
special debug communication cable model (CABLE02). Using other communication lines
can result in damage to the drive or inability to communicate.
1.Double click BGD Servo get in the first interface. As following:
2.Click on the serial port Settings software will automatically identify COM port. Choosing
baud rate accord to the drive settings. If don’t match that will cause communication error.
The default baud rate of software and drive is 9600. The station number is based on the
driver setting. The driver model is selected the other parameters are default.Save the
parameter and then click the “链接”button. Now this software and drive can be normal
communication. Offline mode is used to check other information of the software without
connect the drive.
77
Serial port Settings interface
Parameter Settings interface

3.Click the parameter setting. This interface mainly used for viewing and modifying the
drive parameters. It Can be modified individually or in batches. It’s greatly improve the
efficiency of derive debugging.
78
Functional specifications:
Reading: Read the external parameter list file to the current computer software.
Save as: Save the parameter in current software as other files. Providing download.
Upload: Upload the parameter in servo drive to the software in computer.
Download: Download the parameter in software to the servo drive.
Each issued: Download the parameter in software to the servo drive. Single data processing.
Save: Saving the modify parameter in current software to EEPROM in servo drive directly.
Running test interface

4. Running the test icon can make four-way acquisition of the motor speed, position,
command position, torque and current to facilitate the debugging of the driver. For specific
commands, please refer to the commands for use in the debug software. This manual is no
79
longer discussed.
6.5 Communication commend example
RTU command: 03 read single or multiple register
06 write single register
10 write multiple registers
6.5.1 application example:
Read multi-channel register（for example: read PN9 PN10 electronic gear ratio）
01 03 00 09 00 02 14 09
Station No. read command No.9 address 2 datas check bit
return
01 03 04 00 01 00 01 6A 33
Return result: 4 bytes, two parameters are 01 01. that is PN9 PN10=1
Write multi-channel register（for example: write PN9 PN10 electronic gear ratio）
01 10 00 09 00 02 04 00 05 00 04 22 07
Station write No. 9 2 datas 4 bytes data 5 and 4 check code
Number command address
return
01 10 00 09 00 02 91 CA
Return result: already wrote in 2 bytes parameters, check the drive, PN9=5 PN10=4
Read single register（like read current magnitude of the servo output, namely UN-I address
is 148）
01 03 00 94 00 01 C5 E6
return：01 03 02 00 03 F8 45 indicates the read data is 03 means 0.3A
For example: read present motor position UN-2 UN-3
01 03 00 8D 00 02 54 20
return：01 03 01 F5 B1 00 03 D9 D9
F5B1=62897 0003=03
so, present position is 0362897
Read present motor absolute position
01 03 00 9A 00 02 E4 24
return：01 03 04 C4 C8 00 03 06 FC
80
C4C8=50376 actual should X2 , therefore, it is 100753

So, the present absolute position is: 03 100753
If read negative number of turns, the actual pulse number should be: read pulse number
-65536 or read pulse number -256.
Communication control I/O
01 06 00 80 00 01 49 E2：use communication to control motor enable signal
01 06 00 04 00 02 49 CA：use communication modify PN4=2
Note:
①read monitoring menu address, mainly by 485 communication, let the upper computer to
read, transmit the servo status to the upper computer.
②.monitoring address: 140～160，the sequency is the same with original drive, only insert
motor turns after 154, the absolute position do not display the lowest bit(display bit is not
enough).
③.write input port IO48-IO54 address, used to control input point by communication.
Input port address is 128～134, export port address is 135/136/137.
④.communication port standard use SDE servo software to debug, or use computer serial
debugging. If use a computer to debug, must use the convertor from USB transfer RS485
can then proceed.
6.5.2 servo system communicate address list
Communicate items Communicate address

Read/write status
Servo parameters 0-00FFH Can read and write
input port status 0080H-0086H Can write only
output port status 0087H-0089H Can read only
monitoring menu content 008CH-00A1H Can read only
note:
1）if communication control input port status needed , should set PN121 to 1, otherwise, it is
invalid.
2）Only 16 bits of information are displayed in the absolute position 009BH of the motor,
and *2 is required to read out the correct position information.
81
Chapter 7 Alarm and processing

