DS5C series servo driver

Fast manual

Wuxi Xinje Electric Co., Ltd.

Data No. S431005 1.4
This manual is suitable for the following users

 Designer of servo system

 Installation and wiring workers
 Commissioning and servo debugging workers
 Maintenance and inspection workers

Declaration of liability

 Although the contents of the manual have been carefully checked, errors are
inevitable, and we cannot guarantee complete consistency.
 We will often check the contents of the manual and make corrections in the
subsequent versions. We welcome your valuable comments.
 If there is any change to the contents introduced in the manual, please understand
without further notice.

Contact information

 Tel: 400-885-0136
 Fax: 0510-85111290
 Address:No.816, Jianzhu West Road, Binhu District, Wuxi City, Jiangsu Province,
China
 Postcode: 214072
 www.xinje.com
 Catalog
1. Servo system ............................................................................................................................................................ 2
1-1.Servo driver ...................................................................................................................................................2
1-1-1.Part description ................................................................................................................................. 2
1-1-2. Naming rule ......................................................................................................................................3
1-1-3. Performance ..................................................................................................................................... 3
1-2.Servo motor ...................................................................................................................................................4
1-2-1.Part description ................................................................................................................................. 4
1-2-2.Naming rule .......................................................................................................................................4
1-3.Cables ............................................................................................................................................................ 6
1-3-1.Cable configuration ...........................................................................................................................6
1-3-2. Cable terminal definition .................................................................................................................8
1-4. Selection of regenerative resistance ......................................................................................................... 11
1-4-1. Selection of regenerative resistance ..............................................................................................11
1-4-2. Brake unit (DBM-4110) specification .......................................................................................... 13
2. Servo driver and motor installation ......................................................................................................................15
2-1. Servo driver installation ............................................................................................................................ 15
2-1-1. Installation site ............................................................................................................................... 15
2-1-2. Environment condition .................................................................................................................. 15
2-1-3. Installation standard .......................................................................................................................15
2-2. Servo motor installation ............................................................................................................................ 17
2-2-1.Installation envrionment .................................................................................................................17
2-2-2. Environment condition .................................................................................................................. 17
2-2-3. Installation cautions ....................................................................................................................... 18
2-3. Servo motor dimension ............................................................................................................................. 19
2-4. Servo driver dimension ............................................................................................................................. 29
3. Servo system wiring .............................................................................................................................................. 32
3-1. Main circuit terminals explanation ...........................................................................................................32
3-2. Control terminal explanation and wiring ................................................................................................. 36
4. Before using operation of servo system ...............................................................................................................38
4-1. Operate panel display ................................................................................................................................ 38
4-1-1.PX-XX parameters ..........................................................................................................................39
4-1-2.UX-XX parameters .........................................................................................................................39

i
 4-1-3.FX-XX auxiliary function .............................................................................................................. 42
4-2. Panel button operation ...............................................................................................................................46
4-3. Modify the motor code ..............................................................................................................................47
5. Gain adjustment .....................................................................................................................................................47
5-1. Adaptive function ...................................................................................................................................... 47
5-1-1. Self-adaption mode selection switch parameter .......................................................................... 48
5-1-2. Recommended inertia ratio under default parameters .................................................................49
5-2. Auto-tuning ................................................................................................................................................ 49
5-3. Manual adjustment .................................................................................................................................... 50
5-3-1. Manual adjustment steps ............................................................................................................... 50
5-3-2. Manual adjustment parameter and function .................................................................................50
5.4 Gain adjustment application function ........................................................................................................51
5-4-1. Second set of gain adjustment .......................................................................................................51
5-5. Vibration suppression ................................................................................................................................ 57
6. EtherCAT communication specification .............................................................................................................. 59
7. EtherCAT operation mode .................................................................................................................................... 60
7-1. Homing Mode ............................................................................................................................................ 60
7-1-1. Overview ........................................................................................................................................ 60
7-1-2. Operation steps ...............................................................................................................................60
7-1-3. Related object table ........................................................................................................................60
7-2. Cyclic Synchronous Position Mode ......................................................................................................... 61
7-2-1. Overview ........................................................................................................................................ 61
7-2-2. CSP mode ....................................................................................................................................... 62
7-2-3. Operation steps ...............................................................................................................................62
7-2-4. Related object table ........................................................................................................................63
7-3. Cyclic Synchronous Velocity Mode ......................................................................................................... 64
7-3-1. Overview ........................................................................................................................................ 64
7-3-2. The function of CSV mode ........................................................................................................... 64
7-3-3. Operation steps ...............................................................................................................................64
7-3-4. Related object table ........................................................................................................................65
7-4. Cyclic Synchronous Torque Mode ........................................................................................................... 65
7-4-1. Overview ........................................................................................................................................ 65
7-4-2. The function of CST mode ............................................................................................................66

ii
 7-4-3. Operation steps ...............................................................................................................................66
7-4-4. Related object table ........................................................................................................................66
7-5. Profile Position Mode ................................................................................................................................67
7-5-1. Overview ........................................................................................................................................ 67
7-5-2. Operation steps ...............................................................................................................................67
7-5-3. Related object list ...........................................................................................................................67
7-6. Profile Velocity Mode ............................................................................................................................... 68
7-6-1. Overview ........................................................................................................................................ 68
7-6-2. Operation steps ...............................................................................................................................68
7-6-3. Related object list ...........................................................................................................................68
7-7. Torque Profile Mode ..................................................................................................................................69
7-7-1. Overview ........................................................................................................................................ 69
7-7-2. Operation steps ...............................................................................................................................69
7-7-3. Related object list ...........................................................................................................................69
8. Mode common function ........................................................................................................................................ 70
8-1. Touch Probe Function ................................................................................................................................70
8-1-1. Overview ........................................................................................................................................ 70
8-1-2. Operation steps ...............................................................................................................................70
8-1-3. Related object table ........................................................................................................................70
8-2. Position information .................................................................................................................................. 72
8-2-1. Electronic gear function ................................................................................................................ 72
8-2-2. Initialization of absolute encoder ..................................................................................................73
8-2-3. Position range limit ........................................................................................................................73
8-3. Interpolation time period ...........................................................................................................................73
9. Parameter list (refer to XML file for details) .......................................................................................................75
9-1.CoE object word ......................................................................................................................................... 75
9-1-1. Communication Profile zone .........................................................................................................75
9-1-2. Driver Profile zone ........................................................................................................................ 75
9-2. Driver parameters ...................................................................................................................................... 78
9-2-1. Group P parameters ....................................................................................................................... 78
9-2-2. Group F parameters ....................................................................................................................... 95
9-2-3. Group U monitoring parameters ................................................................................................... 96
Appendix ..................................................................................................................................................................100

