SPS Series Servo Drive Special for Spindle

User Manual

Document Version: V1.1

Archive Date: 2016/08/31
BOM Code: R33010235

Shenzhen Megmeet Drive Technology Co., Ltd. provides full technical support for our
customers,customers can contact local Megmeet offices or customer service centers, or
directly contact Megmeet headquarters.

Shenzhen Megmeet Drive Technology Co., Ltd.

All rights reserved. The contents in this document are subject to change without notice.

Shenzhen Megmeet Drive Technology Co., Ltd.

Address: 5th Floor, Block B, Unisplendor Information Harbor, Langshan Rd., Science &
Technology Park, Nanshan District, Shenzhen, 518057, China
Website: www.megmeet-drivetech.com
Tel: +86-755-86600500
Fax: +86-755-86600562
Service email: driveservice@megmeet.com
 Contents
SPS Series Servo Drive Special for Spindle........................................................................ 1
Chapter 1 Specification ....................................................................................................... 1
¾ Servo drive .................................................................................................................................................... 1
¾ Product nameplate....................................................................................................................................... 1
¾ Product series............................................................................................................................................... 1
¾ Product appearance .................................................................................................................................... 2
¾ Mounting dimensions .................................................................................................................................. 3
Chapter 2 System Wiring..................................................................................................... 1
¾ Basic wiring ................................................................................................................................................... 1
¾ Name and function of main circuit terminals ........................................................................................... 2
¾ Signal name and function of the control circuit (CN2) ........................................................................... 3
¾ Control circuit signal wiring ........................................................................................................................ 6
¾ Encoder interface connection and signal definition (CN3).................................................................... 8
¾ Communication connection and signal definition (CN1) ..................................................................... 10
Chapter 3 Parameter Settings ............................................................................................. 1
¾ Application parameters ............................................................................................................................... 1
¾ Monitoring parameters ................................................................................................................................ 7
¾ System parameters ..................................................................................................................................... 8
Chapter 4 Functions and Applications ................................................................................. 1
¾ Commissioning ............................................................................................................................................. 1
¾ Speed mode.................................................................................................................................................. 6
¾ Position control ............................................................................................................................................. 9
¾ Spindle/positioning homing ...................................................................................................................... 11
¾ Rigid tapping ............................................................................................................................................... 15
Chapter 5 Troubleshooting .................................................................................................. 1
Chapter 6 Parameter List .................................................................................................... 1

I
 Chapter 1 Specification

¾ Servo drive

Fig. 1-1 SPS servo drive model description

The description of the servo drive model on the nameplate indicates the information of the product, such as
product series, voltage class of power supply, power class, etc.

¾ Product nameplate

Fig. 1-2 Product nameplate description

¾ Product series
Minimum
Rated Rated Rated Applicative
Rated braking Braking
Product input output output motor Fuse
capacity resistor torque
model current current power power (A)
(kVA) specification (%)
(A) (A) (kW) (kW)
(Ω)
SPS-4T1.5 3.0 5.1 3.7 1.5 1.5 80 200 10
SPS-4T2.2 4.0 5.8 5.5 2.2 2.2 80 200 10
SPS-4T3.0 5.0 9.5 7.6 3.0 3.0 60 200 15
SPS-4T4.0 6.0 11 9.0 4.0 4.0 50 200 15
SPS-4T5.5 8.5 14.5 13.0 5.5 5.5 50 200 20
SPS-4T7.5 11.0 20.5 17.0 7.5 7.5 40 200 32
SPS-4T11 17.0 26.0 25.0 11 11 30 200 32

1-1
SPS-4T15 21.0 35.0 32.0 15 15 25 200 32

Note

SPS series servo drives have internal brake units, the user only needs to configure external braking resistor
when the dynamic braking is required; the above configuration is suitable for most applications. For specific
applications or other braking working conditions, please consult our company.
The power class above SPS-4T18.5 is being developed.

¾ Product appearance

Fig. 1-3 Product appearance

1-2
¾ Mounting dimensions

SIZE D

Fig. 1-4 Mounting dimensions

1-3
 Chapter 2 System Wiring

¾ Basic wiring

Fig. 2-1 Basic wiring

Note: The figure takes incremental encoder as an example, it also supports absolute encoder.
Braking resistor is connected between PB and P.

2-1
¾ Name and function of main circuit terminals
Terminal type 1 (SIZE B)
Applicable models: SPS-4T1.5, SPS-4T2.2, SPS-4T3.0
Terminal Function
L1, L2, L3 Three-phase AC 380V input terminals
P, PB Reserved for external braking resistor
PE Power grounding terminal and motor grounding terminal (2)
U, V, W Three-phase AC output terminals(connecting motor)

Terminal type 2 (SIZE C)

Applicable models: SPS-4T4.0, SPS-4T5.5, SPS-4T7.5
Terminal Function
L1, L2, L3 Three-phase AC 380V input terminals
P, PB Reserved for external braking resistor
PE Power grounding terminal and motor grounding terminal (2)
-DC DC negative bus output terminals
U, V, W Three-phase AC output terminals(connecting motor)

Terminal type 3 (SIZE D)

Applicable models: SPS-4T11, SPS-4T15
Terminal Function
L1, L2, L3 Three-phase AC 380V input terminals
P, PB Reserved for external braking resistor
PE Power grounding terminal and motor grounding terminal (2)
-DC DC negative bus output terminals
U, V, W Three-phase AC output terminals(connecting motor)

2-2
¾ Signal name and function of the control circuit (CN2)

Fig. 2-2 Control signal pinout

2-3
Type Terminal Name Function Specification
+ 10V
To provide +10V reference
+10V reference Allowable maximum output current: 10mA
Power power for external load
voltage
supply
Analog signal The reference ground for analog
GND Internal isolated with COM
ground signal and +10V voltage
To receive the single-end Voltage input range: -10V~+10V
analog voltage or current input Input resistance: 33kΩ
Analog
and the corresponding input Resolution: 12-bit
AI1 single-end
type selected by the function Current input range: 0~20mA
input AI1
code P10.00 (reference Input resistance: 249Ω
grounding: GND) Resolution: 11-bit
Analog voltage
differential
For the analog voltage
input AI2+/AI2-
differential input, the AI2+/AI3+
Analog AI2+/AI2- or analog
is the non-inverting input
input voltage
terminal and the AI2-/AI3- is the
single-end Voltage input range: -10V~+10V
inverting input terminal.
input Input resistance: 15kΩ
For the analog voltage
Analog voltage Resolution: 12-bit
single-end input, AI2+AI3+ is the
differential
signal input terminal and
input AI3+/AI3-
AI2-/AI3- shall be connected to
AI3+/AI3- or analog
GND (reference grounding:
voltage
GND).
single-end
input
Analog Analog output Output voltage range: 0/2~10V
AO1 Analog voltage output
output 1 Maximum output current: 10mA
When the input pulse form is
collector input or 24V push-pull
Command
input, you need additional power External power supply voltage requirements:
PPH pulse power
supply that can be built-in power 20~30V
input
supply, and aiso can be an
Pulse external power supply.
input Receive three input signals:
PA+ Open collector; push-pull input;
Input pulse maximum frequency:
PA- Normal pulse Differential drive input;
Open collector/push-pull: 200kHz
PB+ input Input command form:
Differential drive input: 300kHz
PB- Puls+Sign; CW/CCW; A/B
quadrature;

2-4
 Type Terminal Name Function Specification
Receive one input signal:
HPA+
Differential drive input;
HPA- High-speed Input pulse maximum frequency:
Input command form:
HPB+ pulse input Differential drive input: 4MHz
Puls+Sign; CW/CCW; A/B
HPB-
quadrature;
Forward FWD
Digital input
DI1 ON: Forward running;
terminal 1
OFF: Stop
Speed/position switching
Digital input terminal
DI2
terminal 2 OFF: Speed mode;
ON: Position mode
Spindle/positioning homing
Digital input
Multi-func DI3 terminal Opto-isolated input
terminal 3
ON: Spindle homing Input resistance: 3.9kΩ;
tional
Digital input Tapping enable Maximum input frequency: 200Hz
input
DI4
terminal 4 ON: Switch to the tapping mode Input voltage range: 20V~30V
terminal
Digital input Emergency stop
DI5
terminal 5 ON: Emergency stop
Digital input Spindle swing
DI6
terminal 6 ON: Spindle swing

Digital input Reaming enable

DI7
terminal 7 ON: Reaming enable

Digital input Fault reset

DI8
terminal 8 ON: Fault reset
DO1+ Digital output 25: Spindle/positioning homing
DO1- terminal 1 completed

Multi-func DO2+ Digital output

30: Positioning completed Opto-isolated output
tional DO2- terminal 2
Maximum operating voltage: 30V
output DO3+ Digital output
16: Servo drive failure Maximum output current: 200mA
terminal DO3- terminal 3

DO4+ Digital output

15: Servo drive ready
DO4- terminal 4
+24V power To provide +24V power for
24V Maximum output current: 200mA
supply external load
Power
+24V power 2 common terminals in total,
supply
COM common used together with other COM is internally isolated with GND
terminal terminals

2-5
¾ Control circuit signal wiring
For DI, DO terminal wiring, refer to the basic wiring diagram.

● Analog input signal

a) When AI1 terminal receives the single-end analog voltage input, the wiring mode is as shown in Fig. 2-3.

Fig. 2-3 AI1 single-end analog signal wiring

b) When AI2+, AI2-; AI3+,AI3- terminals receive the analog voltage differential input or analog voltage
single-end input, the wiring mode is as shown in Fig. 2-4 and Fig. 2-5.

-10V~10V

Fig. 2-4 AI3 +, AI3-; AI2 +, AI2- signal differential voltage input wiring

-10V~10V

Fig. 2-5 AI3 +, AI3-; AI2 +, AI2- signal single-end voltage input wiring

2-6
● Pulse input signal

5V differential pulse input

Servo drive

Host device

Normal
pulse input

Open collector
Internal 24V power supply External 24V power supply
Servo drive

Host device

High-speed
pulse input

● Frequency dividing output

Host device differential receiving Host device optocoupler receiving

2-7
¾ Encoder interface connection and signal definition (CN3)

SPS servo drive supports four kinds of encoder: incremental, SinCos, resolver and absolute value, interface
signals are defined as follows:

Incremental encoder

Pin Signal name Signal description Pin Signal name Signal description

1 A+ Encoder A+ signal 11 U+ Encoder U+ signal

2 A- Encoder A- signal 12 U- Encoder U- signal

3 B+ Encoder B+ signal 13 V+ Encoder V+ signal

4 B- Encoder B- signal 14 V- Encoder V- signal

5 Z+ Encoder Z+ signal 15 W+ Encoder W+ signal

6 Z- Encoder Z- signal 16 W- Encoder W- signal

7 +5V 5V power output Other NC Empty

8 GND Ground Shell Shield Shield

SinCos encoder

Pin Signal name Signal description Pin Signal name Signal description

1 A+ Encoder A+ signal 11 C+ Encoder C+ signal

2 A- Encoder A- signal 12 C- Encoder C- signal

3 B+ Encoder B+ signal 13 D+ Encoder D+ signal

2-8
4 B- Encoder B- signal 14 D- Encoder D- signal

5 Z+ Encoder Z+ signal Other NC Empty

6 Z- Encoder Z- signal Shell Shield Shield

7 +5V 5V power output

8 GND Ground

Resolver

1 COS+ Encoder COS+ signal

2 COS- Encoder COS- signal

3 SIN+ Encoder SIN+ signal

4 SIN- Encoder SIN- signal

5 EXC+ Encoder EXC+ signal

6 EXC- Encoder EXC- signal

Shell Shield Shield

Absolute value encoder

Pin Signal name Signal description Pin Signal name Signal description

Differential communication data

1 COS+ SinCos signal COS+ 11 DAT+
signal+

Differential communication data

2 COS- SinCos signal COS- 12 DAT-
signal -

Differential communication
3 SIN+ SinCos signal SIN+ 13 CLK+ clock signal +

(only valid for Endat protocol)

Differential communication
4 SIN- SinCos signal SIN- 14 CLK- clock signal -

(only valid for Endat protocol)

7 +5V 5V power output Other NC Empty

8 GND Ground Shell Shield Shield

2-9
¾ Communication connection and signal definition (CN1)

SPS

NO. Mark

Shell

2-10
 Chapter 3 Parameter Settings

¾ Application parameters
1. Basic parameters

Function
Name Setting range Default value Change
code

Unit place: Control mode selection of the motor

0: Vector control without PG
1: Vector control with PG
Motor and control mode
P02.00 2: V/F control without PG 01 ×
selection
Tens place: Type selection of the motor
0: Asynchronous motor
1: Synchronous motor

P02.01 Keyboard enable 1: Keyboard enable 0 ○

Running command
P02.02 1: Terminal control 1 ○
channel selection
P02.03 Running direction setting 0: Forward running; 1: Reverse running 0 ○

0: Digital reference
1, 2: Reserved
Main reference 3: AI analog reference
P02.04 frequency source 0 ○
4, 5, 6, 7, 8: Reserved
selection
9: PAPB pulse reference (unipolar)
10: PAPB pulse reference (bipolar)

Digital setting of main

P02.05 P02.17~P02.16 50.00 ○
reference frequency
Maximum output MAX{50.00,upper limit frequency P02.16}
P02.15 50.00 ×
frequency ~1000.00Hz
P02.16 Upper limit frequency P02.17~P02.15 50.00 ○
P02.17 Lower limit frequency 0.00~P02.16 0.00 ○

Note

1. P02.00 setting is determined by the customer's site. For example: induction motor + encoder, you need set
P02.00 to 01.
2. P02.04 can set the main reference frequency source for speed control, it can be analog, and also can be
pulse.
3. P02.01 is valid only when P02.02 = 1 which is terminal control.

3-1
2. Motor parameters

Function
Name Setting range Default value Change
code
Depending on
P03.00 Motor rated power 0.4~999.9kW ×
model
Depending on
P03.01 Motor rated voltage 0~ rated voltage of servo drive (P98.04) ×
model
Depending on
P03.02 Motor rated current 0.1~999.9A ×
model
Depending on
P03.03 Motor rated frequency 1.00~3000.00Hz ×
model
Depending on
P03.04 Motor rated speed 0~60000rpm ×
model
1.Motor auto-tuning in static status
P03.24 Parameter auto-tuning 0 ×
2. Motor auto-tuning in rotate status
Initial angle for
P03.26 0~FFFFH 0 ×
installing encoder
Initial angle of encoder
P03.27 0~FFFFH 0 ×
Z pulse

3. Encoder parameters

Function
Name Setting range Default value Change
code

0: Digital incremental interface card

1: SinCos card
P04.04 PG interface card type Manual setting *
2: Resolver card
3: Absolute value card
Number of pulses per
P04.05 1~10000 2048 ○
revolution of encoder

Rotation direction of 0: A before B

P04.06 0 ×
encoder 1: B before A
Number of pulses per
P04.07 1~10000 2048 ○
revolution of motor

0: A before B
P04.08 Pulse reference direction 0 ○
1: B before A

Unit place: Encoder Z pulse enabled

P04.09 PG signal enabled 010 ×
Tens place: Encoder UVW signal enabled

Unit place: High-speed filtering of encoder:

0~9
Tens place: Low-speed filtering of encoder:
PG signal filtering 0~9
P04.10 0030 ○
coefficient Hundreds place: High-speed filtering of
pulse reference: 0~9
Thousands place: Low-speed filtering of
pulse reference: 0~9

3-2
 Frequency dividing
P04.14 0~4096 1 ×
coefficient
Resolver encoder pole
P04.17 0~64 1 ×
pairs

4. Loop gain parameters

Function
Name Setting range Default value Change
code
Current loop proportional
P12.05 1~5000 600 ○
gain
P12.06 Current loop integral time 0.5~100.0ms 8.0 ○

Speed loop low-speed

P05.00 0.1~200.0 20.0 ○
proportional gain

Speed loop low-speed

P05.01 0.000~10.000 0.200s ○
integral time
P05.03 Switching frequency 1 0.0%~50.0% 10.0% ○

Speed loop high-speed

P05.04 0.1~200.0 20.0 ○
proportional gain

Speed loop high-speed

P05.05 0.000~10.000 0.200s ○
integral time
P05.07 Switching frequency 2 0.0%~100.0% 20.0% ○
Position control
P30.08 0~8000 100 ×
proportional gain 1
Position control
P30.09 0~8000 400 ×
proportional gain 2
Position feedforward
P30.15 0.00~120.00% 100.00% ×
gain

5. Multi-function input and output

Function
Name Setting range Default value Change
code
P09.00 DI1 terminal function 1: Forward FWD 1
P09.01 DI2 terminal function 22: External reset (RESET) input 89
P09.02 DI3 terminal function 57: Spindle swing 85
P09.03 DI4 terminal function 60: Emergency stop 90
×
P09.04 DI5 terminal function 72: Reaming enable 60
P09.05 DI6 terminal function 85: Spindle/positioning homing 57
P09.06 DI7 terminal function 89: Speed/position switching 72
P09.07 DI8 terminal function 90: Tapping enable 22

P09.18 DO1 function selection 15: Servo drive ready(RDY) 30

P09.19 DO2 function selection 16: Servo drive failure 25
×
P09.20 DO3 function selection 25: Positioning completed 16
P09.21 DO4 function selection 30: Spindle/positioning homing completed 15

3-3
6. Analog input

Function
Name Setting range Default value Change
code

Unit place: AI1

0: Voltage input
P10.00 Analog input properties 00 ×
1: Current input
AI2 and AI3 are differential voltage input

Unit place of LED: AI1 function selection

0: No function
1: Main reference frequency setting (bipolar)
2, 3, 4, 5, 6, 7,8: Reserved
Analog AI function 9: Main reference frequency setting
P10.01 000 ×
selection (unipolar)
Tens place of LED: AI2 function selection is
the same as above
Hundreds place of LED: AI3 function
selection is the same as above

P10.02 AI1 filtering time 0.000~10.000s 0.010s ○

P10.03 AI2 filtering time 0.000~10.000s 0.010s ○
P10.04 AI3 filtering time 0.000~10.000s 0.010s ○

7. Pulse input

Function
Name Setting range Default value Change
code
0: Non-servo control
Servo control switching 1: Speed/torque←→servo control
P30.00 0 ×
selection 2: Servo←→speed/torque control
3: Servo control
Unit place:Pulse type
0: A / B phase pulse
1: Puls+Sign pulse
2: CW / CCW pulse
Tens place: Filter width (reserved)
0~3
P30.01 Pulse input type setting 0000H ○
Hundreds place: Logical form
0: Positive logic
1: Negative logic
Thousands place: Pulse input source
0: PAPB pulse input
1: HPAHPB pulse input
Position command filter
P30.02 0.0~3000.00ms 0 ×
time
Position command
P30.03 acceleration/deceleration 0.0~50.00ms 0 ×
time constant

3-4
 P30.04 Electronic gear molecular 1~65535 1024 ×
Electronic gear
P30.05 1~65535 1024 ×
denominator

Note

When the pulse input form is Puls + Sign, PB is defined as Sign (direction), PA is defined as Pulse (pulse).
When you need to set P30.03 position command acceleration/deceleration time constant, please set the tens
place of P30.01 to 1 first.

8. Start-stop control parameters

Function
Name Setting range Default value Change
code
P02.13 Acceleration time 1 0.0~3600.0s 6s ○
P02.14 Deceleration time 1 0.0~3600.0s 6s ○
Use ratio of dynamic
P08.21 0.0~100.0% (0.0: Disabled) 100.0% ○
braking
P08.22 Braking startup voltage 700~780V 720 ○

Note

Acceleration and deceleration time is valid only in the speed mode.