If the servo with failure in use, the display will show: Al—xx, if there are
various alarms, different alarm message will display by turns. For fault
diagnosis, please operate according to the content of this chapter, get rid of the
corresponding fault and can be put into use again.
7.1 Alarm list
alarm code alarm name alarm reason
AL-0 normal
AL-1 overspeed servo motor speed exceeds the set value
AL-2 main circuit overvoltage main circuit voltage too high
AL-3 main circuit undervoltage main circuit voltage too low
motor with deviation over parameter Pn13
AL-4 Position out of tolerance
setting value
AL-6 speed amplifier saturation speed amplifier saturated a long time
AL-9 encoder abnormal encoder with break line or short circuit
AL-11 excess current 1 IPM module output current is too large
AL-12 excess current 2 DSP detection current is too large
AL-13 excess load servo output torque over the allowed value
AL-14 braking abnormal braking circuit abnormal
AL-15 encoder count abnormal encoder AB signal abnormal
AL-16 motor thermal overload Motor overload long time
AL-20 EPROM error servo inside EEPROM read-write abnormal
AL-24 FPGA communication abnormal FPGA communication abnormal
AL-32 encoder UVW invalid Encoder sign error
AL-45 ADC error ADC error
servo power sign
AL-46 servo power sign abnormal
abnormal
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7.2 Alarm processing method

alarm alarm
reason
code name disposal method
input command pulse frequency is Set input command pulse
too high correct
input electronic gear ratio is set Pn9 Pn10 parameter
too large correct
AL-1 overspeed
ask the factory to reset the
encoder zero point error
encoder zero
motor U、V、W lead connect confirm the wiring
wrong sequence
input L1 L2 L3 power voltage

reduce power voltage
higher than AC260V
main
circuit 1.prolong control system
AL-2 brake circuit capacity is not
overvolta acceleration and
enough
ge deceleration time
(Usually occur in the occasion that
2.contact manufacturer to
frequently and rapidly start and stop and
increase braking resistance
the load inertia is large)
capacity
input L1 L2 L3 power voltage
find out the external reason
main less than AC170V
of low voltage
circuit
AL-3
undervolt
age servo protection action replace a new servo drive
1.confirm UVW wire phase

sequence correct or not
2.confirm if the input pulse
operation, the motor does not turn
frequency is too high
any angle, immediately alarm
3.pulse electronics gear
position
AL-4 setting it too large, set
error
parameter Pn9 Pn10 correctly
alarm when rotating（input pulse confirm input pulse
abnormal） frequency and width
alarm when rotating （ error
set parameter Pn13 larger
detection range is too small）
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alarm when rotating （ position increase position gain Pn5

proportion gain is too small） set value
alarm when rotating （ lack of
higher power servo motor
torque）
check the load mechanical
motor mechanically locked
part
speed
AL-6 amplifier 1.decrease load,
saturation the load is too large 2.change a higher power
drive and motor
encoder wiring wrong or line check or change encoder

break wire
encoder caused by interference set Pn58 to 1
AL-9
failure the encoder cable is too long,
lead to the encoder power shorten the cable
voltage a little low
grounding defective grounding correctly
motor insulation damaged replace a new motor
motor winding with short
replace a new motor
circuit
servo motor parameters do not Correctly set motor ID
match number Pn1
increase the upper
Over-curr
deceleration time is too short computer acceleration and
AL-11 ent 1
deceleration time
1.decrease parameter Pn43
Pn5 value
current surge
2.increase parameter Pn64
value
input pulse is not increase pulse smoothing
well-distributed parameter Pn15 value
servo protection action replace a new servo drive
motor insulation damaged replace a new motor
Over-curr
AL-12 ent 2
servo protection action Replace a new servo drive
84
1.mechanically locked or
resistance is large,
excess servo output torque over the
AL-13 2.motor type is not good,
load allowed value
change to higher power
drive and motor
Increase the external
servo protection action
braking unit
1.increase
brake circuit capacity is not acceleration/deceleration time
braking
AL-14 enough constant
abnormal
2.replace a larger power servo
and motor
check the AC input power
main circuit power is too high
supply
check or replace the motor
encoder Encoder wiring error
encoder wire
AL-15 count
abnormal
servo motor defective replace servo motor
motor
AL-16 thermal motor over load long time replace servo drive
overload
EEPROM servo inside EEPROM read-write
AL-20
abnormal abnormal replace servo drive
FPGA
AL-24 FPGA communication error replace servo drive
error
encoder
UVW
AL-32 Encoder cable or encoder damage replace servo drive
abnorm
al
ADC
AL-45 ADC error replace servo drive
error
servo
power replace servo drive
AL-46 servo power sign abnormal
sign
abnormal
Special explanation: if the servo drive alarm, but after power on again, the alarm
85
will disappear. Generally, it is considered that the servo drive outside parts with
problem or the parameter adjusted improperly; please check the servo peripheral
parts. For example: power voltage, controller, mechanical load, motor etc. if the
peripheral parts without problem, please consult the manufacture about parameter
adjustment.
If the alarm cannot clear after power on, please replace the servo drive and
observe.
7.3 FAQ or exception handling in use
1、No-load operation motor vibrate strongly or scream, load with noise or position
error.
Handling method: confirm the servo drive PN 1 parameter whether match with the
connected motor, set correct parameter based on table 7.2, then restore to factory
value.
For example: the current motor is 60ST-M01330MEL
1）check table appendix A, and get the motor ID=1
2）operate drive, set PN0 to 0
3）set PN1 to motor ID number, that is PN1=1
4）operate drive and enter SN-DEF interface, press the ENTER key on the
display panel for 2 seconds, when display DONE, indicates success.
5）turn off and power on again, done.
86
2、The motor run positional accuracy and the required accuracy deviation is
very large but regular
Handling method: Set position pulse electronic gear ratio correctly.
This servo system default 10000 pulses rotate a circle. If the upper computer
requires 3000 pulses for motor to rotate a circle, need to set gear ratio to meet
requirement.
It can be calculated by below format:
3000 *（PN9 / PN10）=10000
Get PN9=10 PN10=3
3、drive input, output signal level reversed