iii
Appendix 1. motor specification .................................................................................................................... 100
Appendix 2. Servo driver and motor matching list .......................................................................................101
Appendix 3. Alarm list ....................................................................................................................................106
Appendix 4. Modbus address list ................................................................................................................... 121
Appendix 5. New functions of version 3770 .................................................................................................126

iv
►► Confirmation on product arrival

After the product arrives, please confirm the integrity of the product in the following aspects.

Items Notes
Does the product on arrival match the Please confirm according to the nameplate of servo motor
specified model? and servo unit.

Does the servomotor shaft rotate The servo motor shaft is normal if it can be turned smoothly

smoothly? by hand. Servo motors with brakes, however, cannot be

turned manually.
Check the overall appearance, and check for damage or
Is there any damage?
scratches that may have occurred during shipping.
Are there any loose screws? Check screws for looseness using a screwdrive.
Is the motor code the same with the code in Check the motor code marked on the nameplates of the
drive? servomotor and the parameter U3-70 on the servo drive.

If any of the above is faulty or incorrect, contact Xinje or an authorized distributor.

►► Safety precautions
 Confirmation when getting the product
 Do not install damaged drives, drives with missing parts, or drives with unqualified models.
 Product installation
 Be sure to disconnect all external power before installing the drive.
 Product wiring
 Be sure to disconnect all external power before wiring the drive.
 Please connect the AC power supply correctly to the special power terminal of the drive.
 Do not connect the output terminals U, V and W of the driver to the three-phase power supply.
 Please use 2mm2 wire to ground the ground terminal of the driver.
 Please ensure that the encoder line and power line are loose and not tight to avoid cable
damage.
 Operation and maintenance of products
 When powered on, be sure to install the panel shield.
 Do not touch the terminal within 10 minutes after disconnecting the power supply.
 During commissioning, do not connect the motor to the machinery.
 After connecting the machine, please set appropriate parameters of energy consumption before
operation.
 Do not change the wiring when live.
 Do not touch the radiator during operation.

1
1. Servo system
1-1.Servo driver

1-1-1.Part description

Signal terminal

Power supply

Motor wiring

RJ45 port

Encoder port

2
1-1-2. Naming rule

1-1-3. Performance
Servo unit DS5C series 220V
Suitable encoder Standard: 17bit/ 23bit encoder
DS5C-2□P□-PTA: single phase AC200~240V, 50/60Hz
[below 1.5KW (except 1.5KW) can use single phase AC200~240V
50/60Hz; 1.5KW and up please use single phase or 3-phase
Input power supply
AC200~240V 50/60Hz. (for single phase power supply, please
connect R, T, otherwise it will affect the power-off memory)]
DS5C-4□P□-PTA: 3-phase AC380～440V, 50/60Hz
3-phase full wave rectifier IPM PWM control sine current driving
Control method
mode
Using temperature -10～+40 ℃
Storage temperature -20～+60 ℃
Using Humidity Below 90% RH (no condensation)
codition Resistance to
vibration and impact 4.9m/s2 / 19.6m/s2
strength
Structure Base installation

3
1-2. Servo motor

1-2-1. Part description

Encoder part Frame

Flange

Output (transmission) shaft

1-2-2. Naming rule

 MS5 series motor

4
5
 MS6 series motor

Note: at present, the type selection of encoder is only the combination of CS, CM, TL and T!
Standard type 1 is an amp connector for 80 and below flange.
Standard type 2 is a small aviation plug connector for 80 and below flange.

1-3. Cables

1-3-1. Cable configuration

 Encoder cable

6
 Power cable

 Brake cable
 Applicable to motors 80 and below with suffix S01, brake cable model shall be selected:
CB-P03-length (ordinary material) / CBT-P03-length (high flexible material).
 Suitable for 750W and below power motors with suffix S02: CMBT-W07-M-length.
 For MS5G 130 flange medium inertia holding brake motor, the cable shall select power cable and
brake cable in one unit.
 The standard wiring length of Xinje includes 2m, 3m, 5m, 8m, 10m, 12m, 16m and 20m, among
which the non high flexible encoder cable and non high flexible power cable applicable to motors with
suffix S01 of 80 and below have specifications of 25m and 30m.

7
1-3-2. Cable terminal definition

 Encoder cable
(1) Encoder terminal defintion on servo driver side (flange 220 and below)
Pin definition
Connector
No. Name
1 5V
2 GND
1 3 5 3 /
2 4 6 4 /
5 485-A
6 485-B

(2) Encoder cable connection on motor side (flange 220 and below)
Pin definition
Connector Suitable model
No. Name
1 Battery +
2 Battery -
3 Shield cable
Suitable for MS5-40, 60, 80
4 485-A
flange S01 motor
5 485-B
Suitable for MS6-40, 60, 80
6 /
flange B1 motor
7 5V
8 GND
9 /
No. Name
1 Shield cable
2 Battery + Suitable for MS5-40, 60, 80
3 Battery - flange S02 motor
4 485-A Suitable for MS6-40, 60, 80
5 485-B flange B2 motor
6 5V
7 GND
No. Name
1 Shield cable
2 /
3 485-B Suitable for 110 and above
4 485-A flange (exclude 130 flange
5 / medium inertia, flange 220)
6 GND
7 Battery -
8 5V
9 Battery +

8
 No. Name
1 /
2 5V
3 GND
4 485-A Suitable for 130 flange
5 485-B medium inertia motor
6 Battery +
7 Battery -
8, 9 /
10 Shield cable
(3) Flange 220 encoder cable two sides connection
Motor side Driver side
Appearance No. Name No. Appearance
1 Shield cable 5
2 / /
3 485-B 3
4 485-A 4
5 / / 5 9
6 GND 6
7 Battery - /
8 5V 8
9 Battery + / 1 6
14 Temperature 1
sensor
15 Temperature 2
sensor
Description of battery box:
(1) The above encoder contains the pins of battery+, battery- and the cables defined are used for absolute
value motor, and the cables of non absolute value motor do not have this pin.
(2) Only the absolute value motor is equipped with a cable external battery box. The battery box has a
3.6V/2.7Ah high-capacity battery, and has the function of power-off battery replacement. The service time is
more than 2 years.