9. Analog tapping

Function
Name Setting range Default value Change
code
P32.00 Tapping enable 0~1 0 ×
P32.01 Acceleration time 0.00~300.00s 2.00 ×
P32.02 Deceleration time 0.00~300.00s 2.00 ×
P32.03 ASR1-P 0.1~200.0 20.0 ×
P32.04 ASR1-I 0.000~10.000s 0.200s ×
P32.06 ASR2-P 0.1~200.0 20.0 ×
P32.07 ASR2-I 0.000~10.000s 0.200s ×
ASR 1/2 switching
P32.09 0.0%~100.0% 10.0% ×
frequency
Tapping maximum
P32.10 0.0%~100.0% of maximum frequency 100.0% ×
frequency
Reaming maximum
P32.11 0.0%~100.0% of maximum frequency 100.0% ×
frequency
P32.12 Analog filter 0.000~10.000s 0.010 ×
0: Normal sampling
P32.13 Analog sampling mode 0 ×
1: High-speed sampling

10. Spindle positioning parameters

3-5
Function
Name Setting range Default value Change
code

Unit place: Positioning mode selection

0: Carry
1: Indexing
Tens place: Digital carry selection
0: Single-point carry
1: Multi-point carry
Spindle positioning Hundreds place:Single-point carry mode
P31.00 0000H ×
selection 0: Single point positioning once
1: Single-point multiple positioning (positioning
times set by the function code)
Thousands place:Single-point multiple positioning
mode
0: Reciprocating
1: Continuous
Unit place:Origin detector types and looking for
direction settings
0,1: Reserved
2: Forward homing, ORGP as a return to the origin
3: Reverse homing, ORGP as a return to the origin
4: The shortest distance homing, ORGP as a
return to the origin
5: Homing according to the current running
direction, ORGP as a return to the origin
6: Forward looking for Z pulse as a return to the
origin
7: Reverse looking for Z pulse as a return to the
origin

P31.01 Homing mode 8: The shortest distance looking for Z pulse as a 0009H ×
return to the origin
9: Homing according to the current direction, Z
pulse as a return to the origin
Tens place: Homing command mode
0: Level mode
1: Pulse mode
Hundreds place: Homing
0: Homing only the first run
1: Homing each run
2: Homing every time power on(reserved)
Thousands place:The origin correction mode
0: Single correction
1: Real-time correction
Unit place: Positioning position mode
Positioning mode 0: Relative position
P31.02 0000H ×
selection 1: Absolute position (relative zero)
Tens place: Positioning lock mode

3-6
 0: Locked in the positioning points
1: Locked in the positioning range
Hundreds place: Positioning timing selection
0: Receiving new positioning signal in the process
of positioning, no response
1: Receiving new positioning signal in the process
of positioning, positioning the new position directly
Thousands place: Positioning overrun action
selection
0: Shutdown
1: Reverse homing,keep zero speed
2: Reverse homing, shutdown
Unit place: Homing docking
0: Stop at the left side of the origin
1: Stop at the right side of the origin
Homing docking Tens place: Encoder installation position
P31.03 0000H ×
selection 0: Mounted on the motor shaft
1: Mounted on the spindle
Hundreds place: Reserved
Thousands place: Reserved

Internal positioning 0: Manual selection by DI terminal

P31.04 0 ×
starting setting 1: Auto-start
Spindle
P31.05 0.000~30.000 1.000 ×
transmission ratio
P31.06 Origin search speed 0.00~30.00 1.00 ×
P31.07 Origin position offset 0~36000 18000 ×
P31.35 Positioning speed 0~100.0% of maximum frequency 20.0 ×

¾ Monitoring parameters
Function
Name Setting range Default value Change
code
P01.07 Output current 0.0~3Ie 0.0 *
Measured frequency of
P01.13 -650.00~650.00Hz 0.00 *
motor
P01.16 Bus voltage 0~800V 0 *

0~FFH, 0: off; 1: on
State of digital input
P01.18 The high-speed pulse reference will not be 00 *
terminal
refreshed synchronously

0~FH, 0: open; 1: close

State of digital output
P01.19 The high-speed pulse output will not be 00 *
terminal
refreshed synchronously
P01.20 AI1 input voltage -10.00~10.00V 0.00 *
P01.21 AI2 input voltage -10.00~10.00V 0.00 *
P01.22 AI3 input voltage -10.00~10.00V 0.00 *
P01.33 UVW input status of 0~7 0 *

3-7
 encoder
P01.35 Encoder speed 0.00~600.00Hz 0.00 *
P01.36 Pulse reference speed 0.00~600.00Hz 0.00 *
P01.37 Encoder counter value 0~65535 0 *
Corresponding position
P01.39 0~65535 0 *
of encoder Z pulse
Counter value of pulse
P01.40 0~65535 0 *
reference
High level of position
P01.44 0~65535 0 *
reference
Low level of position
P01.45 0~65535 0 *
reference
High level of position
P01.46 0~65535 0 *
feedback
Low level of position
P01.47 0~65535 0 *
feedback
P01.48 Position error pulse -9999~9999 0 *
P01.49 Current angle 0~359.99 0 *

¾ System parameters
Function
Name Setting range Default value Change
code

P00.00 Menu mode selection 1: Full menu mode 0 ○

P00.05 Parameter initialization 2: Restore to default value 0 ×

1: Uploading parameters
P00.06 Parameter copy 0 ×
2: Downloading parameters

3-8
 Chapter 4 Functions and Applications

¾ Commissioning
Power-on
Please check the following points carefully before the drive is powered on:
1. The power supply voltage is normal;
2. Main circuit wiring, control circuit wiring is normal;
Power cable and L1, L2, L3 of drive, U, V, W of drive and the motor terminals is connected securely.

Display status confirmation and panel operation

1. Display status confirmation
The display status of the SPS operation panel includes stop status parameter display, run status parameter
display, function code parameter editing status display and fault alarm status display.
After the first step, the drive can be powered on, after powered on, servo system self-test is normal and
display rdy, wait for the host device to give a command signal, as shown below:

SPS servo drive can display the following several status.

LED display graphics Symbol Status description

Power on initialization state, indicate that the system is at start or reset
“rst”
state.

“nrd” Start or reset is completed, the servo is not yet ready.

Servo system self-detection normal, wait for the host to give a command
“rdy”
signal.

“run” Servo running status.

“Er.xxx” Servo fault status.

“AL.xxx” Servo alarm status.

4-1
When a fault occurs, the code that starts with Er. is displayed, as shown below. Different fault display different
code, for details please refer to chapter 5 Troubleshooting.

The figure takes the input side phase loss Er.24V as an example, different fault code display different content.
2. Panel operation
Press SHIFT key to Press SHIFT key to
move the cursor move the cursor
Press ∧ or ∨ key to Press ∧ or ∨ key to
select the function code select the function code

Or

Save changes
No. plus 1
Press SHIFT key to
move the cursor
Press ∧ or ∨ key to
select the function code Or
Or Discard
changes

1. After the servo drive power on initialization is completed, enter the working status display menu, if the servo
system self-detection is normal, it will display "rdy".
2. In the working status display menu, press the SHIFT key to switch between the working status display and
monitor parameters menu.
3. In the monitoring parameter menu, press∧/∨key to select the monitoring parameters.
4. In the working status display or monitor parameters menu, press the MENU key to switch between the
working status display or monitor parameters menu and level 1 menu of the parameter settings.
5. In the parameter setting level 1 menu, press the SHIFT key to move the cursor to the parameter group or
parameter serial number.
6. In the parameter setting level 1 menu, press ∧/∨ key to select the required parameter group and
parameter serial number.
7. In the parameter setting level 1 menu, press the ENTER key to enter parameter setting level 2 menu to
display the current value of the parameters. If at this time, the parameter values can be modified, its lowest
digit will flash.
8. In the parameter setting level 2 menu, press the SHIFT key to select the number of digits to be modified,
press ∧/∨ key to increase or decrease the value.
9. After the parameter are modified, if press the ENTER key to save the changes and return to the previous
menu, if press the MENU key to discard the changes, and return to the previous menu.

4-2
3. Parameter value page display
Some of the parameter values, five digital tube can not display in one page, need to turn the page to display.
1. Five-digit and below parameter values display
When the parameter value is in the [-9999 to 99999] ,it can be displayed and edited in one page.
2. Above five-digit parameter values display
When the parameter value exceeds [-9999 to 99999] , the parameter value need to turn the page to display
and edit. The drive can display up to three page parameters, the following illustrates the page display logic.
For example, to display -18052643.12, it can be divided into [-18], [0526], [43.12] three pages, as shown in
the figure below.

If the parameter value can be modified currently, press the SHIFT key to select the number of digits to be
modified. If the parameter value can not be modified currently ,you can only press the SHIFT key to scroll
display.

Commissioning parameter settings

After the drive is powered on, press the drive digital control panel buttons MENU / ESC to enter the parameter
function codes, such as P00. **. The basic parameters include motor control mode, motor parameters,
encoder parameters, etc.

Function
Name Setting range Default value Change
code

Unit place: Control mode selection of the

motor
0: Vector control without PG

Motor and control mode 1: Vector control with PG

P02.00 01 ×
selection 2: V/F control without PG
Tens place: Type selection of the motor
0: Asynchronous motor
1: Synchronous motor
P02.01 Keyboard enable 1: Keyboard enable 0 ○
Running command
P02.02 1: Terminal control 1 ○
channel selection

Main reference 0: Digital reference

P02.04 frequency source 1, 2: Reserved 0 ○
selection 3: AI analog reference

4-3
 4, 5, 6, 7, 8: Reserved
9: PAPB pulse reference (unipolar)
10: PAPB pulse reference (bipolar)
Maximum output MAX{ 50.00,upper limit frequency P02.16 } Determined by
P02.15 ×
frequency ~1000.00Hz the customer
Determined by
P02.16 Upper limit frequency P02.17~P02.15 ○
the customer
Depending on
P03.00 Motor rated power 0.4~999.9kW ×
model
Depending on
P03.01 Motor rated voltage 0~ rated voltage of servo drive (P98.04) ×
model
Depending on
P03.02 Motor rated current 0.1~999.9A ×
model
Depending on
P03.03 Motor rated frequency 1.00~3000.00Hz ×
model
Depending on
P03.04 Motor rated speed 0~60000rpm ×
model
Number of pulses per Depending on
P04.05 1~10000 ○
revolution of encoder encoder

Rotation direction of 0: A before B

P04.06 0 ×
encoder 1: B before A

Check PG wiring
Enter the encoder count value parameter P01.37, manually rotate the motor shaft, see whether the value has
changed, if not, check the encoder wiring and parameter settings.

Parameter auto-tuning
Vector control are required to identify the motor parameters, in order to get the best control effect. When
identification, make sure that the motor is in idling or light load condition. When auto-tuning set P03.24 = 2,
P02.01 = 1 to perform dynamic identification, the drive will self-identify stator resistance, leakage inductance,
rotor resistance, mutual inductance and no-load current (induction motor) and other parameters, in the
identification of the no-load current it will rotate at 60% of the motor rated speed, finally stop automatically,
indicating that the auto-tuning is completed.

Note

The following conditions can cause auto-tuning failure, Er.TUn error will be reported:
1. Motor nameplate setting error, please re-set (if no motor nameplate or motor parameter uncertainty, please
consult the motor manufacturer);
2. Drive upper limit frequency P02.15, maximum output frequency P02.16 are set too low, when tuning the
value shall not be less than 60% of the motor rated frequency. If it is less than, it is necessary to increase the
upper limit frequency and the maximum output frequency.

Commissioning
After the motor identification is completed, you can test the drive and motor in speed mode, test whether the
motor operation is normal at high, low speed, for example, the drive output current, whether the motor has
vibration and large noise,etc.

4-4
After a simple commissioning is successful, you can connect the host device, control the drive and motor
running through the host device.

Note
Determine whether the rotation direction of the asynchronous motor and the direction of the encoder are
consistent:

Set P02.00 = 0002, asynchronous motor is forward running in V / F mode, view the monitoring parameters
P01.13. If it is negative, it indicates the opposite direction; if it is positive, it indicates the same direction.

Host device control problems that may occur and solutions:

1. The drive has not received running command

View monitoring parameters P01.18, let the system send forward, reverse running signal, see whether the unit
place of P01.18 is 1; if not, check the drive and system I / O signals.

2. The drive has not received analog signal.

Enter the analog monitoring parameters P01.20 (AI1 channel), P01.21 (AI2 channel), P01.22 (AI3 channel),
the monitor parameter displays the analog signals received by the drive before adjustment. Check whether
the parameter and the analog command sent by the host device are same, if there is no value, check the
wiring or check whether the host device has sent analog signal.
3. The drive has not received pulse signal.
Receive pulse through PAPB: enter P01.36, view PAPB speed, let the system send pulse sequence, see
whether there are changes in the value of P01.36, If it is zero, check whether the host device has sent pulse
signal or check the wiring.
4. Motor vibration

Determine that there is low speed vibration or high speed vibration, it may be appropriate to adjust the loop
gain.

4-5
¾ Speed mode
Speed command source

Function
Name Setting range Default value Change
code

0: Digital reference
1, 2: Reserved
Main reference
3: AI analog reference
P02.04 frequency source 0 ○
selection 4, 5, 6, 7, 8: Reserved
9: PAPB pulse reference (unipolar)
10: PAPB pulse reference (bipolar)

a. When the speed command source is AI analog, you can set the following parameters:

Function
Name Setting range Default value Change
code
Unit place: AI1
0: Voltage input
P10.00 Analog input properties 1: Current input 00 ×
Tens place: AI2/AI3 input selection
AI2 and AI3 are differential voltage input

Unit place of LED: AI1 function selection

0: No function
1: Main reference frequency setting (bipolar)
2, 3, 4, 5, 6, 7,8 :Reserved
Analog AI function 9: Main reference frequency setting
P10.01 000 ×
selection (unipolar)
Tens place of LED: AI2 function selection is
the same as above
Hundreds place of LED: AI3 function
selection is the same as above

Note

The 9th function and the 1st function have the same meaning, the difference is that the polarity of the 9th
function analog input does not affect the running direction of the servo drive, the running direction depends on
the value of P02.03 or forward/reverse terminal function code setting.
For example:
When P10.01=1 bipolar, if the analog input + 3V, then the drive forward; if the analog input -7V, then the drive
reverse; maximum analog input (10V / 20mA) corresponding to the servo drive maximum output frequency
P02.15.
When P10.01 = 9 unipolar, regardless of the analog input voltage is positive or negative, it will not affect the
running direction of the servo drive.

4-6
b. When the speed command source is PAPB pulse reference, you can set the following parameters:

Function
Name Setting range Default value Change
code
Number of pulses per
P04.07 1~10000 2048 ○
revolution of motor
0: A before B
P04.08 Pulse reference direction 0 ○
1: B before A

Note

You can control the speed by setting P04.07, the greater the value, the lower the speed.
The difference between unipolar and bipolar is that bipolar can determine the direction by the phase of A, B
pulse.

Acceleration and deceleration time

Function
Name Setting range Default value Change
code
P02.13 Acceleration time 1 0.0~3600.0s 6s ○
P02.14 Deceleration time 1 0.0~3600.0s 6s ○

Specific acceleration and deceleration time is determined according to the needs of the device.

Note
When you need device smooth acceleration and deceleration:
Should try to increase P02.13 (acceleration time 1) and P02.14(deceleration time 1).
When you need device rapid acceleration and deceleration:

Too small acceleration and deceleration time setting will cause acceleration overcurrent (Er.oC1),
deceleration over voltage (Er.oU2) fault and requires appropriate resistor matching, and function code is set to
open dynamic braking.

Dynamic braking

Function
Name Setting range Default value Change
code
Use ratio of dynamic
P08.21 0.0~100.0％ (0.0: Disabled) 100.0% ○
braking
P08.22 Braking startup voltage 700~780V 720 ○

Use ratio of dynamic braking P08.21 and braking startup voltage P08.22 are valid only for the drives which
have built-in braking unit. You can select the operating voltage of braking unit by regulating P08.22, the
appropriate operating voltage can achieve rapid dynamic braking stop.

Loop gain adjustment

Function
Name Setting range Default value Change
code
Current loop proportional
P12.05 1~5000 600 ○
gain

4-7
 P12.06 Current loop integral time 0.5~100.0ms 8.0 ○
Speed loop low-speed
P05.00 0.1~200.0 20.0 ○
proportional gain
Speed loop low-speed
P05.01 0.000~10.000 0.200s ○
integral time
P05.03 Switching frequency 1 0.0%~50.0% 10.0% ○
Speed loop high-speed
P05.04 0.1~200.0 20.0 ○
proportional gain
Speed loop high-speed
P05.05 0.000~10.000 0.200s ○
integral time
P05.07 Switching frequency 2 0.0%~100.0% 20.0% ○

In the debugging process, the problem of PID parameter tuning is often encountered. Improper PID setting
can cause system instability.
In speed control, you need to adjust the current loop and speed loop, current loop is the inner loop, speed
loop is outer loop; the general principle is to adjust the current loop firstly, then adjust the speed loop. Speed
loop is composed by multi-PI, switching frequency needs to be adjusted according to the device, the
parameter diagram is as follows:

Note
Current loop:

P12.05 and P12.06 are the PI regulator parameters of the current loop. Increasing KP or decreasing I of the
current loop can accelerate the dynamic response of the system, but too strong will be accompanied by
excessive vibration, noise of device when the shaft lock, acceleration overcurrent fault and other issues;
decreasing KP or increasing I can improve the stability of the system.
Speed loop:
Increasing the proportional gain P can accelerate the dynamic response of the system, but if the P value is too
large, it is easy to cause the oscillation of the system.
Decreasing the integral time I can accelerate the dynamic response of the system, but if the I value is too
small, it is easy to cause the overshoot and oscillation of the system.
If the PI parameter is not selected properly, the over-voltage fault may occur after the system is started to
reach the high speed quickly (if no external braking resistor or braking unit is connected), this is caused by the
energy feedback produced in the system regenerative braking while decelerating after the overshoot, It can
be avoided by adjusting the PI parameter.

4-8
¾ Position control
Position command source

Function
Name Setting range Default value Change
code
0: Non-servo control
Servo control switching 1: Speed / torque←→servo control
P30.00 0 ×
selection 2: Servo←→speed / torque control
3: Servo control
Unit place:Pulse type
0: A / B phase pulse
1: Puls + Sign pulse
2: CW / CCW pulse
Tens place: Filter width (reserved)
0~3
P30.01 Pulse input type setting 0000H ○
Hundreds place: Logical form
0: Positive logic
1: Negative logic
Thousands place: Pulse input source
0: PAPB pulse input
1: HPAHPB pulse input

In position control, first set P30.00 to 3.