1）Set parameter PN53 PN54 PN55 to set input/output suitable high level or low level
so as to adapt to different input/output level requirement of the controller.
4、upper computer pulse but motor not running
Make sure PN4=0, check UN-12 monitoring value, if there is digital shows that
means the drive received pulse, it indicates the control signal connection without
problem. Please refer to method 1 to clear fault. If display F 0.0 it indicates the
drive do not received pulse. Please refer to method 2 to clear fault .UN-12 display
unit is KHZ , like display F150, it indicates the present drive received pulse
frequency is 150KHZ.
Method1:
Set below two parameters: PN95=1 PN4=3 in F2 model performs JOG function. If
the motor can rotate, it indicates the motor, the motor power line, encoder wire
connected correct, there is no problem.
Check CN1 signal if with INH signal or CLE signal with ON or not. It can be found by
check UN-16.
87
If the motor can not run, please do following inspection

1）Check the drive with enable motor or not, and turn the motor shaft by hand. If it
can not be rotated, indicates the motor enable locked. If it can be rotated,
indicates there is no enable, please check if CN1 input enable signal correct
connected or not. If the enable signal do not need to control by the upper
computer. CN1 input enable signal not connected, can set PN95=1, drive motor
automatically enable locked.
2）Check if the power cable which between drive and motor connected correctly or
not, and the socket loose or not. Drive output terminal U V W PE and motor U V
W PE whether corresponding. Power cable U V W PE must be connected
correctly, can not change the sequence randomly.
3）Please contact the factory technical personnel.
Method 2:
1）Check the pulse amplitude input to drive, the standard is 5V. If the pulse
amplitude is 12V, must series 1K resistance; if the pulse amplitude is 24K, must
series 2K resistance. The drive input circuit will be burned if not series resistance
according to the requirements. Lead to the servo can not receive pulse.
2）Confirm the pulse connection mode is correct, the connection mode: differential
connection mode and single end connection mode. Specific see below chart
88
Typic application: numerical control system, motion

Controller Driver
pulse
pulse
directio
directio
Typic application: PLC, SCM controller

Controller Driver
pulse
direction
Controller Driver
pulse
direction
5、The motor can only turn to one direction

1）Confirm the input pulse type to drive, pulse and direction setting PN8=0; Double
pulse setting PN8=1; A/B orthogonal pulse setting PN8=1，and confirm the drive
model is SDxxx-D。
2）Observe UN-12 display state, upper computer send forward signal should display
F xx. Reversal signal should display F –xx. If the upper computer send forward
signal or reversal signal both display F xx or F –xx. Please check the direction
signal SIGN from upper computer to drive.
89
6、high speed stop or from top to down does negative work, the drive display
AL－3
1）modify the upper computer deceleration time
2）reduce motor speed
3）small power drive access external braking resistance
4）medium high power drive please contact the factory technical personnel.
7、there is no display when power on
1）Confirm power connecting wire and input power
8、Power on drive display “。。。。。。。。”or “888888”
1）the input power lack phase, check each phase power line
2）servo drive damaged by short circuit, and lead to servo drive damaged. The
motor damage can be judged by rotate motor shaft under the no-load situation,
rotate a circle, if the shaft is not smooth, can be concluded that the motor is
damaged.
9、Motor position is not accurate
1）Irregular, check motor connection mechanical part
2）Regular, monitor and analyse UN-02 UN-03 UN-04 UN-05 can get results
3）Screening interference, the signal wire use shield wire and grounding, add
magnetic coiling. Motor cable change to shield wire. Electronic control system
wiring again, make the strong and weak electricity line separately. Install filter etc.
The effect of the servo monitoring menu in analysis and adjustment processes.
1）UN-01 motor speed observe the motor actual speed
2）UN-02 UN-03 The current position of the motor: used to observe the current
position of the motor. It is represented by the number of pulses. For example, if the
control takes a fixed trajectory, the displayed value should be the same when each
90
repeat operation is performed. Indicates accurate positioning each time.