 Power cable
(1) Power cable pin definition on servo driver side
Pin definition
Connector
Color Definition
Brown U
Black V
Blue W

9
 Yellow green PE

(2) Power cable connection on motor side

Pin definition
Connector Suitable model
No. Name
1 U
2 W Suitable for 40, 60, 80 flange
3 V motor
4 PE
1 BK+ Suitable for 40, 60, 80 flange
2 BK- motor brake
1 PE
2 U
3 V Suitable for 750W and below
4 W small aviation plug motor
5 BK+
6 BK-
1 U
2 W Suitable for 40, 60, 80 flange
3 V B2 motor
4 PE
1 U
2 W
3 V Suitable for 40, 60, 80 flange
4 PE B2 brake motor
5 BK+
6 BK-
1 PE Suitable for 110 and above
2 U motor (include 130 flange
3 V medium inertia non brake
4 W motor)
1 PE
2 U
3 V
Suitable for 130 flange
4 W
medium inertia brake motor
5 BK+
6 BK-
7 /

10
Holding brake pin description:
The above cable with the definition of BK + and BK - pins is used for the motor with brake. The cable
without brake motor has no such pin and is an empty terminal.

 EtherCAT communication cable

1-4. Selection of regenerative resistance

1-4-1. Selection of regenerative resistance

When the servo motor is driven by the generator mode, the power returns to the servo amplifier side, which is
called regenerative power. The regenerated power is absorbed by charging the smooth capacitor of the servo
amplifier. After exceeding the rechargeable energy, the regenerative resistance is used to consume the
regenerative power.
The servo motor driven by regenerative (generator) mode is as follows:
 The deceleration stop period during acceleration and deceleration operation
 Running vertically and axially
 When the external load drives the motor to rotate.
Servo driver model Regenerative resistance connection terminals
(1) Using built-in regenerative resistance, short P + and D terminals, P + and C
are disconnected.

DS5C-□□P□-PTA (2) Use external regenerative resistance for 5.5kw and below drivers, connect
regenerative resistance to P + and C terminals, remove P + and D short wiring,
P0-25 = power value, P0-26 = resistance value.

11
 (3) Use external regenerative resistance for 5.5kw~11kw drivers, connect
regenerative resistance to P + and PB terminals, P0-25 = power value, P0-26 =
resistance value.
(4) For 22kw servo drivers, connect regenerative resistance to the brake unit.
Note: if software version U2-07 < 3700, the parameter P0-24 should be set.
The firmware version U2-07 ≥ 3700, P0-24 does not need to be set and can be
kept as the default.

The following table is the recommended specifications of external regenerative resistance for each type of
motor.

External
regenerative External regenerative
Rmin
Built-in brake resistance resistance
Servo driver model (Not less than this
unit (Recommended
value) (Recommended
resistance power values)
value)
DS5C-20P1-PTA
50Ω 50Ω—100Ω Above 200W
DS5C-20P2-PTA
DS5C-20P4-PTA
40Ω 40Ω—100Ω Above 500W
DS5C-20P7-PTA
DS5C-21P0-PTA
DS5C-21P5-PTA
25Ω 25Ω—50Ω Above 1000W
DS5C-22P3-PTA
DS5C-22P6-PTA
DS5C-41P0-PTA 75Ω 75Ω—100Ω Above 1000W
Built-in
DS5C-41P5-PTA 55Ω 55Ω—100Ω Above 1000W
DS5C-43P0-PTA 55Ω 55Ω—75Ω Above 1000W
DS5C-43P0-PTA-H 55Ω 55Ω—75Ω Above 1200W
DS5C-45P5-PTA
25Ω 25Ω—65Ω Above 2000W
DS5C-45P5-PTA-H
DS5C-47P5-PTA 25Ω 25Ω—50Ω Above 2000W
DS5C-47P5-PTA-H 22Ω 22Ω—45Ω Above 3000W
DS5C-411P0-PTA
20Ω 20Ω—45Ω Above 3000W
DS5C-415P0-PTA
DS5C-422P0-PTA - 20Ω 20Ω—30Ω Above 3000W
Above
DS5C-432P0-PTA - 15Ω 15Ω—25Ω
7000W~8000W

12
Note:
(1) The smaller the resistance is, the faster the discharge will be, but the smaller the resistance is, the easier

the breakdown resistance will be. Therefore, please close to the the lower limit but not be less than the lower

limit when choosing the type.

(2) When wiring, please use high-temperature flame-retardant wire, and the regenerative resistance surface

can not contact with the wire.

(3) 22kw servo driver DS5E-422P0-PTA has no built-in brake unit, the external brake unit is optional part.

The model is DBM-4110.

1-4-2. Brake unit (DBM-4110) specification

 Pin definition
Pin name Description
DC- Connect to DC bus -
DC+ Connect to DC bus +
Connect to one terminal
R1
of brake unit
Connect to another
DC- DC+ R1 R2 PE R2
terminal of brake unit
PE Connect to the ground

13
 Wiring diagram

14
2. Servo driver and motor installation
2-1. Servo driver installation

2-1-1. Installation site

 Please install it in the installation cabinet without sunshine or rain.

 Do not use this product near corrosive and flammable gas environments such as hydrogen sulfide,

chlorine, ammonia, sulfur, chlorinated gas, acid, alkali, salt, etc.

 Do not install in high temperature, humidity, dust, metal dust environment.

 No vibration place.