When the position command source is PAPB pulse reference, you can set the following parameters:

Function
Name Setting range Default value Change
code
Number of pulses per
P04.07 1~10000 2048 ○
revolution of motor
0: A before B
P04.08 Pulse reference direction 0 ○
1: B before A

Unit place: High-speed filtering of encoder:

0~9
Tens place: Low-speed filtering of encoder:
PG signal filtering 0~9
P04.10 0030 ○
coefficient Hundreds place: High-speed filtering of
pulse reference: 0~9
Thousands place: Low-speed filtering of
pulse reference: 0~9

Electronic gear

Function
Name Setting range Default value Change
code
Electronic gear
P30.04 1~65535 1024 ×
molecular
Electronic gear
P30.05 1~65535 1024 ×
denominator

4-9
Electronic gear setting method is as follows:
1. Servo motor encoder lines, bits;
2. Pulse equivalent;
Pulse equivalent refers to the load minimum movement unit corresponding to each pulse command signal.
Pulse equivalent can be 0.001mm, 0.1 °, 0.01 inches, a pulse is entered, moving a pulse equivalent of the
distance or angle.
For example, pulse equivalent is 0.001mm, when the input command pulse is 50,000, the amount of the load
movement is (50000 * 0.001mm) = 50mm.
3.Calculate the number of position command required by load shaft rotate a circle using the pulse equivalent
Displacement of the load shaft rotate a circle = Displacement for load shaft rotate a circle (command unit) *
pulse equivalent.
For example, the ball screw pitch is 5mm, pulse equivalent is 0.001mm, then the displacement for load shaft
rotate a circle (command unit) = 5mm / 0.001mm = 5000.
Ball screw Round table Belt pulley

4. Calculate the electronic gear ratio

If the reduction ratio of the motor shaft and load shaft is m/n (ie the motor rotate m circle, load rotate n circle),
then:
Electronic gear ratio = P30.04 / P30.05 = [(encoder pulses * 4) / the displacement for load shaft rotate a circle
(command unit)] * (m / n)
Position loop gain

Function
Name Setting range Default value Change
code
Position control proportional
P30.08 0~8000 100 ×
gain 1
Position control proportional
P30.09 0~8000 400 ×
gain 2
0: Do not switch
Position gain 1 and gain 2 2: Speed command
P30.10 0 ×
switching mode 3: Position deviation
4: External terminal switch
Position gain switching speed
P30.12 0~10000 10.0% ×
command level
Position gain switching
P30.13 0~10000 100 ×
position deviation level
P30.14 Gain switching smoothing 0~15 1 ×

4-10
 filtering coefficient
P30.15 Position feedforward gain 0.00~120.00% 100.00% ×

Note

Set proportional gain of the position loop regulator by P30.08 and P30.09. The higher the gain, the smaller the
position lag, but too large can cause oscillation; the lower the gain, the slower the position tracking. Generally
in the case of no oscillation, increase position gain reasonably.
When position deviation is greater than the position gain switching deviation level (P30.13), after gain
switching smoothing filtering coefficient (P30.14), position loop proportional gain 1 (P30.08) automatically
switches to the position loop proportional gain 2 (P30.09).
Set position control feedforward , the greater the setting, the smaller the position error and the corresponding
performance is improved, but is likely to cause overrun, please note. If feedforward set is larger, will cause
speed overrun or running sound larger.

¾ Spindle/positioning homing
Function code:

Function Default
Name Setting range Change
value
code

Unit place: Positioning mode selection

0: Carry
1: Indexing
Tens place: Digital carry selection
0: single-point carry
1: Multi-point carry
Spindle positioning Hundreds place:Single-point carry mode
P31.00 0000H ×
selection 0: Single point positioning once
1: Single-point multiple positioning (positioning
times set by the function code)
Thousands place:Single-point multiple positioning
mode
0: Reciprocating
1: Continuous
Unit place:Origin detector types and looking for
direction settings
0,1: Reserved
2: Forward homing, ORGP as a return to the origin
3: Reverse homing, ORGP as a return to the origin
4: The shortest distance homing, ORGP as a
return to the origin
P31.01 Homing mode 0009H ×
5: Homing according to the current running
direction , ORGP as a return to the origin
6: Forward looking for Z pulse as a return to the
origin
7: Reverse looking for Z pulse as a return to the
origin
8: The shortest distance looking for Z pulse as a

4-11
 return to the origin
9: Homing according to the current direction, Z
pulse as a return to the origin
Tens place: Homing command mode
0: Level mode
1: Pulse mode
Hundreds place: Homing
0: Homing only the first run
1: Homing each run
2: Homing every time power on(reserved)
Thousands place:The origin correction mode
0: Single correction
1: Real-time correction
Unit place: Positioning position mode
0: Relative position
1: Absolute position (relative zero)
Tens place: Positioning lock mode
0: Locked in the positioning points
1: Locked in the positioning range
Hundreds place: Positioning timing selection
Positioning mode 0: Receiving new positioning signal in the process
P31.02 0000H ×
selection of positioning, no response
1: Receiving new positioning signal in the process
of positioning, positioning the new position directly
Thousands place: Positioning overrun action
selection
0: Shutdown
1: Reverse homing,keep zero speed
2: Reverse homing, shutdown
Unit place: Homing docking
0: Stop at the left side of the origin
1: Stop at the right side of the origin
Tens place: Encoder installation position
P31.03 Homing docking selection 0000H ×
0: Mounted on the motor shaft
1: Mounted on the spindle
Hundreds place: Reserved
Thousands place: Reserved

Internal positioning 0: Manual selection by DI terminal

P31.04 0 ×
starting setting 1: Auto-start
Spindle transmission 0.000~30.000
P31.05 1.000 ×
ratio
P31.06 Origin search speed 0.00~30.00 1.00 ×
P31.07 Origin position offset 0~36000 18000 ×
P31.35 Positioning speed 0~100.0% of maximum frequency 20.0 ×
P01.49 Current angle 0~359.99 0 ×
Number of pulses per
P04.05 1~10000 2048 ○
revolution of encoder

4-12
 Number of pulses per
P04.07 1~10000 2048 ○
revolution of motor
P09.02 DI3 terminal function 85: Spindle / positioning homing 85 ×

Note

The origin of the spindle /positioning homing can select Z pulse of the spindle motor (electric spindle ) or
spindle proximity switches (non-electric spindle). If transmission ratio between the motor shaft and the spindle
is 1:1, using the motor encoder Z pulse as home position switch. When DI3 (pindle /positioning homing)
terminal function is set to 85, as long as the input signal is closed, the spindle perform accurate stop action,
and after accurate stop in place will output DO1 ( spindle positioning /homing completed ). Spindle homing
angle can rotate spindle position to the desired "zero" position when the spindle in the free state, it needs
rotate more than two circles until P01.49 value has changed , then record P01.49 (spindle current angle )
under this state , the value is set in the function parameters P31.07.
If transmission ratio between the motor shaft and the spindle is not 1:1, if the encoder is mounted on the
spindle,set tens place of P31.03 to 1, the encoder line number is set to function code P04.05. Spindle origin
use spindle encoder Z pulse, while correctly set spindle encoder lines P04.07, spindle transmission ratio
P31.05 and homing mode P31.01 (ORGP as origin) . If the encoder is mounted on the motor shaft , spindle
origin is also required to install photoelectric switch, photoelectric switch signal will connect to one of the DI6,
DI7, DI8 terminal , and set the corresponding terminal to 84 ( position reference point input terminals ) .
Meanwhile properly set the spindle encoder lines P04.07, spindle transmission ratio P31.05 and homing
mode P31.01
Origin search speed P31.06 as accurate stop search origin speed at first start.
Spindle positioning speed P31.35 set the speed for spindle positioning start section to look for the origin, the
setting value affects spindle positioning speed and accuracy.
Spindle /positioning homing direction is set by function code P31.01.

4-13
Spindle / positioning homing wiring diagram:
Braking resistor

IR PB P -DC

+24
CNC
SPS
+24C

XCOM
MC L QF
Forward run/stop DI1 9

Speed/position switching DI2 10 Three-phase power

323-480V
Spindle/positioning homing 11 50Hz / 60Hz
DI3

Tapping enable PE
DI4 12
Multi-function
input Emergency stop DI5 13

Fault reset DI8 16

COM 33

DO1+ 34
Spindle positioning /
homing completed DO1- 35

DO2+ 36 Spindle motor

Positioning completed DO2- R1

37
S1 Cooling
Multi-function M2 fan
output DO3+ 38 T1
U
Servo drive failure
DO3- 39
V
Motor
DO4+ 40 M1 open
W
loop
Servo drive ready
DO4- 41 PE

Transmission
link

PAO+ 7
A+ VCC
7
PAO- 8
A- GND
8
B+ PBO+ 5
Spindle encoder A+
1
feedback PBO- 6
B- A-
2
Z+ PZO+ 3 CN3 Spindle
PG
B+
3
PZO- 4
Z- B-
4
AI3+ Z+
5
Analog reference
AI3- Z-
6

The wiring diagram shows the motor open loop, the encoder is mounted on the spindle, CN3 is used for the
motor encoder feedback.

4-14
¾ Rigid tapping
1.Whole analog
Function code:

Function
Name Setting range Default value Change
code
Main reference
P02.04 frequency source 3: AI analog reference 0 ○
selection
Speed loop low-speed
P05.00 0.1~200.0 20.0 ○
proportional gain
Speed loop low-speed
P05.01 0.000~10.000 0.200s ○
integral time
P05.03 Switching frequency 1 0.0%~50.0% 10.0% ○
Speed loop high-speed
P05.04 0.1~200.0 10.0 ○
proportional gain
Speed loop high-speed
P05.05 0.000~10.000 0.200s ○
integral time
Unit place of LED: AI1 function selection
0: No function
1: Main reference frequency setting (bipolar)
2, 3, 4, 5, 6, 7,8 :Reserved
Analog AI function 9: Main reference frequency setting
P10.01 000 ×
selection (unipolar)
Tens place of LED: AI2 function selection is
the same as above
Hundreds place of LED: AI3 function
selection is the same as above

P32.01 Acceleration time 0.00~300.00s 2.00 ×

P32.02 Deceleration time 0.00~300.00s 2.00 ×
P32.03 ASR1-P 0.1~200.0 20.0 ×
P32.04 ASR1-I 0.000~10.000s 0.200s ×
P32.06 ASR2-P 0.1~200.0 20.0 ×
P32.07 ASR2-I 0.000~10.000s 0.200s ×
ASR 1/2 switching
P32.09 0.0%~100.0% 10.0% ×
frequency
Tapping maximum
P32.10 0.0%~100.0% of maximum frequency 100.0% ×
frequency
Reaming maximum
P32.11 0.0%~100.0% of maximum frequency 100.0% ×
frequency
0: Normal sampling
P32.13 Analog sampling mode 0 ×
1: High-speed sampling

4-15
 Note

There are two analog speed control mode: normal sampling mode and high-speed sampling mode.
Normal sampling mode : you need to set P02.04 to 3, correctly set P10.01 (AI analog function selection)
based on the use of AI port. The maximum frequency corresponding to analog is determined by the
corresponding function code of P10 group. Speed loop PI parameters are determined by the P05 group
function code. Tapping enable switch to the tapping mode by the function code P32.00 ( set to 1 ) or by DI4
terminal ( set to No.90 function ), in tapping mode speed loop PI parameters are determined by P32.03 ~
P32.09 while tapping acceleration/deceleration time is determined by the P32.01 and P32.02.
High-speed sampling mode: P32.13 is set to 1 ( high-speed analog sampling ), in non tapping mode , the
maximum frequency corresponding to analog is determined by the corresponding function code of P10 group,
tapping enable switch to the tapping mode by the function code P32.00 ( set to 1 ) or by DI4 terminal ( set to
No.90 functions ) , in tapping mode speed loop PI parameters are determined by P32.03 ~ P32.09, while
tapping acceleration/deceleration time automatically set to 0 , the maximum frequency corresponding to
analog is determined by P32.10. Reaming is enabled by DI7 terminal (No.72 function ), in reaming mode,the
maximum frequency corresponding to analog is determined by P32.11.

4-16
Whole analog rigid tapping wiring diagram:
Braking resistor

IR PB P -DC

+24
CNC SPS
+24C
Spindle motor

XCOM R1
S1 Cooling
M2 fan
Forward run/stop DI1 9 T1
U
Spindle/positioning homing DI3 11
V
Tapping enable DI4 12 M1
W
Multi-function
Emergency stop DI5 13 PE
input

Fault reset DI8 16

A+
COM 33 1
A-
2
B+
3
B-
4
CN3 PG
DO1+ 34 Z+
5
Spindle positioning /
Z-
homing completed DO1- 35 6
+5V
DO2+ 36 7
GND
Positioning completed DO2- 8
37
PE
Multi-function
output DO3+ 38
Servo drive failure
DO3- 39

DO4+ 40
Servo drive ready
DO4- 41

PAO+ 17
A+

PAO- 42
A-

B+ PBO+ 18
MC L QF
Spindle encoder
feedback PBO- 43
B-
PZO+ 19 Three-phase power
Z+ 323-480V
50Hz / 60Hz
PZO- 44
Z-
PE
AI3+
3
Analog reference
AI3-
28
PE

Note: In the figure the motor PG takes incremental encoder as an example, it also supports absolute encoder.

4-17
2. Analog (speed) + pulse (position)
Function code:

Function
Name Setting range Default value Change
code
Main reference
P02.04 frequency source 3: AI analog reference 0 ○
selection
DI2 terminal function
P09.01 89: Speed / position switching 89 ×
selection

Unit place of LED: AI1 function selection

0: No function
1: Main reference frequency setting (bipolar)
2, 3, 4, 5, 6, 7,8 :Reserved
Analog AI function 9: Main reference frequency setting
P10.01 000 ×
selection (unipolar)
Tens place of LED: AI2 function selection is
the same as above
Hundreds place of LED: AI3 function
selection is the same as above
Servo control switching
P30.00 1: Speed / torque←→servo control 0 ×
selection
Unit place:Pulse type
0: A / B phase pulse
1: Puls + Sign pulse
2: CW / CCW pulse
Tens place: Filter width (reserved)
0~3
P30.01 Pulse input type setting 0000H ○
Hundreds place: Logical form
0: Positive logic
1: Negative logic
Thousands place: Pulse input source
0: PAPB pulse input
1: HPAHPB pulse input
Position command filter
P30.02 0.0~3000.00ms 0 ×
time
Position command
P30.03 acceleration/deceleration 0.0~50.00ms 0 ×
time constant
Electronic gear
P30.04 1~65535 1024 ×
molecular
Electronic gear
P30.05 1~65535 1024 ×
denominator
Position control
P30.08 0~8000 100 ×
proportional gain 1
Position control
P30.09 0~8000 400 ×
proportional gain 2

4-18
 Note

Analog speed control needs to set P02.04 to 3, correctly set P10.01 (AI analog function selection) based on
the use of AI port.
In rigid tapping (pulse position control), the DI4 terminal function P09.03 is set to 89, P30.00 is set to 1 (speed
/ position control switch), when DI4 terminal is closed, the spindle enter pulse reference position control mode,
set the pulse command input type P30.01 correctly.
In rigid tapping, spindle speed corresponding to the calculated value of the numerator of electronic gear ratio
(P30.04) and denominator of electronic gear ratio (P30.05). Increase the proportional gain 1 of position control
(P30.08), proportional gain 2 of position control (P30.09), can make the position response faster, but too fast
will cause position control overshoot, appropriately increase position command filter time (P30.02) and
position command acceleration and deceleration time constant (P30.03) can suppress overshoot.

4-19
 Analog (speed) + pulse (position) rigid tapping wiring diagram:
Braking resistor

IR PB P -DC

+24
CNC
SPS
+24C
Spindle motor

XCOM R1
S1 Cooling
M2 fan
Forward run/stop DI1 9 T1
U
Speed/position switching DI2 10
V
Spindle/positioning homing DI3 11 M1
W

Tapping enable DI4 12 PE

Multi-function
input Emergency stop DI5 13

Fault reset DI8 16 A+

1
A-
COM 33 2
B+
3
DO1+ 34 B-
4
Spindle positioning / CN3 PG
homing completed DO1- 35 Z+
5
Z-
DO2+ 36 6

Positioning completed +5V

Multi-function DO2- 7
37
output
GND
DO3+ 8
38
PE
Servo drive failure
DO3- 39

DO4+ 40
Servo drive ready
DO4- 41

PAO+ 17
A+

PAO- 42
A-

B+ PBO+ 18
Spindle encoder
feedback PBO- 43
B-
PZO+ 19
Z+

PZO- 44
Z-
MC L QF
PA+ 25
CW+
Pulse reference PA- 24 Three-phase power
CW- 323-480V
50Hz / 60Hz
PB+ 50
CCW+
PE
PB- 49
CCW-
PE
AI3+
3
Analog reference
AI3-
28

Note: In the figure the motor PG takes incremental encoder as an example, it also supports absolute encoder.

4-20
3. Whole pulse
Function code:

Function
Name Setting range Default value Change
code
Main reference
9: PAPB pulse reference (unipolar)
P02.04 frequency source 0 ○
selection 10: PAPB pulse reference (bipolar)

Number of pulses per

P04.07 1~10000 2048 ○
revolution of motor
DI2 terminal function
P09.01 89: Speed / position switching 89 ×
selection
Servo control switching
P30.00 1: Speed / torque←→servo control 0 ×
selection
Unit place:Pulse type
0: A / B phase pulse
1: Puls + Sign pulse
2: CW / CCW pulse
Tens place: Filter width (reserved)
0~3
P30.01 Pulse input type setting 0000H ○
Hundreds place: Logical form
0: Positive logic
1: Negative logic
Thousands place: Pulse input source
0: PAPB pulse input
1: HPAHPB pulse input
Position command filter
P30.02 0.0~3000.00ms 0 ×
time
Position command
P30.03 acceleration/deceleration 0.0~50.00ms 0 ×
time constant
Electronic gear
P30.04 1~65535 1024 ×
molecular
Electronic gear
P30.05 1~65535 1024 ×
denominator
Position control
P30.08 0~8000 100 ×
proportional gain 1
Position control
P30.09 0~8000 400 ×
proportional gain 2

4-21
 Note

Pulse reference is given by PAPB. When the pulse signal is used for speed control, the function code P02.04
(main frequency reference source) is set to 9, you need to properly set the number of pulses per revolution of
pulse reference P04.07 (number of pulses per revolution of motor) and P30.01 pulse command input type. In
rigid tapping (pulse position control), the DI4 terminal function P09.03 is set to 89, P30.00 is set to 1 (speed /
position control switching), when DI4 terminal is closed, the spindle enter pulse reference position control
mode.
In rigid tapping, spindle speed corresponding to the calculated value of the numerator of electronic gear ratio
(P30.04) and denominator of electronic gear ratio (P30.05). Increase the proportional gain 1 of position control
(P30.08), proportional gain 2 of position control (P30.09), can make the position response faster, but too fast
will cause position control overshoot, appropriately increase position command filter time (P30.02) and
position command acceleration and deceleration time constant (P30.03) can suppress overshoot.

4-22
 Whole pulse rigid tapping wiring diagram:
Braking resistor

IR PB P -DC

+24
CNC
SPS
+24C
Spindle motor

XCOM R1
S1 Cooling
M2 fan
Forward run/stop DI1 9 T1
U
Speed/position switching DI2 10
V
Spindle/positioning homing DI3 11 M1
W
Multi-function
input Emergency stop DI5 13 PE

Fault reset DI8 16

A+
COM 33 1
A-
2
B+
3
DO1+ 34 B-
4
Spindle positioning / CN3 PG
homing completed DO1- 35 Z+
5
Z-
DO2+ 36 6

Positioning completed +5V

Multi-function DO2- 7
37
output
GND
DO3+ 8
38
PE
Servo drive failure
DO3- 39

DO4+ 40
Servo drive ready
DO4- 41

PAO+ 17
A+

PAO- 42
A-

B+ PBO+ 18
Spindle encoder
feedback PBO- 43
B-
PZO+ 19
Z+
MC L QF
PZO- 44
Z-

PA+ 25 Three-phase power

CW+ 323-480V
24 50Hz / 60Hz
PA-
Pulse reference CW-
PE
PB+ 50
CCW+
PB- 49
CCW-
PE

Note: In the figure the motor PG takes incremental encoder as an example, it also supports absolute encoder.