3）UN-04 UN-05 Pulse command count, used to monitor whether the pulse from the
host computer is accurate. For example, if the control traverses a fixed trajectory,
the displayed value should be the same when it comes to the same position each
time it repeats its operation, indicating that the pulse sent by the host computer is
accurate.
4）UN-08 motor present torque, used to observe motor actual operate situation. If
this value over 90 for a long time, means the current motor type is small.
5）UN-12 input pulse frequency, used to observe pulse frequency from upper
computer and stability state
6）UN-17 input signal state, used to judge whether the input signal is normal
7）UN-18 output signal state, used to judge whether the output signal is normal
8）UN-23 input model voltage AD value，used to indicate the level of the input
voltage，it’s 2048 with no input.
Input terminal display

Keep
Output terminal display

91
Appendix A
Appendix A: SDD series drive and servo motor matching parameter list
SDD series servo and SM motor matching and PN1 parameter（motor ID）
setting
Bergerda MAL NAL series motor ID (driver PN1
Torque Speed Power parameter)
Motor Model
N.m rpm KW SDD50NK10
SDD04NK7 SDD08NK8 SDD13NK9 SDD20NK9
SDD50NK11
40ST-M00330 0.32 3000 0.1 38 (39)
60ST-M00630 0.6 3000 0.2 0 (40)
60ST-M0130 1.3 3000 0.4 1 (41)
80ST-M0230 2.4 3000 0.75 2 (42)
80ST-M0425 4.0 2500 1.0 3 (43)
60ST-M0230 1.9 3000 0.6 4
80ST-M0130 1.3 3000 0.4 5
80ST-M0320 3.5 2000 0.73 6
90ST-M0230 2.4 3000 0.75 7
90ST-M0320 3.5 2000 0.7 8
90ST-M0425 4.0 2500 1.0 9
110ST-M0230 2.0 3000 0.6 10
110ST-M0430 4.0 3000 1.2 11
110ST-M0530 5.0 3000 1.5 12
110ST-M0620 6.0 2000 1.2 13
110ST-M0630 6.0 3000 1.8 14
130ST-M0425 4.0 2500 1.0 15 (50)
130ST-M0525 5.0 2500 1.3 16 (51)
130ST-M0625 6.0 2500 1.5 17 (52)
130ST-M0825 7.7 2500 2.0 18 (53)
130ST-M0830 7.7 3000 2.3 19
130ST-M1015 10.0 1500 1.5 20 (54)
92
Appendix A
130ST-M1025 10.0 2500 2.5 21 (55)

130ST-M1515 15.0 1500 2.3 22 (56)
130ST-M1525 15.0 2500 3.8 23（57）
150ST-M1525 12.0 2500 3.8 24
150ST-M1520 15.0 2000 3.0 25
150ST-M1820 18.0 2000 3.6 26
150ST-M2320 23.0 2000 4.7 27
150ST-M2720 27.0 2000 5.4 28
180ST-M1715 17.2 1500 2.7 29
180ST-M1915 19.0 1500 3.0 30
180ST-M2220 21.5 2000 4.5 31
180ST-M2710 27.0 1000 2.7 32
180ST-M2715 27.0 1500 4.3 33
180ST-M3510 35.0 1000 3.5 34
93
Appendix A
Appendix A2: SDD Series Driver and Motor Parameter Matching Table (380V Series)
SDD series servo and SM motor matching and setting of PN1 parameter (motor ID)
Bergerda MAH NAH series motor ID (driver PN1