2-1-2. Environment condition

Item Description
Use ambient temperature -10℃~40℃ (no freezing)
Use ambient humidity 20%~90%RH (no condensation)
Storage temperature -20℃~60℃
Storage humidity 20%~90%RH (no condensation)
Vibration resistance ≤ 4.9m/s2
No more than 1000m, please derate to use when it is higher than 1000m
Altitude
(derate 1% for every 100m high)

2-1-3. Installation standard

Be sure to comply with the installation standard in the control cabinet shown in the figure below. This
standard is applicable to the situation where multiple servo drivers are installed side by side in the control
cabinet (hereinafter referred to as "when installed side by side").

15
 Servo Drive Orientation

Install the servo drive perpendicular to the wall so the front panel containing connectors faces outward.

 Cooling

As shown in the figure above, allow sufficient space around each servo drive for cooling by cooling fans or
natural convection.

 Side-by-side Installation

When install servo drives side by side as shown in the figure above, make at least 10mm between and at least
50mm above and below each servo drive. Install cooling fans above the servo drives to avoid excessive
temperature rise and to maintain even temperature inside the control panel.

 Environmental Conditions in the Control Panel

 Servo driver working ambient Temperature: -10~40 ℃

 Humidity: 90%RH or less
 Vibration: 4.9m/s2
 Condensation and Freezing: None
 Ambient Temperature for Long-term Reliability: 50°C maximum

16
2-2. Servo motor installation
MS series servomotors can be installed either horizontally or vertically. The service life of the servomotor can
be shortened or unexpected problems might occur if it is installed incorrectly or in an inappropriate location.
Follow these installation instructions carefully.

CAUTION

1． The end of the motor shaft is coated with antirust. Before installing, carefully remove all of the paint
using a cloth moistened with paint thinner.

2． Avoid getting thinner on other parts of the servo motor.

Antirust

2-2-1. Installation envrionment

 Do not use this product near corrosive and flammable gas environments such as hydrogen sulfide,

chlorine, ammonia, sulfur, chlorinated gas, acid, alkali, salt, etc.

 In places with grinding fluid, oil mist, iron powder, cutting, etc., please choose motor with oil seal.

 A place away from heat sources such as stoves.

 Do not use motor in enclosed environment. Closed environment will lead to high temperature and

shorten service life of motor.

2-2-2. Environment condition

When used in places with water droplets or oil droplets, the protection effect can be achieved through the

treatment of motors. However, in order to seal the through part of the shaft, please specify the motor with oil

seal. Connectors should be installed downward.

17
 Through part of shaft

MS series servo motors are for indoor use. Please use them under the following installation conditions:
Item Description
Use ambient temperature -10℃~40℃ (no freezing)
Use ambient humidity 20%~90%RH (no condensation)
Storage temperature -20℃~60℃
Storage humidity -20%~90%RH (no condensation)
Protection level IP65(MS5)/IP66 (MS6)

2-2-3. Installation cautions

Item Description

Antirust ◆ Before installation, please wipe the "rust-proof agent" of the extension end of the

treatment servo motor shaft, and then do the relevant rust-proof treatment.

◆ It is forbidden to impact the extension end of the shaft during installation, otherwise

the internal encoder will be broken.

Encoder cautions

When the pulley is installed on the servo motor shaft with keyway, the screw hole is

used at the end of the shaft. In order to install the pulley, the double-headed nails are

inserted into the screw holes of the shaft, the washer is used on the surface of the

Encoder cautions coupling end, and the pulley is gradually locked with the nut.

◆ For the servo motor shaft with keyway, use the screw hole at the end of the shaft to

install. For shaft without keyway, friction coupling or similar methods are used.

◆ When the pulley is dismantled, the pulley mover is used to prevent the bearing from

18
 being strongly impacted by the load.

◆ To ensure safety, protective covers or similar devices, such as pulleys installed on

shaft, are installed in the rotating area.

2-3. Servo motor dimension

 40 series motor installation dimension Unit: mm

 MS5 motor
2-
4.
3
46
30h7
8h6
3-0.014

15.5
深

4
0

M3

0 2.5 10
6.2-0.1 25±0.5 LA a40

LA±1
Motor model With Inertia level
Normal
brake
MS5S-40STE-C□0030□□-20P1-S01/S02 89.5 119 Low inertia

 MS6 motor
2-
∅

46
4.

∅
6
Ø30h7
Ø8h6

15
3N9

3
25±0.50 LA a40
M3 - 6H 8
0
6.2-0.1

LA±1
Motor model With Inertia level
Normal
brake
MS6H-40C□30B□1-20P1 91 122.9 High inertia

19
 60 series motor installation dimension Unit: mm

 MS5 motor

.5
Ø5
4-
Ø70

Ø14h6
Ø50h7

73
5-0.02

2 20
0

2
8
深
M5

3 8
30±0.5 LA
0 a60
5 11-0.1

LA±1
Motor model With Inertia level
Normal
brake
MS5S-60STE-C□00630□□-20P2-S01/S02 79 114
Low inertia
MS5S-60STE-C□01330□□-20P4-S01/S02 99 134
MS5H-60STE-C□00630□□-20P2-S01/S02 91 126
High inertia
MS5H-60STE-C□01330□□-20P4-S01/S02 111 146
MS-60STE-T01330-20P4-D01 145 189 -

 MS6 motor

4-∅ 5.5
M5深8 ∅ 70
5P9

Ø50h7
Ø14h6

20
0.0 3 8
11-0.1
30±0.5 LA a60
LA±1
Motor model With Inertia level
Normal
brake
MS6S-60C□301B□1-20P4 107 139 Low inertia
MS6H-60C□301B□1-20P4 119 151 High inertia

20
 80 series motor installation dimension Unit: mm
 MS5 motor

6
90

4-
2
19h6
70h7

2 25
8
M5深
6-0.02

3 8
0

35±0.5 LA a80
0
15,5-0,1
LA±1
Motor model With Inertia level
Normal
brake
MS5S-80STE-C□02430□□-20P7-S01/S02 107 144
Low inertia
MS5S-80STE-C□03230□□-21P0-S01/S02 128 165
MS5H-80STE-C□02430□□-20P7-S01/S02 119 156
High inertia
MS5H-80STE-C□03230□□-21P0-S01/S02 140 177
MS-80ST-T02430□□-20P7 150 199
-
MS-80ST-T03520□□-20P7 179 219