4-23
 Chapter 5 Troubleshooting

Displaying exception and solution

All possible fault types for SPS are summarized as shown in table 5-1. The number of the fault code is 41.
Before consulting the service department, the user can perform self-check according to the hints of the table
and record the fault symptoms in detail. To seek for service support, please contact the sales person.

Table 5-1 Fault record table

Fault
Fault type Possible fault cause Solutions
code

The acceleration time is too short. Lengthen the acceleration time

The motor parameters are incorrect. Perform the parameter auto-tuning of the motor

When instantaneous stop happens, Set the start mode P08.00 as the speed tracking
Acceleration
restart the rotating motor restart function
Er.oC1 over-current of
PG fault occurs when it is running Check the PG and its wiring
the servo drive
The servo drive power is too low. Adopt the servo drive with high power class

Adjust the V/F curve setting and the manual torque

V/F curve is improper.
increase

The deceleration time is too short. Lengthen the deceleration time

There is potential energy load or the Use additionally appropriate dynamic braking
Deceleration
load inertial torque is large. components
Er.oC2 over-current of
Encoder fault occurs when PG is
the servo drive Check the encoder and its wiring
running

The servo drive power is low. Adopt the drive with high power class

The acceleration/deceleration time is too Lengthen the acceleration/deceleration time

short. appropriately

Sudden load change or abnormal load Check the load

Constant speed
Er.oC3 over-current of Low grid voltage Check the input power supply
the servo drive
Encoder fault occurs when PG is
Check the encoder and its wiring
running

The servo drive power is low Adopt the servo drive with high power class

Acceleration Abnormal input voltage Check the input power supply

Er.oU1
over-voltage of Acceleration time is too short. Lengthen the acceleration time appropriately

5-1
 Fault
Fault type Possible fault cause Solutions
code

the servo drive When instantaneous stop happens, Set the start mode P08.00 as the speed tracking
restart the rotating motor restart function

The deceleration time is too short

Deceleration Lengthen the deceleration time
(compared with regeneration energy).
Er.oU2 over-voltage of
There is potential energy load or the
the servo drive Select appropriate dynamic braking components
load inertial torque is large.

When the vector control functions, the

See the ASR parameter setting of Group P05
ASR parameter setting is improper.

The acceleration/deceleration time is too Lengthen the acceleration/deceleration time

Constant speed
short. appropriately
Er.oU3 over-voltage of
the servo drive Abnormal input voltage Check the input power supply

The input voltage fluctuates abnormally Install the input reactor

Large load inertia Adopt dynamic braking components

There is interphase short circuit or

grounding short circuit in output three Rewiring and check if the motor insulation is good.
phases.

Instantaneous over-current of the servo

See the over-current solutions
drive

The duct is blocked or the fan is

Unblock the duct or replace the fan
damaged.

The ambient temperature is too high. Lower the ambient temperature

Power module
Er.drv The wirings or the plug-in units of the
protection Check them and rewiring
control board loosens.

Abnormal current waveform caused by

Check the wiring
output phase loss and so on

The auxiliary power supply is damaged;

Seek for service support
the drive voltage is insufficient.

Inverter module bridging conduction Seek for service support

Abnormal control board Seek for service support

Braking pipe damaged Seek for service support

The ambient temperature is too high. Lower the ambient temperature

Inverter module
Er.oH1 heatsink The duct is blocked. Clean the duct
over-temperature
The fan is damaged. Replace the fan
5-2
 Fault
Fault type Possible fault cause Solutions
code

The inverter module is abnormal. Seek for service support

The ambient temperature is too high. Lower the ambient temperature

Rectifier heatsink
Er.oH2 The duct is blocked. Clean the duct
over-temperature
The fan is damaged. Replace the fan

The motor parameters are incorrect. Perform the parameter auto-tuning of the motor

The load is too large. Adopt the servo drive with higher power

Reduce the DC braking current and lengthen the

The DC braking amount is too large.
braking time
Servo drive
Er.oL1 When instantaneous stop happens, Set the start mode P08.00 as the speed tracking
overload
restart the rotating motor restart function

The acceleration time is too short. Lengthen the acceleration time

The grid voltage is too low. Check the grid voltage

V/F curve is improper. Adjust V/F curve and torque increase

The motor overload protection factor

Set the overload protection factor of motor correctly.
setting is incorrect.

The motor is blocked or the sudden

Check the load
change of load is too large.
Er.oL2 Motor overload
The universal motor runs at low speed If long-term low-speed running is required, special
for a long time, with heavy load. motor should be used.

The grid voltage is too low. Check the grid voltage

V/F curve is improper. Set V/F curve and torque increase correctly

Stop suddenly by pressing the STOP See the function definition of the STOP key in
Emergency stop
key P00.04
Er.EFT or external
External fault emergency-stop terminal After the external fault is revoked, release the
device fault
is enabled. external fault terminal

EEPROM
The read/write error of the control Reset by pressing the STOP/RESET key, seek for
Er.EEP read/write
parameters occurs. service support
fault

Abnormal remote The baud rate is set improperly. Set the baud rate properly.

Er.SC1 serial port Reset by pressing the STOP/RESET key, seek for
Serial port communication error
communication service support

5-3
 Fault
Fault type Possible fault cause Solutions
code

The fault alarm parameters are set

Modify the P15.03 and P97.00 settings
improperly.

Check if the host device is working and if the wiring

The host device does not work.
is correct.

The wirings or the plug-in units of the

Check them and rewiring
control board loosens.

Current detection The auxiliary power supply is damaged. Seek for service support
Er.Cur
circuit abnormal The Hall device is damaged. Seek for service support

The amplifying circuit is abnormal. Seek for service support

The AI analog input voltage is too high. Reduce the AI analog input voltage to less than 12V

Reset by pressing STOP/RESET key or install a

Severely interfered
System power filter to the input side of the power supply
Er.CPU
interference DSP read/write error of the main control Reset by pressing the STOP/RESET key, seek for
panel service support

The nameplate parameters of the motor Set the parameters properly according to the motor
are incorrect. nameplate

When reverse running is prohibited,

reverse rotating auto-tuning is Cancel the reverse running prohibition

Er.Tun Poor auto-tuning performed.

Check motor wiring

Check the P02.16 (upper limit frequency) and see

Auto-tuning overtime
whether the P02.17 set value is lower than rated
frequency.

With PG vector control (or with PG V/F

Er.PG1 PG fault Check the encoder wiring and rewiring
control), the encoder signal disconnects.

Running
Er.Pof Drive input power down in running state Check R, S, T three-phase input
undervoltage

Positioning search origin does not Check whether there is origin signal input on the
Er.OrG Origin lost
search the origin corresponding terminal

Wrong speed feedback encoder The same speed feedback encoder shall not be

Parameter selection setting used for two motors simultaneously.

Er.PST
setting error Wrong analog AI function selection The same function shall not be selected for different
setting analogs simultaneously.

5-4
 Fault
Fault type Possible fault cause Solutions
code

During vector control, the torque limit (P05.13，

Process closed loop invocation setting P05.14) and frequency reference (P02.04 or PLC
error section frequency reference) can not be given by
the process closed loop simultaneously.

Confirm whether the wiring of P24 and COM is

Control board Short circuit of P24 and terminal COM
correct
Er.24v 24V power short
Replace the interface board, seek for service
circuit The interface board circuit is damaged.
support

Grounding short One of the phases (The most likely one Check the grounding short circuit of the output three
Er.GdF
circuit fault is phase U) is grounding short circuited. phase and troubleshoot it.

ASR parameters are improper. Modify the setting of the group P05 function code
Too large speed
DEV deviation detection value setting is
Er.dEv deviation (DEV) Modify the DEV detection value setting
too low.
fault
Heavy load fluctuation Eliminate the load vibration

The ambient temperature is too high. Lower the ambient temperature

The motor duct is blocked. Clean the motor duct

Motor
Er.oHL The motor fan is damaged. Replace the motor fan
over-temperature
The motor operates at low frequency
Add a large fan for the motor to dissipate heat
and large load for a long time.

Abnormal control circuit Seek for service support

Abnormal AI
Er.AIF The input analog is out of the range and
analog input Check the analog input
the absolute value is greater than 12V

Inverter module Abnormal temperature sampling circuit Seek for service support
temperature
Er.THI The inverter module temperature Check the inverter module temperature sampling
sampling
sampling wire is poorly connected. wire connection
disconnection

Control board ±10V grounding Confirm whether the ±10V wiring is correct

Er.10v ±10V power Replace the interface board, seek for service
The interface board circuit is damaged.
short circuit support

Abnormal
internal
Er.rEF The control board circuit is damaged. Seek for service support
over-current
reference

5-5
 Fault
Fault type Possible fault cause Solutions
code

Running
Er.036 Bus voltage is lower than 420V Check accessories
undervoltage

All the possible alarm types for SPS are summarized as shown in table 5-2. For details, please refer to the
group P97 function code setting. If the fault disappears automatically during the running process, the drive will
also automatically reset to the status before the alarm (except AL.SC1, for details, please refer to the group
P97 function code description).

Table 5-2 Alarm code table

Alarm
Alarm type Possible alarm causes Solutions
code

The motor parameters are incorrect. Perform the parameter auto-tuning of the motor

The load is too large. Adopt the servo drive with higher power

Reduce the DC braking current and lengthen the

The DC braking amount is too large.
braking time
Servo drive
AL.oL1 When instantaneous stop happens, Set the start mode F08.00 as the speed tracking
overload
restart the rotating motor restart function

The acceleration time is too short. Lengthen the acceleration time

The grid voltage is too low. Check the grid voltage

V/F curve is improper. Adjust V/F curve and torque increase

The motor overload protection factor

Set the overload protection factor of motor correctly.
setting is incorrect.

The motor is blocked or the sudden

Check the load
change of load is too large.
AL.oL2 Motor overload
The universal motor runs at low speed If long-term low-speed running is required, special
for a long time, with heavy load. motor should be used.

The grid voltage is too low. Check the grid voltage

V/F curve is improper. Set V/F curve and torque increase correctly

EEPROM
The read/write error of the control Reset by pressing the STOP/RESET key, seek for
AL.EEP read/write
parameters occurs. service support
fault

Abnormal serial The baud rate is set improperly. Set the baud rate properly.

AL.SC1 port Reset by pressing the STOP/RESET key, seek for

Serial port communication error
communication service support

5-6
 Alarm
Alarm type Possible alarm causes Solutions
code

The fault alarm parameters are set

Modify the P15.03 and P97.00 settings
improperly.

Check if the host device is working and if the wiring is

The host device does not work.
correct.

The grid voltage is too low. Check the grid voltage

Replace the contactor of the main circuit, seek for

The contactor is damaged.
service support
Abnormal
AL.rLy1 The power-up buffer resistance is Replace the buffer resistance, seek for service
contactor
damaged. support

The control circuit is damaged. Seek for service support

Input phase loss Check the input R.S.T. wiring

During the frequency main reference or

External the torque command selection analog
Check the wiring or adjust the input type of the
AL.EGL reference current reference, the analog reference
reference signal
command lost signal is disconnected or too low (less
than 2mA).

Control board Confirm whether the wiring of P24 and COM is

Short circuit of P24 and terminal COM
AL.24v 24V power short correct

circuit The interface board circuit is damaged. Replace the interface board, seek for service support

Please carefully choose the fault alarm function; otherwise, the accident range extension, the human injury
and the property damage may be caused.

5-7
 Chapter 6 Parameter List

Menu

Change
Function LCD Minimum Default
Name Setting range mode
code display unit value
Q B

Group P00: System management

0: Quick menu mode.
Only the parameters related to the quick
running of the drive will be displayed
Menu Menu 1: Full menu mode
P00.00 mode mode All the function parameters are displayed 1 0 √ √ ○
selection selection 2: Changing the memory menu mode
Only the parameters that are different
from the leave-factory values are
displayed

User User 0: No password

P00.01 1 0 × √ ○
password password Other: Password protection

LCD
display Language 0: Chinese
P00.02 1 0 × √ ○
language Selection 1: English
selection

0: All the data can be changed

Paramete
Parameter 1: Only the main set frequency (digital
r
P00.03 protection setting P02.05) and this function code can 1 0 √ √ ○
protection
setting be changed
setting
2: Only this function code can be changed

Unit place: Manufacturer commissioning

Tens place: Function selection of the
STOP/RESET key
0: The STOP key is valid only in the panel
control mode
1: The STOP key is valid in all control
modes
Selection Selection Note: The RESET key is valid in any
P00.04 of key of key control mode 1 0100 × √ ×
functions functions Hundreds place: Function selection of M
key
0: No function
1: JOG
2: FWD/REV
3: Command channel switching 1 (valid
only in stop status)
4: Command channel switching 2 (valid

6-1
 both in stop & running status)
5: Panel locking function
6: Emergency stop function
7: Coast to stop function
Thousands place: Panel locking function
0: Lock all the keys
1: Lock all the keys except the STOP key
2: Lock all the keys except the >> key
3: Lock all the keys except the RUN &
STOP key

0: Parameter changing status

Paramete
Parameter 1: Clear fault memory information
r
P00.05 initializatio 2: Restore to leave-factory value 1 0 × √ ×
initializati
n 3: Restore the quick start function group
on
only

0: Disabled
1: Uploading parameter
2: Downloading parameters
Parameter Paramete
P00.06 3: Downloading parameters (except the 1 0 × √ ×
copy r copy
motor parameters)
Note: The drive parameters will not be
uploaded/downloaded

Group P01: Status display parameters

0: Disabled
1: Digital reference 1: Keyboard ∧∨
reference
2: Digital reference 2: Terminal UP/DN
reference
Main Main
reference reference 3: Serial port communication reference
P01.00 1 0 × √ *
frequency frequency 4: AI analog reference
channel channel 5: Reserved
6: Internal PLC running
7: Process closed loop PID
8: Multi-speed
9: PLC card or bus reference (reserved)

Main Main
reference reference
P01.01 -3000.00~3000.00Hz 0.01Hz 0.00 × √ *
set set
frequency frequency

Auxiliary Auxiliary
reference reference -3000.00~3000.00Hz
P01.02 0.01Hz 0.00 × √ *
set set
frequency frequency

Set Set
P01.03 -3000.00~3000.00Hz 0.01Hz 0.00 × √ *
frequency frequency

P01.04 Frequency Frequenc -3000.00~3000.00Hz 0.01Hz 0.00 × √ *

6-2
 command y
(after command
acceleratio
n/
deceleratio
n)

Output Output
P01.05 -3000.00~3000.00Hz 0.01Hz 0.00 × √ *
frequency frequency

Output Output
P01.06 0~480V 1V 0 × √ *
voltage voltage

Output Output
P01.07 0.0~3Ie 0.1A 0.0 × √ *
current current

Torque Torque
P01.08 -300.0~+300.0% 0.1% 0.0% × √ *
current current

Flux Flux
P01.09 0~+100.0% 0.1% 0.0% × √ *
current current

Output Output
P01.10 -300.0~+300.0% 0.1% 0.0% × √ *
torque torque

Motor Motor 0.0%~200.0% (relative to rated power of

P01.11 0.1% 0.0% × √ *
power power the motor)

Motor Motor
P01.12 speed speed -60000.0~60000.0rpm 0.1rpm 0.0 × √ *
frequency frequency

Measured Measured
P01.13 frequency frequency -3000.0~3000.0Hz 0.01 0.00 × × *
of motor of motor

High level
Output 10000k
P01.14 of output 0~65535*10000kWh 0 × √ *
(kWh) Wh
(kWh)

Low level
Output
P01.15 of output 0~9999kWh 1kWh 0 × √ *
(kWh)
(kWh)

Bus Bus
P01.16 0~800V 1V 0 × √ *
voltage voltage

0~FFFFH
Bit 0: RUN/STOP
Bit 1: REV/FWD
Bit 2: Running at zero speed

Operation Bit 3: Accelerating

Operation
state of Bit 4: Decelerating
P01.17 state of the 1 0000 × √ *
the servo Bit 5: Running at constant speed
servo drive
drive Bit 6: Pre-exciting
Bit 7: Tuning
Bit 8: Over-current limiting
Bit 9: DC over-voltage limiting
Bit 10: Torque limiting

6-3
 Bit 11: Speed limiting
Bit 12: Drive in fault
Bit 13: Speed control
Bit 14: Torque control
Bit 15: Position control

State of
DI 0~FFH, 0: off; 1: on
digital
P01.18 terminal The high-speed pulse reference will not 1 00 × √ *
input
state be refreshed synchronously
terminal

State of
DO 0~FH, 0: open; 1: close
digital
P01.19 terminal The high-speed pulse output will not be 1 0 × √ *
output
state refreshed synchronously
terminal

AI1 input AI1 input

P01.20 -10.00~10.00V 0.01V 0.00 × √ *
voltage voltage

AI2 input AI2 input

P01.21 -10.00~10.00V 0.01V 0.00 × √ *
voltage voltage

AI3 input AI3 input

P01.22 -10.00~10.00V 0.01V 0.00 × √ *
voltage voltage

P01.23 Reserved
SinCos SinCos
P01.24 CD signal CD signal 0~20.48 0.01 0.00 × √ *
strength strength

Process Process
closed closed -100.0~100.0%
P01.25 0.1% 0.0% × √ *
loop loop (percentage relative to the full range)
reference reference

Process Process
closed closed -100.0~100.0%
P01.26 0.1% 0.0% × √ *
loop loop (percentage relative to the full range)
feedback feedback

Process Process
-100.0~100.0%
P01.27 closed closed 0.1% 0.0% × √ *
(percentage relative to the full range)
loop error loop error

Process Process
closed closed -100.0~100.0%
P01.28 0.1% 0.0% × √ *
loop loop (percentage relative to the full range)
output output

Estimated
Estimated
temperatu
P01.29 temperatur 0~200℃ 1℃ 0 × √ *
re of
e of motor
motor

SinCos AB SinCos
P01.30 signal AB signal 0~2048 1 0 × √ *
strength strength

ASR ASR -300.0%~300.0% (relative to rated torque

P01.31 0.1% 0.0% × √ *
controller controller of the motor)

6-4
 output output

Torque Torque -300.0%~300.0% (relative to rated torque

P01.32 0.1% 0.0% × √ *
reference reference of the motor)

UVW input UVW

P01.33 status of input 0~7 1 0 × × *
encoder status
P01.34 Reserved
Encoder Encoder
P01.35 0.00~600.00Hz 0.01 0.00 × × *
speed speed
Motor Motor
P01.36 0.00~600.00Hz 0.01 0.00 × × *
speed speed
Encoder Encoder
P01.37 counter counter 0~65535 1 0 × × *
value value
Correspon
ding Encoder
P01.38 position of U pulse 0~65535 1 0 × × *
encoder U position
pulse
Correspon
ding Encoder Z
P01.39 position of pulse 0~65535 1 0 × × *
encoder Z position
pulse
Motor Motor
P01.40 counter counter 0~65535 1 0 × × *
value value
Correspon
ding Motor Z
P01.41 position of pulse 0~65535 1 0 × × *
motor Z position
pulse
P01.42 Reserved

Position Position
P01.43 reference reference 0~65535 1 0 × × *
point point

High level High level

P01.44 of position of position 0~65535 1 0 × × *
reference reference
Low level Low level
P01.45 of position of position 0~65535 1 0 × × *
reference reference
High level High level
P01.46 of position of position 0~65535 1 0 × × *
feedback feedback
Low level Low level
P01.47 of position of position 0~65535 1 0 × × *
feedback feedback