Torque Speed Power
Motor Model parameter)
N.m rpm KW
SDD30HK10 SDD55HK11
130ST-M0625 6.0 2500 1.5 110 110
130ST-M0825 7.7 2500 2.0 111 111
130ST-M1025 10.0 2500 2.5 112 112
130ST-M1525 15.0 2500 3.8 113 113
180ST-M1715 17.2 1500 2.7 60
180ST-M1915 19.0 1500 3.0 61
180ST-M2220 21.5 2000 4.5 62
180ST-M2710 27.0 1000 2.7 63
180ST-M2715 27.0 1500 4.3 64
180ST-M3510 35.0 1000 3.5 65
180ST-M3515 35.0 1500 5.5
180ST-M4815 48.0 1500 7.5
Note: When the SDD series driver is equipped with the line-saving type motor, it is necessary to set PN74
to 1, and re-commission the zero position, and write it into the PN87 parameter before it can operate
normally. The zero position of the company's MDL line-saving servo motor is 1253.
In order to achieve the best control effect, the driver and motor must be matched to use (Pn1 motor
ID matched with corresponding model number). Otherwise, it may vibrate, scream, position error etc
Matching method:
1）change Pn0 to 0.
2）Set Pn1 to the needed motor ID value
3）enter SN-DEF menu, press “Enter” key for 2 seconds till display DONE
4）power off, power on again can work normally.
94
Appendix B
Appendix B: product after-sales service explanation
According to the correct using method to use, this product will have a long
service life. If the using method is improper or the environmental severity exceeds
the allowed range, this product will be failure. The standard warranty period for
this product is 12 months. Due to improper use or failure after more than 12
months will be charged for maintenance. Please note the following items about
repair service
1） Product labels are important documents for the maintenance, please do not tear,
damage. Otherwise no warranty repair.
2） Warranty period of 12 months is from the date of purchase, if the purchase
vouchers can’t be offered within the warranty period, the warranty period
will be within 13 months since the factory date on the label.
3） Maintenance service needed, please contact the agency or distributors.
4）Please pack well after the maintenance service so as to prevent damage again.
The following circumstances are out of warranty service.

* Because of improper use, like wrong power-line connection, non-professional
dismounting, rebuild, water seepage, oil in etc damage caused by human factors.
* The damage caused by natural disasters, such as lightning, earthquake etc
95
Hangzhou Bergerda Automation Technology Company Limited
Adress： 3/F, Building 8,No.493 Linping Avenue, Yuhang economic
development area Hangzhou
Sales hotline：0571-88326782
Service hotline：0571-89719501
Websit：www.bergerda.com
Bergerda.cn.alibaba.com
April,2016 the first version

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SDD Series

AC Servo driver manual

Hangzhou Bergerda Automation Technology LTD

For daily inspection, maintenance,finding the exception reasons and

● The manual contents may be changed due to the product improvements,

Indicates the wrong operation may cause disastrous

caution Indicates the wrong operation may hurt the operator

attention Indicates improper use may damage the product and

Chapter 1 Product inspection and installation

1.1 Product inspection

1.1.1 Model confirmation

Version identification number

1.1.2 SDD servo drive attached standard accessories

1.1.3 Servo drive installation size

SDD04NK7 servo drive installation dimensional

SDD08NK8 servo drive installation dimensional

SDD**NK9 servo drive installation dimensional

1.2 Servo drive specifications

10.7 10.7 12.7 18.0 25.0

Control method SVPWM control

Encoder Provincial line or incremental encoder

Internal Control model function/RS485 communication/ speed/ torque

functions Braking function Internally installed

Under voltage, over voltage, over load, over current, encoder

Command control model External pulse

External Form pulse+ direction cw/ccw A/B orthogonality

Command smooth way Linear time constant 1 ms～10000ms（0r/min←→1000r/min）

frequency characteristic 300HZ

1) location/speed reach 2) servo alarm output；3)Z signal output 4)

Usage temperature Operation:0℃～55℃storage:-20℃～80℃

1.3 Servo drive installation

1.3.1 Installation environment conditions

transformer must be installed at the input end of the drive.

1.3.2 Servo installation direction and interval

Ventilate direction Ventilate direction

Chapter 2 Servo drive and motor wiring

2.1 Servo drive power supply and peripheral devices wiring

The linker CN1 wiring

W phase The linker CN2 wiring

Connect to the phase and ground of the servo motor

SDD04NK7 servo drive peripheral devices wiring

Power 1.0kw and above

Link to the CN1

W phase Noise filter

Connect to the phase and ground of the servo motor

SDD20NK9 servo drive peripheral devices wiring

2.2 Position control mode wiring diagram 1

Pulse command signal

Direction command signal

SDD04NK7 position control mode wiring diagram

2.3position control mode wiring diagram 2

Electronic gear ratio switching

SDD20NK9 position control mode wiring diagram

internal position control mode wiring diagram(simple PLC function)

Internal position control model wiring diagram

24V power supply

Brake coil 24V power supply

Brake release signal typical example

locking type brake motor wiring diagram

3) Serial communication terminal （SDD NK）CN5

4) Serial communication terminal （SDD NKD）CN5

Terminal interface as shown below (SDDNK and SDDNKD ports):