 MS6 motor

4-∅ 6.5 ∅ 90
Ø70h7
Ø19h6
10
深

25
M5

3
6P9

35±0.5
8 LA a80
0
15.5-0.1

LA±1
Motor model With Inertia level
Normal
brake
MS6S-80C□30B□□-20P7 117 150
Low inertia
MS6S-80C□20B□□-20P7 127 160
MS6H-80C□30B□□-20P7 124 157
High inertia
MS6H-80C□20B□□-20P7 149 182

21
 100 series motor installation dimension Unit: mm

5
11
9

∅
4-∅

Ø95h7
Ø22h6
32
8-0.02
-0.05

12 5 12
深
M6 45±0.5 LA a100

0
18-0.1

LA±1
Motor model With Inertia level
Normal
brake
MS6S-100C□30B2-21P5 158.5 - Low inertia

 110 series motor installation dimension Unit: mm

13

9
0

4-
2
95h7
19h6
6-0.018

2.5 40
25
0

深
M5

0 5 12
15.5-0.1
55±0.5 LA a110

LA±1
Motor model With Inertia level
Normal
brake
MS5S-110ST-C□03230□□-21P0-S01 157 205
MS5S-110ST-TL03230□□-21P0-S01 157 205
MS5S-110ST-C□04830□□-21P5-S01 166 214 Low inertia
MS5S-110ST-TL04830□□-21P5-S01 166 214
MS5S-110ST-C□06030□□-21P8-S01 181 229

22
 LA±1
Motor model With Inertia level
Normal
brake
MS-110ST-TL06030□□-21P8-S01 181 229
MS-110ST-T04030B-21P2 157 205 -
MS-110ST-T05030B-21P5 166 214

 130 series motor installation dimension Unit: mm

 MS5 motor

9
14
5

4-
2
110h7
22h6

40
6-0.02

2.5
15
0

深
M6

5 LB
0
18.5-0.1 57±0.5 LA a130

LA±1
Inertia
Motor model With LB
Normal level
brake
MS5G-130STE-C□05415□□-20P8-S01 117.5 147
MS5G-130STE-TL05415□□-20P8-S01 134.5 164.5
MS5G-130STE-C□07220□□-21P5-S01 132.5 162.5
MS5G-130STE-C□07220□□-41P5-S01 132.5 162.5
MS5G-130STE-TL07220□□-21P5-S01 149.5 179.5
MS5G-130STE-TL07220□□-41P5-S01 149.5 179.5
Medium
MS5G-130STE-C□11515□□-21P8-S01 159.5 189.5 12.5
inertia
MS5G-130STE-C□11515□□-41P8-S01 159.5 189.5
MS5G-130STE-TL11515□□-21P8-S01 176.5 206.5
MS5G-130STE-TL11515□□-41P8-S01 176.5 206.5
MS5G-130STE-C□14615□□-22P3-S01 180.5 210.5
MS5G-130STE-C□14615□□-42P3-S01 180.5 210.5
MS5G-130STE-TL14615□□-22P3-S01 197.5 227.5

23
 LA±1
Inertia
Motor model With LB
Normal level
brake
MS5G-130STE-TL14615□□-42P3-S01 197.5 227.5
MS5G-130STE-C□07330□□-22P4-S01 132.5 162.5
MS5G-130STE-TL07330□□-22P4-S01 149.5 179.5
MS5G-130STE-C□10025□□-22P6-S01 159.5 189.5
MS-130ST-T10015□□-21P5 205 264
MS-130STE-T07730□□-22P4 205 264 14 -
MS-130ST-T10025□□-22P6 209 290
MS-130ST-TL10030□□-43P0 225 284 15 -

4- 145
9
∅
∅
2
Ø110h7
Ø22h6

40

5 12.5
5
6P9

57±0.5 LA a130

0
18.5-0.1

LA±1
Motor model With Inertia level
Normal
brake
MS5G-130STE-C□06025B□-21P5-S01 122 153.5 Medium
MS5G-130STE-C□10015B□-21P5-S01 145 176.5 inertia

24
 MS6 motor

4- ∅ 9 ∅ 145
Ø110 -00h7

Ø22-00h6
P9

40
-0.1
8-0

M6深15
5 12.5
57 LA
0.0
18-0.1

LA±1
Motor model With Inertia level
Normal
brake
MS6H-130C□15B□2-20P8 126 156
MS6H-130C□15B□2-40P8 126 156
MS6H-130TL15B□2-20P8 142 172
MS6H-130TL15B□2-40P8 142 172
MS6H-130C□15B□2-41P3 148 178
MS6H-130TL15B□2-41P3 164 194
MS6H-130C□20B□2-21P5 148 178
MS6H-130TL20B□2-21P5 164 194
High inertia
MS6H-130C□15B□2-21P8 175 205
MS6H-130C□15B□2-41P8 175 205
MS6H-130TL15B□2-21P8 191 221
MS6H-130TL15B□2-41P8 191 221
MS6H-130C□15B□2-22P3 195.6 225.6
MS6H-130C□15B□2-42P3 195.6 225.6
MS6H-130TL15B□2-22P3 211.6 241.6
MS6H-130TL15B□2-42P3 211.6 241.6

25
 180 series motor installation dimension Unit: mm
 MS5 motor

.5
13

20
4-

0
2
114.3h7
35h6
10-0.03

51
深1

11
0

M12

3 20
0
30-0.1 79±0.5 LA a180

LA±1
Inertia
Motor model With
Normal level
brake
MS5G-180ST-TL19015□□-42P9-S01 221 303 Medium
MS5G-180ST-TL28015□□-44P4-S01 247 329 inertia

5
13.
20

4-
0

2
114.3h7
42h6
12-0.03

16 3 102
0

6深
M1
3 20
0
37-0.1 a180
113±0.5 LA

LA±1
Inertia
Motor model With
Normal level
brake
MS5G-180ST-TL35015□□-45P5-S01 277 359 Medium
MS5G-180ST-TL48015□□-47P5-S01 318 400 inertia