6-5
 Position Position
P01.48 error pulse error -9999~9999 1 0 × × *
pulse
Current Current
P01.49 0~359.99 0.01 0 × × *
angle angle

Group P02: Basic parameters

Unit place: Control mode selection of
motor
0: Vector control without PG
Motor and Motor and 1: Vector control with PG
control control
P02.00 2: V/F control without PG 1 01 √ √ ×
mode mode
3: V/F control with PG
selection selection
Tens place: Type selection of motor
0: Asynchronous motor
1: Synchronous motor

Keyboard Keyboard
P02.01 1: Keyboard enable 1 0 × √ ×
enable enable

0: Keyboard control
Running 1: Terminal control
Comman
command 2: Communication control
P02.02 d channel 1 0 √ √ ○
channel 3: Bus control (including bus
selection
selection communication card and PLC card)
(reserved)

Running Running
P02.03 direction direction 0: Forward running; 1: Reverse running 1 0 √ √ ○
setting setting

0: Digital reference1: Keyboard ∧∨

reference
1: Digital reference 2: Terminal UP/DN
reference
Main
Main 2: Serial port communication reference
reference
reference
P02.04 frequency 3: AI analog reference 1 0 √ √ ○
source
source 4, 5: Reserved
selection
selection 6: Process closed loop PID
7, 8: Reserved
9: PAPB pulse reference (unipolar)
10: PAPB pulse reference (bipolar)
Digital
Main
setting of
reference
P02.05 main P02.17~P02.16 0.01Hz 50.00 √ √ ○
frequency
reference
setting
frequency

Main & Main & Unit place of LED: Main digital frequency
auxiliary auxiliary saving control
P02.06 reference reference 1 0000 × √ ○
0: Save when power down
digital frequency
control 1: Do not save when power down
frequency
6-6
 control Tens place of LED: Main digital frequency
control when stop
0: Maintained when stop
1: Reset when stop
Hundreds place of LED: Auxiliary digital
frequency saving control
0: Save when power down
1: Do not save when power down
Thousands place of LED: Auxiliary digital
frequency control when stop
0: Maintained when stop
1: Reset when stop
Note: The unit and tens places are only
applicable for P02.04=0, 1, 2
hundreds and thousands place are only
applicable for P02.07=1, 2, 3

0: No auxiliary reference
1: Digital reference 1: Keyboard ∧∨
reference
Auxiliary 2: Digital reference 2: terminal UP/DN
Auxiliary
reference reference
frequency
P02.07 frequency 1 0 × √ ○
source 3: Serial port communication reference
source
selection 4: AI analog reference
selection
5: Terminal PULSE reference
6: Process closed loop PID
7: PLC or bus reference(reserved)

Digital
Digital
setting of
P02.08 auxiliary 0.00~3000.0Hz 0.01Hz 0.00 × √ ○
auxiliary
reference
reference

Auxiliary Auxiliary
0.00~9.99
P02.09 reference reference 0.01 1.00 × √ ○
Only enabled for P02.07=4~7
coefficient coefficient

0:+
1:-
2:*
3: MAX (main reference, auxiliary
reference)
Calculatio Main/auxil
4: MIN (main reference, auxiliary
n of iary
reference)
P02.10 reference reference 1 0 × √ ○
frequency calculatio 5: Sqrt (main reference) + sqrt (auxiliary
source n reference)
6: Sqrt (main reference + auxiliary
reference)
7: Switching between main and auxiliary
reference frequency source
8: Switching between main reference

6-7
 frequency source and (main + auxiliary)
reference frequency source
9: Switching between auxiliary reference
frequency source and (main + auxiliary)
reference frequency source

Proportion Frequenc
adjustment y 0: Disabled
P02.11
selection proportion 1: Corresponds to P02.15 1 0 × √ ○
of set adjustme 2: Corresponds to the current frequency
frequency nt

Proportion Proportio
adjustment n
100.0
P02.12 coefficient adjustme 0.0%~200.0% 0.1% × √ ○
%
of set nt
frequency coefficient

5.5~22
(Unit :6S
adopts
Accelerati Accelerati 30~
P02.13 0.0~3600.0 that of √ √ ○
on time 1 on time 1 45:20S
P11.01)
Others:
0.1
30S
5.5~
22:6.0
(Unit
S
adopts
Decelerati Decelerati 30~
P02.14 0.0~3600.0 that of √ √ ○
on time 1 on time 1 45:20.
P11.01)
0S
0.1
Others:
30S

Maximum Maximum
MAX{50.00, upper limit frequency P02.16}
P02.15 output output 0.01Hz 50.00 √ √ ×
~3000.00Hz
frequency frequency

Upper
Upper limit
P02.16 limit P02.17~P02.15 0.01Hz 50.00 √ √ ○
frequency
frequency

Lower
Lower limit
P02.17 limit 0.00~P02.16 0.01Hz 0.00 √ √ ○
frequency
frequency

Group P03: Motor parameters

Motor
Rated
P03.00 rated 0.4~999.9kW 0.1 0 √ √ ×
power
power
Motor
Rated
P03.01 rated 0~ rated voltage of servo drive (P98.04) 1 0 √ √ ×
voltage
voltage
Motor Depen
Rated
P03.02 rated 0.1~999.9A 0.1A ding on √ √ ×
current
current model

6-8
 Motor Depen
Rated
P03.03 rated 1.00~3000.0Hz 0.01Hz ding on √ √ ×
frequency
frequency model
Motor
Rated 1440rp
P03.04 rated 0~60000rpm 1rpm √ √ ×
speed m
speed

Motor 0.001~1.000 Depen

Power
P03.05 power It shall be used when calculating the 0.001 ding on √ √ ×
factor
factor motor parameters with the nameplates model

Motor Stator Depen

P03.06 stator resistance 0.000~65.000 0.001 ding on √ √ ×
resistance R1 model
Leakage Leakage
inductance inductanc
Depen
or direct e or direct
P03.07 0.0~2000.0 0.1 ding on √ √ ×
axis axis
model
inductance inductanc
of motor e of motor
Rotator Rotator
resistance resistance
Depen
or or
P03.08 0.000~65.000 0.001 ding on √ √ ×
back-EMF back-EMF
model
constant of constant
motor of motor
Mutual
Mutual
inductanc
inductance Depen
e or
P03.09 or q-axis 0.0~2000.0 0.1 ding on √ √ ×
q-axis
inductance model
inductanc
of motor
e of motor
No-load
No-load Depen
current
P03.10 current (I0) 0.1~999.9A 0.1A ding on √ √ ×
(I0) of
of motor model
motor

20.0%~110.0%
Set action level (%) = motor rated current/
servo drive rated current × 100
Overload Overload
Low speed compensation actual action
protection protection 100.0
P03.11 level = set action level × (output 0.1% √ √ ×
factor of factor of %
frequency/ 30HZ × 45 + +55)
motor motor
Actual converted current of overload
protection = sampling current/overload
protection action level

0: Disabled
Paramete
Parameter 1: Enabled (motor in static status)
r
P03.24 auto-tunin 2: Enabled (motor in rotate status) 1 0 √ √ ×
auto-tunin
g 3: Reserved (according to the nameplate
g
setting)

P03.25 Synchrono Synchron 10

0~30% of motor rated current 0 √ √ ×

6-9
 us motor ous motor
identificati identificati
on current on current

Initial
angle for Initial
P03.26 0~FFFFH 1 0 √ √ ×
installing angle
encoder

Initial
angle of Angle of Z
P03.27 0~FFFFH 1 0 √ √ ×
encoder Z pulse
pulse

Synchrono Synchron
0: SMPM (can not guarantee to enable
us motor ous motor
P03.28 REV) 1 0 √ √ ×
type type
1: IPM (can enable non-REV)
selection selection

Group P04: Encoder parameters

PG 0: Digital incremental interface card

PG
interface 1: SinCos card
P04.04 interface 1 0 × √ *
card 2: Resolver card
card type
type(R)
3: Absolute value card
Number
Number of of pulses
P04.05 pulses per per
1~10000 1 2048 × √ ○
revolution revolution
of encoder of
encoder
Rotation
Rotation
direction 0: A before B
P04.06 direction of 1 0 × √ ×
of 1: B before A
encoder
encoder
Number
Number of
of pulses
pulses per
P04.07 per 1~10000 1 2048 × √ ○
revolution
revolution
of motor
of motor
Rotation
Rotation
direction 0: A before B
P04.08 direction of 1 0 × √ ○
of 1: B before A
motor
motor

Unit place: Encoder Z pulse enabled

PG signal PG signal
P04.09 Tens place: Encoder UVW signal enabled 1 010 × √ ×
enabled enabled
Hundreds place: Motor Z pulse enabled

Unit place: High-speed filtering of

encoder: 0~9
PG signal
PG signal Tens place: Low-speed filtering of
filtering
P04.10 filtering encoder: 0~9 1 0030 × √ ○
coefficient
coefficient Hundreds place: High-speed filtering of
2
motor: 0~9
Thousands place: Low-speed filtering of
6-10
 motor: 0~9
Frequency Frequenc
P04.14 dividing y dividing 0~4096 1 1 × √ ×
coefficient coefficient

Encoder
Encoder
wire-brea
wire-break 0.0: Disabled
P04.15 k 0.1 0.0 × √ ×
detection 0.1~10.0s
detection
time
time

Encoder
Encoder
wire-break 0: Coast to stop (Er.PG1)
P04.16 wire-brea 1 0 × √ ○
protection 1: Switch to SVC running (reserved)
k action
action

Resolver Resolver
P04.17 encoder encoder 0~64 1 1 × √ ×
pole pairs pole pairs
Resolver Resolver
signal signal
P04.18 0~1000 1 0 × √ ×
disturbanc disturban
e ce

Group P05: Speed control parameters

Speed
Speed
loop
loop
low-speed
P05.00 low-speed 0.1~200.0 0.1 20.0 √ √ ○
proportion
proportion
al gain
al gain
(ASR1-P)

Speed
Speed
loop
loop
low-speed
P05.01 low-speed 0.000~10.000S 0.001s 0.200s √ √ ○
integral
integral
time
time
(ASR1-I)

ASR1 ASR1
P05.02 output output 0~8 (corresponds to 0~2^8/8ms) 1 0 × √ ○
filter filter

ASR ASR
switching switching
P05.03 0.0%~50.0% 0.1 10.0% × √ ○
frequency frequency
1 1

Speed
Speed
loop
loop
high-spee
high-spee
P05.04 d 0.1~200.0 0.1 10.0 √ √ ○
d
proportion
proportion
al gain
al gain
(ASR2-P)

Speed Speed
P05.05 0.000~10.000S 0.001s 0.600s √ √ ○
loop loop

6-11
 high-spee high-spee
d integral d integral
time time
(ASR2-I)

ASR2 ASR2
P05.06 output output 0~8 (corresponds to 0~2^8/10ms) 1 0 × √ ○
filter filter

ASR ASR
switching switching
P05.07 0.0%~100.0% 0.1 20.0% × √ ○
frequency frequency
2 2

Proportion Proportio
al gain of nal gain of
special special
P05.08 speed speed 0.1~200.0 0.1 20.0 √ ○
×
section for section for
speed loop speed
(ASR3-P) loop

Integral Integral
time of time of
special special
P05.09 speed speed 0.000~10.000s 0.001s 0.200s √ ○
×
section for section for
speed loop speed
(ASR3-I) loop

ASR ASR
switching switching
P05.10 0.0%~100.0% 0.1 80.0% × √ ○
frequency frequency
3 3

Differential Differentia
0: Disable
P05.11 gain l gain 1 0 × √ ×
1: Enable
enabling enabling

ASR ASR
P05.12 differential differential 0.00~10.00 0.01 0.00 × √ ○
gain gain

Electric 0: Electric torque limit value

Electric
torque 1: AI reference
P05.13 torque limit 1 0 × √ ×
limit 2: Reserved
channel
channel 3: Closed loop output

Braking 0: Braking torque limit value

Braking
torque 1: AI reference
P05.14 torque limit 1 0 × √ ×
limit 2: Reserved
channel
channel 3: Closed loop output

Electric Electric
180.0
P05.15 torque limit torque 0.0%~+300.0% 0.1% × √ ○
%
value limit value

Braking Braking 180.0

P05.16 0.0%~+300.0% 0.1% × √ ○
torque limit torque %

6-12
 value limit value

0: Disabled
Zero-servo Zero
1: Always enabled
P05.17 function servo 1 0 × √ ×
selection function 2: Enabled under conditions (terminal
enabled)

Zero servo Zero

P05.18 0~6.000 0.001 1.000 × √ ○
gain servo gain

Zero
Zero servo
servo
P05.19 initial 0.00~10.00Hz 0.01 0.30 × √ ○
initial
frequency
frequency

Action
selection
Action
upon 0: Decelerate to stop
selection
detection
P05.20 upon 1: Coast to stop, display Er.dEv 1 2 × √ ×
of large
detection 2: Continue to run
speed
of DEV
deviation
(DEV)

Detection Detection
P05.21 value of value of 0%~50.0% 0.1% 20.0% × √ ×
DEV DEV

DEV DEV
P05.22 detection detection 0.0~10.0s 0.1s 10.0 × √ ×
time time

Group P06: Torque control parameters

Speed/torq Speed/tor
0: Speed control mode
P06.00 ue control que 1 0 × √ ×
1: Torque control mode
mode selection

Unit place: Torque command selection

0: Torque reference
1: Torque current reference
Tens place: Selecting positive direction of
Torque Torque torque
control control 0: FWD driving direction is positive
P06.01 1 0 × √ ×
mode mode 1: REV driving direction is positive
selection selection
Hundreds place: Selection for switching
from speed to torque
0: Switching directly
1: Switching once over the torque
switching point

0: Digital reference
1: AI reference
Torque Torque
2: Terminal PULSE reference
P06.02 reference reference 1 0 × √ ×
3: Communication reference
selection selection
4: Closed loop output
5: PLC card or bus reference (reserved)

6-13
 Digital Digital
P06.03 reference reference -300.0%~300.0% 0.1% 0.0% × √ ○
of torque of torque

Torque
Torque
reference
reference
accelerati
P06.04 acceleratio 0~65535ms 1 0 × √ ×
on/decele
n/decelera
ration
tion time
time

Speed/torq Speed/tor
ue que 100.0
P06.05 0%~+300.0% initial torque 0.1% × √ ×
switching switching %
point point

Speed/ Speed/
torque torque
P06.06 0~1000ms 1 0 × √ ×
switching switching
delay delay

FWD
FWD
speed 0: FWD speed limit value
P06.07 speed limit 1 0 × √ ×
limit 1: AI reference
channel
channel

FWD FWD
100.0
P06.08 speed limit speed 0.0%~+100.0% 0.1% × √ ○
%
value limit value

REV
REV
speed 0: REV speed limit value
P06.09 speed limit 1 0 × √ ×
limit 1: AI reference
channel
channel

REV REV
100.0
P06.10 speed limit speed 0.0%~+100.0% 0.1% × √ ○
%
value limit value

Mechanica Mechanic
l loss al loss
P06.11 -20.0~20.0% 0.1% 0.0% × √ ×
compensat compens
ion value ation

Inertia Inertia
compensat compens 0: Disable
P06.12 1 0 × √ ○
ion ation 1: Enable
enabling enabling

Inertia Inertia
P06.13 identificati identificati 0->1 Start to identify 1 0 × √ ×
on on

Identifying Identifying
P06.14 torque torque 0~100.0% of the rated torque of motor 0.1 10.0 × √ ×
value value

Mechanica Mechanic
P06.15 0~30.000kgm2 0.001 0 × √ ○
l inertia al inertia

P06.16 Friction Friction 0~50.0% of the rated torque of motor 0.1 0.0 × √ ×

6-14
 torque torque

Torque Torque
compensat compens
P06.17 0.5~3.0 0.1 1.0 × √ ×
ion ation
coefficient coefficient

Torque Torque
P06.18 -300.0%~+300.0% 0.1% 0.0% × √ ×
offset offset

Torque Torque
offset offset
P06.19 0.00~1.00s 0.01s 0.00 × √ ×
startup startup
delay delay

0: Over-torque detection is disabled

1: Continue to run after the over-torque is
detected only when the speed is
Action consistent;
Action for
selection 2: Continue to run after the over-torque
over-torqu
P06.20 for during running; 1 0 × × ×
e
over-torqu 3: Turn off the output after the over-torque
detected
e detected is detected only when the speed is
consistent;
4: Turn off the output after the over-torque
is detected during running.

Over-torq 0.0%~300.0%
Over-torqu
ue
P06.21 e detection SVC: Rated torque of equivalent motor 0.1 0 × × ×
detection
value V/F: Rated current of equivalent motor
value

Over-
Over-torqu
torque
P06.22 e detection 0.0~10.0s 0.1 0.0s × × ×
detection
time
time

0: Under-torque detection is disabled

1: Continue to run after the under-torque
is detected only when the speed is
Action consistent
selection Action for
2: Continue to run after the under-torque
for under-tor
P06.23 is detected during running 1 0 × × ×
under-torq que
ue detected 3: Turn off the output after the
detected under-torque is detected only when the
speed is consistent;
4: Turn off the output after the
under-torque is detected during running

Under-torq Under-tor 0~300.0%

ue que
P06.24 SVC: Rated torque of equivalent motor 0.1% 0% × × ×
detection detection
value value V/F: Rated current of equivalent motor

Under-torq Under-tor
ue que
P06.25 0.0~10.0s 0.1 0.0 × × ×
detection detection
time time

6-15
 Group P07: VF control parameters
0: User-customized V/F curve
1: Constant torque feature 1
2: Constant torque feature 2
3: Constant torque feature 3
4: Reserved
5: Decrease torque feature 1
6: Decrease torque feature 2
7: Decrease torque feature 3
8: Decrease torque feature 4
Motor 1 Motor 1
9: High starting torque feature 1
P07.00 V/F curve V/F curve 1 0 × √ ×
10: High starting torque feature 2
setting setting
11: High starting torque feature 3
12: High starting torque feature 4
13: Reserved
14: Reserved
15: Reserved
16: Reserved
17: 2 times power curve
18: 1.7 times power curve
19: 1.2 times power curve

Motor 1 Motor 1
V/F V/F
P07.01 P07.03~P03.03 0.01Hz 0.00Hz × √ ×
frequency frequency
3 3

Motor 1 Motor 1
P07.02 V/F V/F P07.04~100.0% 0.1% 0.0% × √ ×
voltage 3 voltage 3

Motor 1 Motor 1
V/F V/F
P07.03 P07.05 ~P07.01 0.01Hz 0.00Hz × √ ×
frequency frequency
2 2

Motor 1 Motor 1
P07.04 V/F V/F P07.06~P07.02 0.1% 0.0% × √ ×
voltage 2 voltage 2

Motor 1 Motor 1
V/F V/F
P07.05 0.00~P07.03 0.01Hz 0.00Hz × √ ×
frequency frequency
1 1

Motor 1 Motor 1
P07.06 V/F V/F 0~P07.04 0.1% 0.0% × √ ×
voltage 1 voltage 1

Motor 1 Motor 1
P07.07 torque torque 0.0%~30.0% 0.1% 0.0% × √ ○
increase increase

P07.08 Motor 1 Motor 1 0.0%~50.0%(corresponds to P03.03) 0.1% 10.0% × √ ○

6-16
 torque torque
increase increase
cut-off cut-off
point point

0: User-customized V/F curve

1: Constant torque feature 1
2: Constant torque feature 2
3: Constant torque feature 3
4: Reserved
5: Decrease torque feature 1
6: Decrease torque feature 2
7: Decrease torque feature 3
8: Decrease torque feature 4
Motor 2 Motor 2
9: High starting torque feature 1
P07.09 V/F curve V/F curve 1 0 × √ ×
10: High starting torque feature 2
setting setting
11: High starting torque feature 3
12: High starting torque feature 4
13: Reserved
14: Reserved
15: Reserved
16: Reserved
17: 2 times power curve
18: 1.7 times power curve
19: 1.2 times power curve

Motor 2 Motor 2
V/F V/F
P07.10 P07.12~P03.15 0.01Hz 0.00Hz × √ ×
frequency frequency
3 3

Motor 2 Motor 2
P07.11 V/F V/F P07.13~100.0% 0.1% 0.0% × √ ×
voltage 3 voltage 3

Motor 2 Motor 2
V/F V/F
P07.12 P07.14 ~P07.10 0.01Hz 0.00Hz × √ ×
frequency frequency
2 2

Motor 2 Motor 2
P07.13 V/F V/F P07.15~P07.11 0.1% 0.0% × √ ×
voltage 2 voltage 2

Motor 2 Motor 2
V/F V/F
P07.14 0.00~P07.12 0.01Hz 0.00Hz × √ ×
frequency frequency
1 1

Motor 2 Motor 2
P07.15 V/F V/F 0~P07.13 0.1% 0.0% × √ ×
voltage 1 voltage 1

Motor 2 Motor 2
P07.16 0.0%~30.0% 0.1% 0.0% × √ ○
torque torque

6-17
 increase increase

Motor 2 Motor 2
torque torque
P07.17 increase increase 0.0%~50.0% (corresponds to P03.15) 0.1% 10.0% × √ ○
cut-off cut-off
point point

Motor Motor
P07.18 stable stable 0~255 1 10 × √ ○
factor factor

0: Disabled
AVR AVR
P07.19 1: Always enabled 1 2 × √ ×
function function
2: Disabled only in deceleration situation

Drooping Drooping
P07.20 control control 0~30.00Hz 0.01 0.00 × √ ○
value value

Group P08: Start and stop control parameters

0: Start from the startup frequency
1: Start from the startup frequency after
P08.00 Startup Start
braking 1 0 × √ ×
mode mode
2: Start after speed tracking (including the
judgment of direction)

Startup Startup
P08.01 0.00~30.00s 0.01s 0.00s × √ ○
delay time delay time

Startup
Startup
P08.02 (dwell) 0.00~60.00Hz 0.01Hz 0.00Hz × √ ○
frequency
frequency

Startup Startup
frequency frequency
P08.03 0.00~10.00s 0.01s 0.00s × √ ○
retention retention
time time

Startup Startup
DC DC 0.0%~100.0% of the rated current of the
P08.04 0.1% 0.0% × √ ○
braking braking servo drive
current current

Startup Startup
DC DC 0.00 (Disabled)
P08.05 0.01s 0.00s × √ ○
braking braking 0.01~30.00s
time time

0: Decelerate to stop
Stop
P08.06 Stop mode 1: Coast to stop 1 0 × √ ×
mode
2:Decelerate to stop + DC braking

Stop Stop
P08.07 frequency frequency 0.00~150.00Hz 0.01Hz 0.50Hz × √ ×
detection detection

Stop Stop
P08.08 frequency frequency 0.00~10.00s 0.01s 0.00s × √ ○
detection detection

6-18
 retention retention
time time

Stop Stop
0: Speed set value (the only one detection
speed speed
P08.09 mode under the V/F mode) 1 1 × √ ×
detection detection
1: Speed detection value
mode mode

Stop
Stop 02.00H
P08.10 (dwell) 0.00~150.00Hz 0.01Hz × √ ×
frequency z
frequency

Stop
Stop
(dwell)
frequency
P08.11 frequency 0.00~10.00s 0.01s 0.00s × √ ○
retention
retention
time
time

Initial
Initial
frequency
frequency
P08.12 for stop 0.00~60.00Hz 0.01Hz 0.00Hz × √ ○
for stop
DC
braking
braking

Waiting Waiting
time for time for
P08.13 0.00~10.00s 0.01s 0.00s × √ ○
stop DC stop
braking braking

Stop DC Stop DC
0.0%~100.0% of the rated current of the
P08.14 braking braking 0.1% 0.0% × √ ○
servo drive
current current

Stop DC Stop DC
0.0 (Disabled)
P08.15 braking braking 0.01s 0.00s × √ ○
0.01~30.00s
time time

Selecting
Restart
restart
upon 0: Disabled
P08.16 function 1 0 × √ ×
power 1: Enabled
upon
fault
power fault

Waiting
time for Restart
P08.17 restart waiting 0.0~3600.0s 0.1s 0.0s × √ ○
upon time
power fault

0: Reverse operation is allowed

Anti-rever
Anti-revers 1: Reverse operation is prohibited (run at
P08.18 se 1 0 × √ ×
e selection zero frequency upon reverse running
selection
command)

FWD/RE
FWD/REV
P08.19 V dead- 0.00~360.00s 0.01s 0.00s × √ ○
dead-time
time

FWD/REV FWD/RE 0: Switch once over the zero frequency

P08.20 switching V 1 0 × √ ×
1: Switch once over the startup frequency
mode switching

6-19
 mode

Use ratio
Use ratio 100.0
P08.21 of dynamic 0.0~100.0% (0: Disabled) 0.1% × √ ○
of braking %
braking

Braking Braking
P08.22 startup startup 700~780 1 750 × √ ○
voltage voltage

Decelerati
Decelerati
on time
on time for 0.00~100.00s(0:Automatic high-speed
P08.23 for 0.01s 0.00s × √ ○
emergenc deceleration)
emergenc
y stop
y stop

Group P09: Digital input/output parameters

0: No function
1: Forward running (FWD)
2: Reverse running (REV)
3: External jog forward running control
input
4: External jog reverse running control
input
5~9: Reserved
10: Acceleration/deceleration time
terminal 1
11: Acceleration/deceleration time
terminal 2
12,13: Reserved
14: Frequency increase command (UP) 1
15: Frequency decrease command (DN) 89
Function 16: External fault normally open input 85
selection X1 ~ X8 17: External fault normally closed input
P09.00~ 90
of input terminal 18: External interrupt normally open 1 √ √ ×
P09.07 60
terminals functions contact input
57
19: External interrupt normally closed
X1~X8 72
contact input
22
20: Reference frequency source switching
command
21: Reserved
22: External reset (RESET) input
23: Coast to stop input (FRS)
24: Acceleration/deceleration disable
command
25: Stop DC braking input command
26~33: Reserved
34: Main reference frequency source
selection 1
35: Main reference frequency source
selection 2
36: Main reference frequency source

6-20
selection 3
37: Switching main reference frequency to
AI
38: Command source selection 1
39: Command source selection 2
40: Switching command to terminal
41: FWD disabled
42: REV disabled
43: Servo drive running disabled
44: External stop command (it is valid for
all the control modes, the device will be
stopped in accordance with the current
stop mode)
45: Auxiliary reference frequency reset
46: Pre-magnetizing command terminal
(Reserved)
47: Speed control and torque control
switching terminal
48: Torque direction switching terminal for
torque control
49~53: Reserved
54: Zero servo enable terminal
55: Motor 1 and 2 switching terminal
56: Reserved
57: Spindle swing
58,59: Reserved
60: Emergency stop
64~71: Reserved
72: Reaming enable
73~75: Reserved
76: Start positioning terminals 1
77: Start positioning terminals 2
78: Start positioning terminals 3
79, 80: Reserved
81: Position deviation counter reset
82:Command pulse inhibit
83: Position loop gain switching terminal
84: Position reference point input terminal
(valid only for X6,X7,X8)
85: Spindle/positioning homing terminal
86:Spindle indexing terminal 1
87:Spindle indexing terminal 2
88:Spindle indexing terminal 3
89: Speed / position switching terminal
90: Tapping enable
91:Negative limit switch (valid only for
X6,X7,X8)
92:Positive limit switch (valid only for
X6,X7,X8)

6-21
 93~94: Reserved
95: Internal positioning start enable
FWD/REV
Running
running 0: Two-wire control mode 1
P09.08 control 1 0
×
√ ×
mode 1: Two-wire control mode 2
mode
setting
Terminal Terminal
UP/DN UP/DN
P09.09 acceleratio accelerati 0.01~99.99Hz/s 0.01 1.00 √ ○
×
n/decelera on/decele
tion rate ration rate

Terminal Terminal
P09.10 filtering filtering 0~500ms 1 10 × √ ○
time time

Pulse Pulse
input input
P09.14 0.00~10.00s 0.01s 0.05 × √ ○
filtering filtering
time time

Binary setting:
0: Normal logical, enabled upon
connection
Input
Input 1: Inverted logical, enabled upon
terminal
terminal disconnection
P09.15 enabled 1 00 × √ ○
enabled
status Unit place of LED:
status
setting BIT0~BIT3: X1~X4
Tens place of LED:
BIT0~BIT3: X5~X8

Binary setting:
0: Disabled
Virtual Virtual 1: Enabled
input input
Unit place of LED: 1 00 × √ ○
P09.16 terminal terminal
setting setting BIT0~BIT3: X1~X4
Tens place of LED:
BIT0~BIT3: X5~X8

Open
0: Drive in running state signal (RUN)
collector Y1
1: Frequency arrival signal (FAR)
P09.18 output function 1 0 √ √ ×
terminal selection 2: Speed non-zero detection signal
Y1 3: Frequency level detection signal
(FDT1)
Open
collector Y2 4: Frequency level detection signal
P09.19 output function (FDT2) 1 1 √ √ ×
terminal selection 5: Overload detection signal (OL)
Y2 6: Lockout for under-voltage (LU)
Open 7: External fault stop (EXT)
Y3
collector 8: Frequency upper limit (FHL)
P09.20 function 1 15 √ √ ×
output
selection 9: Frequency lower limit (FLL)
terminal

6-22
 Y3 10: Drive running at zero-speed
11: Reserved
12: Reserved
13: Reserved
14: Reserved
15: Servo drive ready for running (RDY)
16: Servo drive failure
17: Host device switch signal
18: Reserved
19: Limiting torque
Torque command is enabled when limited
by the torque limit value 1 or 2
20: Flux detection signal
Flux detection value is enabled when
exceeding P09.33
21: Zero servo completed
22: Analog torque offset enabled
23: Over-torque output
24: Under-torque output
25: Positioning completed
Open
26: Positioning close to
collector Y4
27: Reserved
P09.21 output function 1 16 √ √ ×
terminal selection 28：Position tolerance alarm
Y4 29: Reserved
30: Spindle / positioning homing
completed
31: Spindle indexing completed
32: Reserved
33: Reserved
34: Drive FWD/REV indication terminal
35: Motor 1 and 2 indication terminal
36: Communication card ON/OFF signal
37: Positioning position1 arrived
38: Positioning position 2 arrived
39: Positioning position 3 arrived
40: Positioning position 4 arrived
41: Positioning position 5 arrived
42: Positioning position 6 arrived
43: Positioning position 7 arrived
44: Positioning position 8 arrived
Only the following function No. will be
shown in the shortcut menu: 0, 1, 3, 4, 5,
6, 7, 8, 9, 15, 16

Output Binary setting:

Output
terminal terminal 0: Enabled upon connection
P09.22 1 0 × √ ○
enabled enabled 1: Enabled upon disconnection
status status Unit place of LED:
6-23
 setting BIT0~BIT3:Y1,Y2,R1,R2

Frequency
Frequenc
arrival
y arrival
P09.24 (FAR) 0.00~3000.00Hz 0.01Hz 2.50Hz × √ ○
detection
detection
width
width

FDT 1 FDT 1
50.00H
P09.25 level upper level P09.24~ P02.16 0.01Hz × √ ○
z
limit upper limit

FDT 1 FDT 1
49.00H
P09.26 level lower level 0.00~ P09.23 0.01Hz × √ ○
z
limit lower limit

FDT 2 FDT 2
25.00H
P09.27 level upper level P09.26~ P09.24 0.01Hz × √ ○
z
limit upper limit

FDT 2 FDT 2
24.00H
P09.28 level lower level 0.00~ P02.16 0.01Hz × √ ○
z
limit lower limit

Flux Flux
100.0
P09.33 detection detection 10.0%~100.0% 0.1% × √ ○
%
value value

Zero-spee Zero-spee
P09.34 d d 0.0%~100.0% of maximum frequency 1.0% 1.0% × √ ○
threshold threshold

Group P10: Analog input/output terminal parameters

Unit place: AI1
0: Voltage input

Analog Analog 1: Current input

P10.00 input input Tens place: AI2 1 00 √ √ ×
properties properties 0: Voltage input
1: Current input
AI3 is the differential voltage input

Unit place of LED: AI1 function selection

0: No function
1: Main reference frequency setting
2: Auxiliary reference frequency setting
3: Torque offset
4: Speed limit value 1
Analog AI AI
5: Speed limit value 2
P10.01 function function 1 000 √ √ ×
selection selection 6: Torque limit value 1
7: Torque limit value 2
8: Torque command (reference)
9: Main reference frequency setting
(unipolar)
A: Auxiliary reference frequency setting
(unipolar)

6-24
 B: Motor temperature detection
C: Output voltage offset (under V/F)
D: Output voltage (under V/F)
E: Reserved (command rate numerator)
Tens place of LED: AI2 function selection
is the same as above
Hundreds place of LED: AI3 function
selection is the same as above

AI1 AI1
P10.02 0.000~10.000s 0.001s 0.010s × √ ○
filtering filtering

AI2 AI2
P10.03 0.000~10.000s 0.001s 0.010s × √ ○
filtering filtering

AI3 AI3
P10.04 0.000~10.000s 0.001s 0.010s × √ ○
filtering filtering

Unit place of LED: AI1 curve selection

0: Line 1
1: Line 2
2: Curve 1
Analog Analog Tens place of LED: AI2 curve selection
P10.05 curve curve the same as above 1 0210H √ √ ○
selection selection Hundreds place of LED: AI3 curve
selection the same as above
Thousands place of LED: Pulse input
curve selection
the same as above

Maximum Maximum
100.0
P10.06 reference reference P10.08~100.0% 0.1% √ √ ○
%
of line 1 1

Actual Actual
value value Frequency reference: 0.0~100.0% of
correspon correspon Fmax 100.0
P10.07 ds to the ds to 0.1% √ √ ○
Torque: 0.0~300.0% of Te %
maximum maximum
reference reference Magnetic flux: 0.0~100.0%Φe
of line 1 1

Minimum Minimum
P10.08 reference reference 0.1% 0.0% √ √ ○
0.0%~P10.06
of line 1 1

Actual Actual
value value
correspon correspon
P10.09 ds to the ds to The same as P10.07
0.1% 0.0% √ √ ○
minimum minimum
reference reference
of line 1 1

Maximum Maximum
100.0
P10.10 reference reference 0.1% √ √ ○
P10.12~100.0% %
of line 2 2

6-25
 Actual Actual
value value
correspon correspon
100.0
P10.11 ds to the ds to
The same as P10.07
0.1% √ √ ○
%
maximum maximum
reference reference
of line 2 2

Minimum Minimum
P10.12 reference reference 0.0%~P10.10 0.1% 0.0% √ √ ○
of line 2 2

Actual Actual
value value
correspon correspon
P10.13 ds to the ds to The same as P10.07
0.1% 0.0% √ √ ○
minimum minimum
reference reference
of line 2 2

Maximum Maximum
100.0
P10.14 reference reference 0.1% √ √ ○
P10.16~100.0% %
of curve 1 1

Actual Actual
value value Frequency reference: 0.0~100.0% of
correspon correspon Pmax 100.0
P10.15 ds to the ds to 0.1% √ √ ○
Torque: 0.0~300.0% of Te %
maximum maximum
reference reference Magnetic flux: 0.0~100.0% of Φe
of curve 1 1

Inflection
Inflection
point 2 of
point 2 of 100.0
P10.16 the curve P10.18~P10.14 0.1% × √ ○
the curve 1 %
1
reference
reference

Actual
value
Actual
correspon
value of 100.0
P10.17 ds to the The same as P10.15 0.1% × √ ○
inflection %
inflection
point 2
point 2 of
the curve 1

Inflection
Inflection
point 1 of
point 1 of
P10.18 the curve P10.20~P10.16 0.1% 0.0% × √ ○
the curve 1
1
reference
reference

Actual
value
Actual
correspon
value of
P10.19 ds to the The same as P10.15 0.1% 0.0% × √ ○
inflection
inflection
point 1
point 1 of
the curve 1

6-26
 Minimum Minimum
P10.20 reference reference 0.0%~P10.18 0.1% 0.0% √ √ ○
of curve 1 1

Actual Actual
value value
correspon correspon
P10.21 ds to the ds to The same as P10.15 0.1% 0.0% √ √ ○
minimum minimum
reference reference
of curve 1 1

Unit place of LED: AO1 selection

0: 0~10V(0~20mA)
1: 2~10V(4~20mA)
The current and voltage depend on the
Types of Types of
hardware
P10.22 analog analog 1 00 √ √ ○
Tens place of LED: AO2 selection
output output
0: 0~10V(0~20mA)
1: 2~10V(4~20mA)
The current and voltage depend on the
hardware

0: Output frequency (0~maximum

frequency)
1: Set frequency (0~ maximum frequency)
2: Set frequency (after acceleration/
deceleration) (0~ maximum frequency)
3: Motor rotating speed (0~ maximum
rotating speed)
4: Output current (0~2*Iei)
5: Output current (0~2*Iem)
6: Output torque (0~3 * Tem)
7: Output torque current (0~3*Item)
8: Output voltage (0~1.2*Ve)
Analog
output 9: Bus voltage (0~800V)
AO1
P10.23 terminal 10: AI1 after adjustment 1 00 √ √ ○
functions
AO1 11: AI2 after adjustment
functions 12: AI3 after adjustment
13: Output power (0~2*Pe)
14: Percentage of host device (0~4095)
15: Torque limit value 1 (+10V/+300%)
16: Torque limit value 2 (+10V/+300%)
17: Torque offset (+10V/+300%)
18: Torque command (+10V/+300%)
19: Flux command (+10V/+100%)
20: Reserved (position deviation
(+10V/2048 command pulse))
21: Output torque (-300.0~+300.0%)
22: Output torque current

6-27
 (-300.0~+300.0%)
23: Torque offset (bipolar) (-300~+300%)
24: Motor rotating speed (bipolar, output
frequency during V/F – slip compensation)
25: Reserved (output the motor
temperature measured with constant
current source)
26: Percentage of communication card
(0~4095)
Only the following function No. will be
shown in shortcut menu: 0~9

Group P11: Auxiliary function parameters

Accelerati Accelerati
on/ on/
0: Linear acceleration/deceleration
P11.00 deceleratio decelerati 1 0 × √ ×
1: S curve acceleration/deceleration
n mode on mode
selection selection

Unit of
Unit of 0: 0.1s
accelerati
acceleratio
P11.01 on/decele 1: s 1 1 √ √ ○
n/decelera
ration 2: min
tion time
time

(Unit
adopts
Accelerati Accelerati
P11.02 0.0~3600.0 that of 6.00 × √ ○
on time 2 on time 2
P11.01)
0.1

(Unit
adopts
Decelerati Decelerati
P11.03 0.0~3600.0 that of 6.00 × √ ○
on time 2 on time 2
P11.01)
0.1

(Unit
adopts
Accelerati Accelerati
P11.04 0.0~3600.0 that of 6.00 × √ ○
on time 3 on time 3
P11.01)
0.1