26
 MS6 motor

∅ 200
4- ∅ 13.5

Ø114.3h7
Ø35h6
65

3
P9

19
10-0.02
-0.05

a180
79±0.5 LA

M12 - 6H 16
0.00
30-0.10

LA±1
Motor model With Inertia level
Normal
brake
MS6H-180C□15B□2-43P0 215 255
MS6H-180TL15B□2-43P0 215 255
High inertia
MS6H-180C□15B□2-44P4 247 287
MS6H-180TL15B□2-44P4 247 287

4-∅ 13.5 ∅ 200

Ø114.3h7
Ø42h6

96

3
19 a180
113±0.5 LA
M16 - 6H 32
P9
-0.1

0.0
37-0.1
12-0

LA±1
Inertia
Motor model With
Normal level
brake
MS6H-180C□15B□2-45P5 269 309
MS6H-180TL15B□2-45P5 269 309 High
MS6H-180C□15B□2-47P5 325 365 inertia
MS6H-180TL15B□2-47P5 325 365

27
 4-∅ 13.5 ∅ 200

Ø114.30h7
Ø35h6
65
10-0.02P9
-0.05

3
19
79±0.50 LA a180
M12 - 6H 16
0.00
30-0.10

LA±1
Motor model With Inertia level
Normal
brake
MS6H-180CS/CM15E□2-45P5 269 309
High inertia
MS6H-180CS/CM15E□2-47P5 325 365

 220 series motor installation dimension Unit: mm

180 160
∅

4-∅
23

13
5

.50
P9

32
12-0.018
-0.061

309
Ø200h7
Ø42h6
6深
M1

121

90

0 4 20 a220
37-0.1 116±0.50 LA

LA±1
Motor model With Inertia level
Normal
brake
MS-220STE-TL70015B-411P0-XJ 454 -
-
MS-220STE-TL96015B-415P0-XJ 507 -
Medium
MS5G-220STE-□□40015B-422P0-S01 535 -
inertia

28
2-4. Servo driver dimension
 DS5C-20P1/20P2/20P4-PTA Unit: mm

45.0 175.1 33.8 Ø5.5

178.0

175.0

164.0
Ø5.5

 DS5C-20P7-PTA Unit: mm
60.0 181.3 Ø5.5 48.8
182.9

183.0

172.0

Ø5.5

 DS5C-21P0/21P5/41P5/22P3/22P6-PTA Unit: mm
85.0
60 193.3 74.0
175.0
186

∅ 5.5

 DS5C-41P0-PTA Unit: mm

29
 85
191.6 74
60

175
186
∅ 5.5
 DS5C-43P0-PTA/43P0-PTA-H Unit: mm
110.0 210.2 99.0
R2.8
222.0

211.0
210.2

5.5 5.5

 DS5C-45P5/47P5-PTA、DS5C-45P5/47P5-PTA-H Unit: mm
135 256.6 123.5

4-φ6.0
256.6

239.5
251

6.0 6.0

30
 DS5C-411P0/415P0-PTA Unit: mm
120.0 217.6

420.0

420.0
400.0
217.0

！ WARNING
* STORED CHARGE DO NOT TOUCH UNTIL
10 MIN. AFTER DISCONNECTION
* DO NOT CONNECT AC POWER TO OUTPUT
TERMINALS OF "U V W"
* RISK OF ELECTRIC SHOCK-DUAL SUPPLY
DISCONNECT MAINS AND LOADSHARING
BEFORE SERVICE

160.0
230.0
 DS5C-422P0/432P0-PTA Unit: mm
180.0 217.0
450.0

450.0
432.4
217.0

！ WARNING
* STORED CHARGE DO NOT TOUCH UNTIL
10 MIN. AFTER DISCONNECTION
* DO NOT CONNECT AC POWER TO OUTPUT
TERMINALS OF "U V W"
* RISK OF ELECTRIC SHOCK-DUAL SUPPLY
DISCONNECT MAINS AND LOADSHARING
BEFORE SERVICE

160.0
290.0

31
3. Servo system wiring
3-1. Main circuit terminals explanation
 DS5C-20P1/20P2/20P4/20P7-PTA
Terminal Function Explanation
L Power supply input of
L/N Single phase AC 200~240V, 50/60Hz
N main circuit
● Vacant terminal -
U
Connect the motor
V U, V, W Motor terminals Note: the ground wire is on the cooling fin, please
W
check it before power on!
Internal regenerative
P+ Short P+ and D, disconnect P+ and C, set P0-24=0
resistor
D
P+, D, C External regenerative Connect regenerative resistor between P+ and C,
C
resistor disconnect P+ and D, P0-25= power value, P0-26=
resistor value, P0-24=1
 DS5C-21P0/21P5/2P3/2P6-PTA
Terminal Function Explanation
single phase/3-phase AC 200~240V, 50/60Hz ((If
R Power supply input of single-phase power is supplied, please connect R/T,
R/S/T
S main circuit otherwise parameter memory will be affected when
T power is lost)
● Vacant terminal -
U
Connect the motor
V U, V, W Motor terminals Note: the ground wire is on the cooling fin, please
W check it before power on!
P+
Internal regenerative
D Short P+ and D, disconnect P+ and C, set P0-24=0
resistor
C P+, D, C External regenerative Connect regenerative resistor between P+ and C,
resistor disconnect P+ and D, P0-25= power value, P0-26=
resistor value, P0-24=1
Connect to ground terminal of motor, then connect
Ground terminal
to the ground

32
  DS5C-41P0-PTA
Terminal Function Explanation
Power supply input of
R, S, T 3-phase AC 380~440V, 50/60Hz
main circuit
Connect the motor
U, V, W Motor terminals Note: the ground wire is on the cooling fin, please
check it before power on!
Internal regenerative
Short P+ and D, disconnect P+ and C
resistor
P+, D, C External regenerative Connect regenerative resistor between P+ and C,
resistor disconnect P+ and D, P0-25= power value, P0-26=
resistor value
The real-time voltage of the bus can be measured.
P+, P- Bus terminal
Please pay attention to the danger
Connect to ground terminal of motor, then connect
Ground terminal
to the ground

 DS5C-41P5-PTA
Terminal Function Explanation
Power supply input of
R R/S/T 3-phase AC 380~440V, 50/60Hz
main circuit
380V

S
● Vacant terminal -
T
Connect the motor
U U, V, W Motor terminals Note: the ground wire is on the cooling fin, please
V check it before power on!
W
Internal regenerative
P+ Short P+ and D, disconnect P+ and C
resistor
D
P+, D, C External regenerative Connect regenerative resistor between P+ and C,
C
resistor disconnect P+ and D, P0-25= power value,
P0-26= resistor value
Power supply input of Connect to ground terminal of motor, then connect
main circuit to the ground

33
  DS5C-43P0-PTA, DS5C-43P0-PTA-H
R Terminal Function Explanation
380V

S R, S, T Power supply input of

T 3-phase AC 380~440V, 50/60Hz
main circuit
● Vacant terminal -
U
V Connect the motor
W U, V, W Motor terminals Note: the ground wire is on the cooling fin, please
P+ check it before power on!
D Connect regenerative resistor between P+ and C,
External regenerative
C disconnect P+ and D, P0-25= power value,
resistor
P+, D, C P0-26= resistor value
Internal regenerative
Short P+ and D, disconnect P+ and C
resistor
Connect to ground terminal of motor, then connect
Bus terminal
to the ground

 DS5C-45P5/47P5-PTA, DS5C-45P5/47P5-PTA-H
R
Terminal Function Explanation
380V

S
T R, S, T Power supply input of
3-phase AC 380~440V, 50/60Hz
NC main circuit
U NC Vacant terminal -
V
W Connect the motor
NC U, V, W Motor terminals Note: the ground wire is on the cooling fin, please
P+ check it before power on!
PB
External regenerative Connect regenerative resistor between P+ and PB,
P- P+, PB
resistor P0-25= power value, P0-26= resistor value
Real-time bus voltage can be measured. Please
P+, P- Bus terminal
pay attention to the danger.
 DS5C-411P0/415P0-PTA
P+ P-

Terminal Function Explanation

Power supply input of
R

R, S, T 3-phase AC 380~440V, 50/60Hz

POWER

main circuit
S

PE Connect to ground -
T

Connect the motor

PE

U, V, W Motor terminals Note: the ground wire is on the cooling fin,

U
MOTOR

please check it before power on!

V

Connect regenerative resistor between P+ and

W

External regenerative
P+, PB PB, P0-25= power value, P0-26= resistor
PB

resistor
value

34
 Real-time bus voltage can be measured.
P+, P- Bus terminal
Please pay attention to the danger.

 DS5C-422P0/432P0-PTA
Terminal Function Explanation
PE

Power supply input of

R, S, T 3-phase AC 380~440V, 50/60Hz
W

main circuit
V

PE Connect to the ground -

P1 P+ P- U

Connect the motor

U, V, W Motor terminals Note: the ground wire is on the cooling fin,
please check it before power on!
It is necessary to select the braking unit and
T

braking resistance. The input terminal of the

S

P1, P-: external brake

braking unit is connected to P1 and P -, and
R

unit
the braking resistance is connected to the
output of the braking unit
P1, P+, P- After removing the short connector, the DC
P1, P+: the terminals reactor can be connected in series to suppress
are short connected the high-order harmonic of the power supply
and improve the output DC waveform
The real-time voltage of the bus can be
P+, P-: bus terminal
measured. Please pay attention to the danger.

 Servo motor terminal wiring

Signal 40, 60, 80 series motor 110, 130 series motor
PE 4-yellow green 1-yellow green
U 1-brown 2-brown
V 3-black 3-black
W 2-blue 4-blue

35
3-2. Control terminal explanation and wiring
The numbers of the following connectors are in the order when looking at the solder patch.
CN0
CN1
Below 1.5KW 1.5KW and up
P- P-
P+24V P+24
D- D-
D+24V D+24
SI1 SI1
SI2 SI2
SI3 SI3
+24V SI4
SO1 +24V
SO2 SO1
SO3 S02
COM SO3
SO4
COM

 CN0 terminal explanation (below 1.5KW, 3 inputs, 3 outputs）

No. Name Explanation No. Name Explanation
1 P- Pulse input PUL- 7 SI3 Input terminal 3
2 P+24V Open collector input 8 +24V Input +24V
3 D- Direction input DIR- 9 SO1 Output terminal 1
4 D+24V Open collector input 10 SO2 Output terminal 2
5 SI1 Input terminal 1 11 SO3 Output terminal 3
Output terminal
6 SI2 Input terminal 2 12 COM
ground

 CN0 terminal description (above 1.5KW, 4 inputs, 4 outputs)

No. Name Explanation No. Name Explanation
1 P- Pulse input PUL- 8 SI4 Input terminal 4
2 P+24V Open collector input 9 +24V Input +24V
3 D- Direction input DIR- 10 SO1 Output terminal 1
4 D+24V Open collector input 11 SO2 Output terminal 2
5 SI1 Input terminal 1 12 SO3 Output terminal 3
6 SI2 Input terminal 2 13 SO4 Output terminal 4
Output terminal
7 SI3 Input terminal 3 14 COM
ground

36
  CN1 terminal explanation

No. Name Explanation No. Name Explanation

OUT 1 TX A+ Data send + 9 TX B+ Data send +

2 TX A- Data send - 10 TX B- Data send -
3 RX A+ Data receive + 11 RX B+ Data receive +
4 - 12 -
5 - 13 -
6 RX A- Data receive - 14 RX B- Data receive -
7 - 15 -
IN
8 - 16 -

Note: the servo motion bus function requires optional bus module, which is inserted into the driver CN1 port
to realize the extended bus function. Please note that the module cannot be hot swapped in use. It is
recommended to use PROFIBUS standard connecting cable in order to achieve the best communication
reliability.