(Unit
adopts
Decelerati Decelerati
P11.05 0.0~3600.0 that of 6.00 × √ ○
on time 3 on time 3
P11.01)
0.1

(Unit
adopts
Accelerati Accelerati
P11.06 0.0~3600.0 that of 6.00 × √ ○
on time 4 on time 4
P11.01)
0.1

(Unit
P11.07 Decelerati Decelerati 0.0~3600.0 6.00 × √ ○
adopts
6-28
 on time 4 on time 4 that of
P11.01)
0.1

S curve
Accelerati
P11.08 acceleratio 10.00~600.00 Hz/s 0.01 25.00 × √ ○
on
n

Fast
Fast
acceleratio
accelerati
P11.09 n at start 0.20~600.00Hz/s2 0.01 12.50 × √ ○
on at start
segment
segment
of S curve

Fast
Fast
acceleratio
accelerati
P11.10 n at end 0.20~600.00Hz/s2 0.01 20.00 × √ ○
on at end
segment
segment
of S curve

S curve
Decelerati
P11.11 deceleratio 10.00~600.00Hz/s 0.01 25.00 × √ ○
on
n

Fast
Fast
deceleratio
decelerati
P11.12 n at start 0.20~600.00Hz/s2 0.01 20.00 × √ ○
on at start
segment
segment
of S curve

Fast
Fast
deceleratio
decelerati
P11.13 n at end 0.20~600.00 Hz/s2 0.01 12.50 × √ ○
on at end
segment
segment
of S curve

Switching
Switching
frequency
frequency
of
of
acceleratio
P11.14 accelerati 0.00~3000.00Hz 0.01Hz 0.00 × √ ○
n/
on/
deceleratio
decelerati
n time 1
on
and 2

Switching
Switching
hysteresis
hysteresis
loop
loop
frequency
frequency
of
P11.15 of 0.00~655.35Hz 0.01Hz 1.00 × √ ○
acceleratio
accelerati
n/
on/
deceleratio
decelerati
n time 1
on
and 2

Jog Jog
P11.16 acceleratio accelerati 0.1~60.0s 0.1s 6.0 × √ ○
n on

6-29
 /decelerati /decelerat
on time ion time

Jog Jog
P11.17 0.0~100.0s 0.1s 0.0 × √ ○
interval interval

Frequency Frequenc
P11.18 of jog y of jog 0.10~50.00Hz 0.01Hz 5.00 √ √ ○
running running

Upper limit
Skip
of skip
P11.19 frequency P11.20~3000.00Hz 0.01Hz 0.00 × √ ×
frequency
1
1

Lower limit
Skip
of skip
P11.20 frequency 0.00~ P11.19 0.01Hz 0.00 × √ ×
frequency
1
1

Upper limit
Skip
of skip
P11.21 frequency P11.22~3000.00Hz 0.01Hz 0.00 × √ ×
frequency
2
2

Lower limit
Skip
of skip
P11.22 frequency 0.00~ P11.21 0.01Hz 0.00 × √ ×
frequency
2
2

Upper limit
Skip
of skip
P11.23 frequency P11.24~3000.00Hz 0.01Hz 0.00 × √ ×
frequency
3
3

Lower limit
Skip
of skip
P11.24 frequency 0.00~ P11.23 0.01Hz 0.00 × √ ×
frequency
3
3

Group P12: Advanced function parameters

HD/ND HD/ND 0:HD (Heavy duty)
P12.00 1 0 × √ ×
selection selection 1:ND (Normal duty)

Energy-sa Energy-sa
0: Disabled
P12.01 ving ving 1 0 × √ ×
1: Enabled
running running

Carrier Carrier
P12.02 wave wave 0.7~15.0kHz (minimum vector: 3k) 0.1 8.0 √ √ ○
frequency frequency

Unit place: Enable the overmodulation

0: Disabled
PWM PWM
1: Enabled
mode mode
P12.03 Tens place: Automatic adjustment 1 1001 × √ ×
optimizatio optimizati
selection for carrier wave frequency
n on
0: No automatic adjustment
1: Automatic adjustment

6-30
 Hundreds place: Modulation mode
0: Two-phase/ three-phase switching
1: Three-phase modulation
Thousands place: Low frequency carrier
limit
0: Disable
1: Enable

Current Current
0: Manual selection
P12.04 loop gain loop gain 1 0 × √ ×
1: Calculate automatically (after tuning)
selection selection

Current
Current
loop
loop
P12.05 proportion 1~5000 1 1000 × √ ○
proportion
al gain
al gain
ACR-P

Current Current
loop loop
P12.06 0.5~100.0ms 0.1 8.0 × √ ○
integral integral
time ACR-I time

Anti-trip Anti-trip
0: Disable
P12.07 function function 1 0 × √ ×
1: Enable
enabling enabling

Frequency
reduction Frequenc
rate upon y
P12.08 0.00~99.99Hz/s 0.01 10.00 × √ ○
voltage reduction
compensat rate
ion

Pre-magn Pre-magn
P12.09 etizing etizing 0.0~10.0s 0.1 0.0 × √ ×
time time

Minimum Minimum
flux flux
P12.10 10%~150% 1% 10% × √ ○
reference reference
value value

Flux-weak
Flux-weak
ening
ening
adjustme
P12.11 adjustment 0~10000 1 1000 × √ ○
nt
coefficient
coefficient
1
1

Flux-weak
Flux-weak
ening
ening
adjustme
P12.12 adjustment 0~10000 1 1000 × √ ○
nt
coefficient
coefficient
2
2

Flux-weak Flux-weak 0: Disable

P12.13 1 1 × √ ○
ening ening 1: Enable

6-31
 control control
mode mode

0: Operate automatically
1: Fan operates continually during
Cooling Fan power-up
P12.14 1 2 × √ ×
fan control control 2: Fan operates based on command
Note: It will keep running for 3 minutes
after power-off
P12.15
Reserved Reserved
~P12.19

Group P13: Multi-stage reference

Multi-stage Multi-stag
reference e 0: Multi-stage frequency reference
P13.00 1 0 × √ ○
property reference 1: Multi-stage closed loop reference
setting property

Multi-stag
Multi-stage
P13.01 e
reference 0.1% 10.0% × √ ○
reference
1
1

Multi-stag
Multi-stage
e
P13.02 reference 0.1% 20.0% × √ ○
reference
2
2
Multi-stag
Multi-stage
e
P13.03 reference 0.1% 40.0% × √ ○
reference
3
3
Multi-stag
Multi-stage
e
P13.04 reference When it is Multi-stage frequency: 0.1% 60.0% × √ ○
reference
4 0.0%~100.0% corresponds to “minimum
4
frequency ~ maximum frequency”
Multi-stag
Multi-stage When it is Multi-stage closed loop
e
P13.05 reference reference: 0.1% 80.0% × √ ○
reference
5 -100.0%~100.0% corresponds to
5
“-10V~+10V”
Multi-stag
Multi-stage
e
P13.06 reference 0.1% 90.0% × √ ○
reference
6
6
Multi-stag
Multi-stage
e 100.0
P13.07 reference 0.1% × √ ○
reference %
7
7
Multi-stag
Multi-stage
e
P13.08 reference 0.1% 10.0% × √ ○
reference
8
8
Multi-stage Multi-stag
P13.09 0.1% 20.0% × √ ○
reference e

6-32
 9 reference
9
Multi-stag
Multi-stage
e
P13.10 reference 0.1% 40.0% × √ ○
reference
10
10
Multi-stag
Multi-stage
e
P13.11 reference 0.1% 60.0% × √ ○
reference
11
11
Multi-stag
Multi-stage
e
P13.12 reference 0.1% 80.0% × √ ○
reference
12
12
Multi-stag
Multi-stage
e
P13.13 reference 0.1% 90.0% × √ ○
reference
13
13
Multi-stag
Multi-stage
e 100.0
P13.14 reference 0.1% × √ ○
reference %
14
14
Multi-stag
Multi-stage
e 100.0
P13.15 reference 0.1% × √ ○
reference %
15
15

Unit place of LED:

0: Multi-stage reference (multi-speed or
multi-stage closed loop reference
depends on P13.00)
1: Digital reference 1: Keyboard ∧∨
reference
2: Digital reference 2: Terminal UP/DN
reference
3: Reserved
4: AI analog reference
5: Terminal PULSE reference
Stage 1 Stage 1
P13.17 6: Process closed loop PID 1 000 × √ ×
setting setting
7: PLC card or bus reference (Reserved)
Tens place of LED:
0: FWD
1: REV
2: Determined by the running command
Hundreds place of LED:
0: Acceleration/deceleration time 1
1: Acceleration/deceleration time 2
2: Acceleration/deceleration time 3
3: Acceleration/deceleration time 4

6-33
 Stage 1 Stage 1
P13.18 running running 0.0~6500.0 0.1 20.0 × √ ○
time time

Stage 2 Stage 2
P13.19 The same as stage setting 1 1 000 × √ ×
setting setting

Stage 2 Stage 2
P13.20 running running 0.0~6500.0 0.1 20.0 × √ ○
time time

Stage 3 Stage 3
P13.21 The same as stage setting 1 1 000 × √ ×
setting setting

Stage 3 Stage 3
P13.22 running running 0.0~6500.0 0.1 20.0 × √ ○
time time

Stage 4 Stage 4
P13.23 The same as stage setting 1 1 000 × √ ×
setting setting

Stage 4 Stage 4
P13.24 running running 0.0~6500.0 0.1 20.0 × √ ○
time time

Stage 5 Stage 5
P13.25 The same as stage setting 1 1 000 × √ ×
setting setting

Stage 5 Stage 5
P13.26 running running 0.0~6500.0 0.1 20.0 × √ ○
time time

Stage 6 Stage 6
P13.27 The same as stage setting 1 1 000 × √ ×
setting setting

Stage 6 Stage 6
P13.28 running running 0.0~6500.0 0.1 20.0 × √ ○
time time

Stage 7 Stage 7
P13.29 The same as stage setting 1 1 000 × √ ×
setting setting

Stage 7 Stage 7
P13.30 running running 0.0~6500.0 0.1 20.0 × √ ○
time time

Stage 8 Stage 8
P13.31 The same as stage setting 1 1 000 × √ ×
setting setting

Stage 8 Stage 8
P13.32 running running 0.0~6500.0 0.1 20.0 × √ ○
time time

Stage 9 Stage 9
P13.33 The same as stage setting 1 1 000 × √ ×
setting setting

Stage 9 Stage 9
P13.34 running running 0.0~6500.0 0.1 20.0 × √ ○
time time

Stage 10 Stage 10
P13.35 The same as stage setting 1 1 000 × √ ×
setting setting

P13.36 Stage 10 Stage 10 0.0~6500.0 0.1 20.0 × √ ○

6-34
 running running
time time

Stage 11 Stage 11
P13.37 The same as stage setting 1 1 000 × √ ×
setting setting

Stage 11 Stage 11
P13.38 running running 0.0~6500.0 0.1 20.0 × √ ○
time time

Stage 12 Stage 12
P13.39 The same as stage setting 1 1 000 × √ ×
setting setting

Stage 12 Stage 12
P13.40 running running 0.0~6500.0 0.1 20.0 × √ ○
time time

Stage 13 Stage 13
P13.41 The same as stage setting 1 1 000 × √ ×
setting setting

Stage 13 Stage 13
P13.42 running running 0.0~6500.0 0.1 20.0 × √ ○
time time

Stage 14 Stage 14
P13.43 The same as stage setting 1 1 000 × √ ×
setting setting

Stage 14 Stage 14
P13.44 running running 0.0~6500.0 0.1 20.0 × √ ○
time time

Stage 15 Stage 15
P13.45 The same as stage setting 1 1 000 × √ ×
setting setting

Stage 15 Stage 15
P13.46 running running 0.0~6500.0 0.1 20.0 × √ ○
time time

Group P15: Communication parameters

Protocol Protocol 0: MODBUS
P15.00 1 0 × √ ×
selection selection 1: Reserved

Unit place of LED: Baud rate selection

0: 4800BPS
1: 9600BPS
2: 19200BPS
3: 38400BPS
4: 115200BPS
Communic Communi 5: 125000BPS
ation cation
P15.01 Tens place of LED: Data format 1 001 × √ ×
configurati configurat
on ion 0: 1-8-2-N format, RTU
1: 1-8-1-E format, RTU
2: 1-8-1-O format, RTU
3: 1-7-2-N format, ASCII
4: 1-7-1-E format, ASCII
5: 1-7-1-O format, ASCII
Hundreds place of LED: Wiring mode

6-35
 0: Direct cabling (232/485)
1: MODEM (232)

Local Local
P15.02 0~247, 0 is the broadcast address 1 5 × √ ×
address address

Communic
Communi
ation
cation
P15.03 timeout 0.0~1000.0s 0.1 0.0s × √ ×
timeout
detection
time
time

Response Response
P15.04 delay of delay of 0~1000ms 1 5ms × √ ×
the drive the drive

Reserved Reserved
P15.05 function 1 function 1 0~65535 1 0 × √ ○
for user for user

Reserved Reserved
P15.06 function 2 function 2 0~65535 1 0 × √ ○
for user for user

Group P16: Keyboard display setting parameters

Binary setting:
0: No display; 1: Display
Unit place of LED:
BIT0: Preset frequency (Hz flashing)
BIT1: Output current (A)
BIT2: Output frequency (Hz)
LED
Tens place of LED:
display
P16.00 BIT0: Running rotating speed (r/min)
parameter Running
1 007H × √ ○
selection 1 display 1 BIT1: Preset rotating speed (r/min,
when flashing)
running BIT2: Running line speed (m/s)
BIT3: Preset line speed (m/s, flashing)
Hundreds place of LED:
BIT0: Output power
BIT1: Output toque (%)
Note: the default display shall be output
frequency when all the parameters are 0

Binary setting:
0: No display; 1: Display
Unit place of LED:
LED
display BIT0: Output voltage (V)
parameter Running BIT1: AI1(V)
P16.01 1 00 × √ ○
selection 2 display 2 BIT2: AI2(V)
when
BIT3: AI3(V)
running
Tens place of LED:
BIT0: Analog closed loop feedback (%)
BIT1: Analog closed loop reference (%,

6-36
 flashing)
BIT2: Terminal status (without unit)
BIT3: DC bus voltage

Binary setting:
0: No display; 1: Display
Unit place of LED:
BIT0: Preset frequency (Hz)
BIT1: Running speed (r/min)
BIT2: Preset speed (r/min)
BIT3: DC bus voltage (V)

LED Tens place of LED:

display BIT0: Running line speed (m/s)
Stop
P16.02 parameter BIT1: Preset line speed (m/s) 1 009H × √ ○
display
selection BIT2: Analog closed loop feedback (%)
when stop
BIT3: Analog closed reference (%)
Hundreds place of LED:
BIT0: AI1 (V)
BIT1: AI2 (V)
BIT2: AI3 (V)
BIT3: Terminal status (without unit)
Note: The default display shall be set
frequency when all the parameters are 0

0.1%~999.9%
VF-PG:
Line speed = mechanical rotating speed ×
P16.03
Preset line speed = Preset rotating speed
× P16.03
VF-NPG:
Line
Line speed Line speed = operation frequency ×
P16.03 speed 0.1% 1.0% × √ ○
coefficient P16.03
coefficient
Preset line speed = Preset frequency ×
P16.03
Non-VF:
Line speed = Measured/estimated rotating
speed × P16.03
Preset line speed = Preset frequency ×
P16.03

0.1%~999.9%
VF-PG:
Rotating Running rotating speed = mechanical
Rotating
speed rotating speed × P16.04 100.0
P16.04 speed 0.1% × √ ○
display Preset rotating speed = Preset rotating %
coefficient
coefficient speed × P16.04
VF-NPG:
Running rotating speed = running

6-37
 frequency × motor rated rotating
speed/motor rated frequency × P16.04
Preset rotating speed = Preset frequency
× motor rated rotating speed/motor rated
frequency × P16.04
Non-VF:
Running rotating speed = Measured/
estimated rotating speed × P16.04
Preset rotating speed = Preset frequency
× motor rated rotating speed/motor rated
frequency × P16.04

Close loop Closed 0.1%~999.9%

analog loop Note: The close loop analog 100.0
P16.05 0.1% × √ ○
display display reference/feedback displays range is %
coefficient coefficient 0~9999.9

Inverter Inverter
module module
P16.06 0.0~150.0℃ 0.1℃ 0.0 × √ *
temperatur temperatu
e re

Rectifier Rectifier
module module
P16.07 0.0~150.0℃ 0.1℃ 0.0 × √ *
temperatur temperatu
e re

Motor Motor
temperatur temperatu
P16.08 0℃~200℃ 1℃ 0 × √ *
e re
measured measured

Accumulat Accumula
ed ted
P16.09 0 ~ maximum 65535 hours 1 hour 0 × √ *
power-on power-on
hours hours

Accumulat Accumula
P16.10 ed running ted work 0 ~ maximum 65535 hours 1 hour 0 × √ *
hours hours

Accumula
Accumulat
ted
ed running
P16.11 running 0 ~ maximum 65535 hours 1 hour 0 × √ *
hours of
hours of
fan
fan

Group P30: Servo control parameters

0: Non-servo control
Servo Servo
control control 1: Speed / torque←→servo control
P30.00 1 0 × √ *
switching switching 2: Servo←→speed / torque control
selection selection
3: Servo control
nit place:Pulse type
Pulse Pulse
0: A / B phase pulse
P30.01 input type input type 1 0000H × √ ×
1: PLUS + SIGN pulse
setting setting
2: CW / CCW pulse

6-38
 Tens place: Filter width (reserved)
0~3
Hundreds place: Logical form
0: Positive logic
1: Negative logic
Thousands place: Pulse input source
0: PAPB pulse input
1: HPAHPB pulse input
2: Internal position setting
3: Bus or PLC card reference
Position Position
P30.02 command command 0.0~3000.0ms 0.1 0 × √ ×
filter time filter time
Position
Position
command
command
accelerati
acceleratio
P30.03 on/decele 0.0~50.0ms 0.1 0 × √ ×
n/decelera
ration
tion time
time
constant
constant
Electronic Electronic
P30.04 gear gear 1~65535 1 1024 × √ ×
molecular molecular
Electronic Electronic
gear gear
P30.05 1~65535 1 1024 × √ ×
denominat denomina
or tor
P30.06 Reserved Reserved 1~65535 1 1024 × √ ×
Unit place:Pulse clear mode
0: Clear position pulse command and
feedback pulse error
Pulse Pulse 1: Reserved
P30.07 clear clear 2: Reserved 1 00 × √ ×
mode mode Tens place:Position deviation reset signal
selection
0: Pulse mode
1: Level mode
Position Position
control control
P30.08 0~8000 1 100 × √ ×
proportion proportion
al gain 1 al gain 1
Position Position
control control
P30.09 0~8000 1 400 × √ ×
proportion proportion
al gain 2 al gain 2
Position Position 0: Do not switch
gain 1 and gain 1
P30.10 1: Torque command 1 0 × √ ×
gain 2 and gain
2: Speed command
switching 2

6-39
 mode switching 3: Position deviation
mode 4: External terminal switch
Position Position
gain gain
switching switching
P30.11 0.0~100.0% 0.1% 10.0% × √ ×
torque torque
command command
level level
Position Position
gain gain
switching switching
P30.12 0.0~100.0% 0.1% 10.0% × √ ×
speed speed
command command
level level
Position Position
gain gain
switching switching 1
P30.13 0~10000 comman 100 × √ ×
position position
d unit
deviation deviation
level level

Gain Gain
switching switching
P30.14 smoothing smoothin 0~15 1 1 × √ ×
filtering g filtering
coefficient coefficient
Position Position
100.00
P30.15 feedforwar feedforwa 0.00~120.00% 1.00% × √ ×
%
d gain rd gain
Position Position
controller controller
P30.16 0~100.0% of maximum frequency 0.1% 20.0% × √ ×
output output
limiter limiter
0: Switch to servo speed control according
Servo Servo
to the downtime;
P30.17 shutdown shutdown 1 1 × √ ×
1: Switch to the speed control
mode mode
deceleration stop
0.0~3000.0ms
Servo Servo
P30.18 When the PL (CCWL), NL (CWL) occurs, 0.1 100.0 × √ ×
downtime downtime
according to the time to slow down

Group P31: Spindle positioning parameters

Unit place: Positioning mode selection
0: Carry

Spindle 1: Indexing
Spindle
positionin Tens place: Digital carry selection
P31.00 positioning 1 0000H × √ ×
g 0: single-point carry
selection
selection 1: Multi-point carry
Hundreds place:Single-point carry mode
0: Single point positioning once

6-40
 1: Single-point multiple positioning
(positioning times set by the function
code)
Thousands place:Single-point multiple
positioning mode
0: Reciprocating
1: Continuous
Unit place:Origin detector types and
looking for direction settings
0, 1: Reserved
2: Forward homing, ORGP as a return to
the origin
3: Reverse homing, ORGP as a return to
the origin
4: The shortest distance homing, ORGP
as a return to the origin
5: Homing according to the current
running direction , ORGP as a return to
the origin
6: Forward looking for Z pulse as a return
to the origin
7: Reverse looking for Z pulse as a return
to the origin
Homing Homing
P31.01 8: The shortest distance looking for Z 1 0009H × √ ×
mode mode
pulse as a return to the origin
9: Homing according to the current
direction, Z pulse as a return to the origin
Tens place: Homing command mode
0: Level mode
1: Pulse mode
Hundreds place: Homing
0: Homing only the first run
1: Homing each run
2: Homing every time power
on(Reserved)
Thousands place:The origin correction
mode
0: Single correction
1: Real-time correction
Unit place: Positioning position mode
0: Relative position
1: Absolute position (relative zero)
Tens place: Positioning lock mode
Positioning Positionin
P31.02 mode g mode 0: Locked in the positioning points 1 0000H × √ ×
selection selection 1: Locked in the positioning range
Hundreds place: Positioning timing
selection
0: Receiving new positioning signal in the
process of positioning, no response

6-41
 1: Receiving new positioning signal in the
process of positioning, positioning the new
position directly
Thousands place: Positioning overrun
action selection
0: Shutdown
1: Reverse homing,keep zero speed
2: Reverse homing, shutdown
Unit place: Homing docking
0: Stop at the left side of the origin
1: Stop at the right side of the origin
Homing Homing
Tens place: Encoder installation position
P31.03 docking docking 1 0000H × √ ×
0: Mounted on the motor shaft
selection selection
1: Mounted on the spindle
Hundreds place: Reserved
Thousands place: Reserved
Internal Internal
positioning positionin 0: Manual by DI terminal selection
P31.04 1 0 × √ ×
starting set g starting 1: Auto-start
set
Spindle Spindle 0.000~30.000
P31.05 transmissi transmissi 0.001 1.000 × √ ×
on ratio on ratio
Origin Origin 0.00~30.00
P31.06 search search 1.00 1.00 × √ ×
speed speed
Origin Origin 0~36000
P31.07 position position 1 18000 × √ ×
offset offset
P31.08 Reserved Reserved 0~1 1 0 × √ ×
Single Single 1~65535
point point
P31.09 1 5 × √ ×
positioning positionin
times g times
High level High level 0~150
of internal of internal
P31.10 position position 1 0 × √ ×
1 referenc 1 referenc
e e
Low level Low level 0~65535
of internal of internal Refresh after setting the low level
P31.11 position position 1 0 × √ ×
1 referenc 1 referenc
e e
High level High level 0~150
of internal of internal
P31.12 position position 1 0 × √ ×
2 referenc 2 referenc
e e

6-42
 Low level Low level 0~65535
of internal of internal Refresh after setting the low level
P31.13 position position 1 0 × √ ×
2 referenc 2 referenc
e e
High level High level 0~150
of internal of internal
P31.14 position position 1 0 × √ ×
3 referenc 3 referenc
e e
Low level Low level 0~65535
of internal of internal Refresh after setting the low level
P31.15 position position 1 0 × √ ×
3 referenc 3 referenc
e e
High level High level 0~150
of internal of internal
P31.16 position position 1 0 × √ ×
4 referenc 4 referenc
e e
Low level Low level 0~65535
of internal of internal Refresh after setting the low level
P31.17 position position 1 0 × √ ×
4 referenc 4 referenc
e e
High level High level 0~150
of internal of internal
P31.18 position position 1 0 × √ ×
5 referenc 5 referenc
e e
Low level Low level 0~65535
of internal of internal Refresh after setting the low level
P31.19 position position 1 0 × √ ×
5 referenc 5 referenc
e e
High level High level 0~150
of internal of internal
P31.20 position position 1 0 × √ ×
6 referenc 6 referenc
e e
Low level Low level 0~65535
of internal of internal Refresh after setting the low level
P31.21 position position 1 0 × √ ×
6 referenc 6 referenc
e e
High level High level 0~150
of internal of internal
P31.22 position position 1 0 × √ ×
7 referenc 7 referenc
e e
P31.23 Low level Low level 0~65535 1 0 × √ ×

6-43
 of internal of internal Refresh after setting the low level
position position
7 referenc 7 referenc
e e
High level High level 0~150
of internal of internal
P31.24 position position 1 0 × √ ×
8 referenc 8 referenc
e e
Low level Low level 0~65535
of internal of internal Refresh after setting the low level
P31.25 position position 1 0 × √ ×
8 referenc 8 referenc
e e
0~FFH
Unit place:
Bit0: Position 1 direction
Bit1: Position 2 direction
Each Each Bit2: Position 3 direction
segment segment Bit3: Position 4 direction
direction direction
P31.26 Tens place: 1 00H × √ ×
setting of setting of
internal internal Bit0: Position 5 direction
position position Bit1: Position 6 direction
Bit2: Position 7 direction
Bit3: Position 8 direction
0: The same as the running direction
1: Running in the opposite direction
Automatic Automatic
operation operation
P31.27 0~600.00s 0.001s 1.000 × √ ×
mode mode
timer 1 timer 1
Automatic Automatic
operation operation
P31.28 0~600.00s 0.001s 1.000 × √ ×
mode mode
timer 2 timer 2
Automatic Automatic
operation operation
P31.29 0~600.00s 0.001s 1.000 × √ ×
mode mode
timer 3 timer 3
Automatic Automatic
operation operation
P31.30 0~600.00s 0.001s 1.000 × √ ×
mode mode
timer 4 timer 4
Automatic Automatic
operation operation
P31.31 0~600.00s 0.001s 1.000 × √ ×
mode mode
timer 5 timer 5
Automatic Automatic
P31.32 operation operation 0~600.00s 0.001s 1.000 × √ ×
mode mode
6-44
 timer 6 timer 6
Automatic Automatic
operation operation
P31.33 0~600.00s 0.001s 1.000 × √ ×
mode mode
timer 7 timer 7
Automatic Automatic
operation operation
P31.34 0~600.00s 0.001s 1.000 × √ ×
mode mode
timer 8 timer 8
Positioning Positionin
P31.35 0~100.0% of maximum frequency 0.1% 20.0 × √ ×
speed g speed
Positioning Positionin
acceleratio g
P31.36 0.1~300.00s 0.01s 2.00 × √ ×
n time accelerati
on time
Positioning Positionin
deceleratio g
P31.37 0.1~300.00s 0.01s 2.00 × √ ×
n time decelerati
on time
Positioning Positionin Unit place:The current reference position
status g status 1~8
P31.38 parameter parameter Tens place:The current position of the 00H 00H × √ ×
s s positioning completed
1~8
Spindle Spindle
P31.39 swing swing 0.0~360.0 0.1 30.0 × √ ×
angle angle
Spindle Spindle
P31.40 swing swing 0.00~100.00Hz 0.01 5.00 × √ ×
speed speed
Spindle Spindle
swing swing
acceleratio accelerati
P31.41 0.00~60.00S 0.01 1.00 × √ ×
n and on and
deceleratio decelerati
n time on time
Position Position
positioning positionin 1
P31.42 complete g 0~10000 comman 1 × √ ×
range complete d unit
range
Position Position
1
close close
P31.43 1~32767 comman 1 × √ ×
signal signal
d unit
width width
Position Position
1
error error
P31.44 0~32767 comman 1 × √ ×
detection detection
d unit
range range

6-45
 Position Position
0: Valid
P31.45 error alarm error 1 0 × √ ×
1: Invalid
alarm
Origin Origin
0: Been looking for
signal loss signal
P31.46 1: Report failure (Er.ORG) after looking for 1 1 × √ ×
action loss
twice
action

Group P32: Spindle tapping parameters

Tapping Tapping
P32.00 0~1 1 0 × √ ×
enable enable
Accelerati Accelerati
P32.01 0.00~300.00s 0.01s 2.00 × √ ×
on time on time
Decelerati Decelerati
P32.02 0.00~300.00s 0.01s 2.00 × √ ×
on time on time
P32.03 ASR1-P ASR1-P 0.1~200.0 0.1 20.0 × √ ×
P32.04 ASR1-I ASR1-I 0.000~10.000s 0.001s 0.200s × √ ×
ASR1 ASR1
P32.05 output output 0~8 (corresponds to 0~28/10ms) 1 0 × √ ×
filter filter
P32.06 ASR2-P ASR2-P 0.1~200.0 0.1 20.0 × √ ×
P32.07 ASR2-I ASR2-I 0.000~10.000S 0.001s 0.200s × √ ×
ASR2 ASR2
P32.08 output output 0~8 (corresponds to 0~28/10ms) 1 0 × √ ×
filter filter
ASR1 / 2 ASR1 / 2
P32.09 switching switching 0.0%~100.0% 0.1 10.0% × √ ×
frequency frequency
Tapping Tapping
100.0
P32.10 maximum maximum 0.0%~100.0% of maximum frequency 0.1% × √ ×
%
frequency frequency
Reaming Reaming
100.0
P32.11 maximum maximum 0.0%~100.0% of maximum frequency 0.1% × √ ×
%
frequency frequency
Analog Analog
P32.12 0.000~10.000s 0.001s 0.010 × √ ×
filter filter
Analog Analog
0: Normal sampling
P32.13 sampling sampling 1 0 × √ ×
1: High-speed sampling
mode mode

Group P97: Protection and fault parameters

Unit place of LED: Action upon
communication fault
Fault Fault 0: Activate protection and coast to stop
protection protection
1: Alarm and keep running
P97.00 and alarm and alarm 1 0000 × √ ×
property property 2: Alarm and stop in the stop mode (only
setting 1 setting 1 in serial port control mode)
3: Alarm and stop in the stop mode (in all
control modes)

6-46
 Tens place of LED: Action upon contactor
abnormality
0: Activate protection and coast to stop
1: Alarm and keep running
Hundreds place of LED: Action upon
EEPROM abnormality
0: Activate protection and coast to stop
1: Alarm and keep running
Thousands place of LED: Action upon
±10V short circuit
0: Activate protection and coast to stop
1: Alarm and keep running

Unit place of LED: Action upon phase loss

0: Activate protection upon input and
output phase loss
1: No protection upon input phase loss
2: No protection upon output phase loss
3: No protection upon input and output
phase loss
Tens place of LED: Action upon loss of
external analog frequency/torque input
0: No action
Fault Fault 1: Activate protection and coast to stop
protection protection
2: Alarm and keep running
P97.01 and alarm and alarm 1 0000 × √ ×
property property Hundreds place of LED: Action upon
setting 2 setting 2 motor overheat
0: Activate protection and decelerate to
stop
1: Activate protection and coast to stop
2: Alarm and keep running
Thousands place of LED: Action upon
analog input (AI1, AI2, AI3) fault
0 : Activate protection and decelerate to
stop
1 : Activate protection and coast to stop
2 : Alarm and keep running

Unit place of LED: Action upon

temperature sampling disconnection
0 : Activate temperature protection upon
inverter and rectifier module and stop in
Fault Fault
the stop mode
protection protection
1 : Activate temperature protection upon
P97.02 and alarm and alarm 1 0000 × √ ×
inverter and rectifier module and coast to
property property
stop
setting 3 setting 3
2 : Temperature alarm upon inverter and
rectifier module and keep running
3 : No action to rectifier, activate
temperature protection upon inverter and

6-47
 stop in the stop mode
Tens place of LED: Action upon
under-voltage fault indication
0 : No action
1 : Action (under-voltage is regarded as a
kind of fault)
Hundreds place of LED: Action upon
auto-reset interval fault indication
0 : No action
1 : Action
Thousands place of LED: Fault lockup
function selection
0 : Prohibited
1 : Open (without fault output)
2 : Open (with fault output)

Unit place of LED: Overload

compensation mode
0: No action
1: Common motor (with low-speed
compensation)
2: Variable-frequency motor (without
low-speed compensation)
Tens place of LED: Overload pre-alarm
detection selection
Overload 0: Always detect
Overload
protection
P97.03 protection 1: Detect only at constant speed 1 0001 × √ ×
setting for
setting Hundreds place of LED: Overload
motor
pre-alarm action selection
0: Alarm and keep running
1: Activate protection and coast to stop
Thousands place of LED: Overload
detection level selection
0: Relative to rated current of the motor
(Er.oL1)
1: Relative to rated current of the drive
(Er.oL2)

Overload
Overload
pre-alarm 130.0
P97.04 detection 20.0%~200.0% 0.1% × √ ○
detection %
level
level

Overload
Overload
pre-alarm
P97.05 detection 0.0~60.0s 0.1s 5.0s × √ ○
detection
time
time

Motor Motor
over-temp over-temp
P97.06 0.00~10.00V 0.01 10.00 × √ ○
erature erature
protection protection

6-48
 point point

Over-volta Over-volt 0: Disabled (when the braking resistor is

P97.07 ge stall age stall installed) 1 1 × √ ×
selection selection 1: Enabled

Over-volta Over-volt
140.0
P97.08 ge point at age point 120.0%~150.0%Udce 0.1% × √ ×
％
stall at stall

Auto 0: Disabled at constant speed

Auto
current
current 1: Enabled at constant speed
P97.09 limiting 1 1 × √ ×
limiting Note: Always enabled for acceleration/
action
action deceleration
selection

Auto
Current
current 150.0
P97.10 limiting 20.0%~200.0%Ie 0.1% × √ ×
limiting %
level
level

Frequency
Frequenc
reduction
y 10.00
P97.11 rate upon 0.00~99.99Hz/s 0.01Hz/s × √ ○
reduction Hz/s
current
rate
limiting

Grounding Groundin
short g short
0: Disable
circuit circuit
P97.12 1: Enable (enabled for model of 7.5kW 1 1 × √ ○
detection detection
and below)
upon upon
power-up power-up

0: No function
1~100: Auto reset times
Auto reset Auto reset
P97.13 Note: Auto reset is not available for 1 0 × √ ×
times times
module protection, external device fault
and AI over-current fault

Auto reset Reset

P97.14 2.0~20.0s per time 0.1s 5.0s × √ ×
interval interval

0: No abnormal record
1: Over-current during the drive
acceleration (Er.oC1)
2: Over-current during the drive
deceleration (Er.oC2)
3: Over-current when the drive is running
The first First new with constant speed (Er.oC3)
P97.15 1 0 × √ *
fault type fault 4: Over-voltage during the drive
acceleration (Er.oU1)
5: Over-voltage during the drive
deceleration (Er.oU2)
6: Over-voltage when the drive is running
with constant speed (Er.oU3)
7: Reserved

6-49
8: Reserved
9: Output side phase loss (Er.odF)
10: Power module protection (Er.drv)
11: Inverter bridge over-temperature
(Er.oH1)
12: Rectifier bridge over-temperature
(Er.oH2)
13: Drive overload (Er.oL1)
14: Motor overload (Er.oL2)
15: External fault（Er.EFT）
16: EEPROM read-write error (Er.EEP)
17: Abnormal serial port communication
(Er.SC1)
18: Reserved
19: Abnormal current detection circuit
(Er.CUr), Hall or amplifying circuit
20: System interference (Er.CPU)
21: Reserved
22: External reference command lost (Er.
EGL)
23: Reserved
24: Poor auto-tuning (Er.TUn)
25: PG fault (Er.PG1)
26: Undervoltage during running (Er.PoF)
27: Origin lost（Er.oRG）
28: Parameter setting error (Er.PST)
29: Control board 24V power short circuit
(Er.24v)
30: Reserved
31: Reserved
32: Reserved
33: Grounding short circuit (Er.GdF)
34: Large DEV deviation fault (Er.dEv)
35: Reserved
36: Reserved
37: Reserved
38: Reserved
39: Motor over-temperature (Er.oHL)
40: Reserved
41: Abnormal AI input fault (Er.AIF
abnormal analog input)
42: Inverter module temperature sampling
disconnection protection (Er.THI)
43: Reserved
44: Short circuit of ±10V analog output
power (Er.10v)
45: Abnormal internal over-current

6-50
 reference (Er.rEF)
46~50: Reserved
Note:
1. Er.drv fault can not be reset until 10s
later;
2. For continuous over-current less than 3
times (including 3 times), it can not be
reset until 6s later; if it is more than 3
times, it can not be reset until 200s later;
3. The keyboard displays AL.xxx in case
of any fault (e.g. in case of the contactor
fault, keyboard displays Er.xxx if there is
protection action, and displays AL.xxx if
continuing running with alarm)

The The
P97.16 second second The same as P97.15 1 0 × √ *
fault type fault type

The third The third

P97.17 The same as P97.15 1 0 × √ *
fault type fault type

DC bus DC bus
voltage at voltage at
P97.18 0~999V 1V 0V × √ *
the 3rd the 3rd
fault fault

Actual Actual
current at current at
P97.19 0.0~999.9A 0.1A 0.0A × √ *
the 3rd the 3rd
fault fault

Running Running
frequency frequency
P97.20 0.00Hz~3000.00Hz 0.01Hz 0.00Hz × √ *
at the 3rd at the 3rd
fault fault

Drive Drive
running running
0~FFFFH
P97.21 status at status at 1 0000 × √ *
The same as P01.17
the 3rd the 3rd
fault fault

Group P98: Drive parameters

P98.00 Serial No. Serial No. 0~FFFF 1 700 × √ *

DSP DSP
software software
P98.01 0.00~99.99 0.01 2.00 × √ *
version version
No. No.

User-custo User-cust
mized omized
P98.02 0~9999 1 3 × √ *
version version
No. No.

FPGA FPGA
P98.03 software software 0.00~99.99 0.01 1.00 × √ *
version version
6-51
 No. No.
Manuf
Rated Rated Output power (0~999.9kVA)
P98.04 0.1kVA acturer × √ *
capacity capacity (set by the model automatically)
setting
Manuf
Rated Rated 0~999V
P98.05 1V acturer × √ *
voltage voltage (set by the model automatically)
setting
Manuf
Rated Rated 0~999.9A
P98.06 0.1A acturer × √ *
current current (set by the model automatically)
setting
0: 220V
1: 380V
Drive Drive 2: 400V Manuf
P98.07 series series 3: 415V 1 acturer × √ *
selection selection 4: 440V setting
5: 460V
6: 480V

6-52