 CN2 terminal explanation

The terminals of the CN2 connector are arranged as follows (faced solder plates):

No. Definition
1 5V
1 3 5 2 GND
2 4 6 5 485-A
6 485-B

37
4. Before using operation of servo system
4-1. Operate panel display
Button Operation
power STA/ESC Short press: state switch, state return
Short Press: The display data increases
INC Long press: The display data increases
continuously
Short Press: The display data decreases
DEC Long press: The display data decreases
STA/ESC INC DEC ENTER continuously
Short press: shift
ENTER
Long press: Set and view parameters.
By switching the basic state of the panel operator, the operation state display, parameter setting, auxiliary
function operation command and other operations can be carried out.
After pressing the STA / ESC key, the States will be switched in the order shown in the figure below.
Status: BB indicates that the servo system is idle; Run indicates that the servo system is running and RST
indicates that the servo needs to be powered on again.

 Parametric setting Px-xx: The first X represents the group number, and the last two X

represents the parameter serial number under the group.

 Monitor status Ux-xx: The first X represents the group number, and the last two X represents

the parameter number under the group.

 Auxiliary function Fx-xx: The first X denotes the group number, and the last two X denotes the

38
 parameter number under the group.

 Alarm state E-xxx: The first two X denote the alarm category, and the last x denotes the small

category under the category.

4-1-1. PX-XX parameters

Refer to the appendix.

4-1-2. UX-XX parameters

 U0-21 input signal status

 U0-21 input signal 1 distribution

Segment Segment
Description Description
code code
1 /S-ON servo enable 2 /P-CON proportion action instruction
3 /P-OT prohibition of forward drive 4 /N-OT prohibition of reverse drive
5 /ALM-RST alarm reset 6 /P-CL forward side external torque limit
/N-CL reverse side external torque
7 8 /SPD-D internal speed selection
limit
9 /SPD-A internal speed selection 10 /SPD-B internal speed selection
Note: When reading through communication, the binary numbers read from right to left correspond to the
position of / S-ON, / P-CON, 0 means that the position signal is not input, 1 means that the position signal
has input. Example: 0x0001 means / S-ON has input, 0x0201 means / S-ON and / SPD-B has input.

39
 U0-22 input signal status

 U0-22 input signal 2 distribution

Segment Segment
Description Description
code code
11 /C-SEL control mode selection 12 /ZCLAMP zero clamp
13 /INHIBIT instruction pulse prohibition 14 /G-SEL gain switch
15 /CLR pulse clear 16 /CHGSTP change step
17 /I-SEL inertia switching 18 —
19 — 20 —
Note: When reading through communication, the binary numbers read from right to left correspond to
the position of /C-SEL, /ZCLAMP, 0 means that the position signal is not input, 1 means that the
position signal has input. Example: 0x0001 means /C-SEL has input, 0x0041 means /C-SEL and
/I-SEL have input.

Note: "-" is for reserved display and does not represent any signal. The status bit is always 0.

 U0-23 output signal status

40
 U0-23 output signal 1 distribution

Segment Segment
Description Description
code code
Positioning completion hold
1 2 Positioning completion（/COIN）
（/COIN_HD）
3 Same speed detection（/V-CMP） 4 Rotate detection（/TGON）
5 Ready （/S-RDY） 6 Torque limit（/CLT）
7 Speed limit detection（/VLT） 8 Break lock（/BK）
9 Warn （/WARN） 10 Output near（/NEAR）
Note: When reading through communication, the binary numbers read from right to left correspond to the
position of / COIN_HD, / COIN, 0 means that the position signal is not output, 1 means that the position
signal has output. Example: 0x0001 means / COIN_HD has output, 0x0201 means / COIN_HD and /
NEAR has output.

 U0-24 output signal status

41
 U0-24 output signal distribution
Seg
Segme
Description ment Description
nt code
code
11 Alarm (/ALM) 12 —
13 — 14 —
15 Speed reach（/V-RDY） 16 Customized output 1
17 Customized output 2 18 —
19 — 20 —
Note: when reading the status through communication, the read binary number corresponds to /ALM
and "-" position from right to left. 0 means that the position signal is not output, and 1 means that the
position signal is output. Example: 0x0001 indicates that /ALM has output, 0x0041 indicates that
/ALM and /custom output 2 have output.
Note: "-" is for reserved display and does not represent any signal. The status bit is always 0.

4-1-3.FX-XX auxiliary function

 F0-XX
Function code Explanation
F0-00 Alarm clear
F0-01 Resume to default settings
F0-02 Clear the position offset
1. Clear alarm (parameter F0-00)
In case of failure, it will automatically jump out of the alarm state of E-xxx and display the alarm number. In

42
case of no failure, the alarm state will not be visible. In the alarm state, write 1 to F0-00 through panel
operation to reset the fault.
In case of servo alarm due to servo power off, it is not necessary to clear the alarm. When an alarm occurs,
first eliminate the cause of the alarm, and then clear the alarm.
2. Restore the parameter to the factory value (parameter F0-01)
First turn the servo off, and then restore the factory operation. The operation is as follows:
Set F0-01 = 1, press enter to confirm, then the parameter recovery has been completed, and there is no need
to power off again.
3. Clear deviation (parameter F0-02)
Set F0-02 = 1 to clear the deviation.
4. Panel inertia identification (parameter F0-07)
Before inertia identification, please use F1-00 jog function to confirm the servo rotation direction. At the
beginning of inertia identification, Inc or Dec determines the initial direction of servo operation!
If the servo jitters under the adaptive default parameters, please switch to the adaptive large inertia mode
(P2-03.3 = 1) to ensure the stable operation of the servo before inertia identification!
When the servo is in BB state, enter the parameter F0-07 display:

5. Panel external command self-tuning (parameter F0-08)

Refer to section 5-2-1 for detailed steps.

6. Panel internal command self-tuning (parameter F0-09)

Refer to section 5-2-2 for detailed steps.

7. Panel vibration suppression (parameters F0-10, F0-11)

Vibration
Display Changed parameters
suppression mode
Mode 1 vib-1 Only the parameters related to vibration
suppression will be changed
Mode 2 Vib-2 The parameters related to vibration suppression
and the gain of speed loop will be changed
The operation steps are described below:
(1) In the self-tuning mode, enter the parameter F0-10 and the panel displays vib-1 or enter F0-11 and the
panel displays vib-2

or
(2) Briefly press the Enter key, and the panel displays Son and flashes. At this time, it needs to be enabled
manually

43
(3) After the servo enable is turned on, the panel displays tune and flashes to enter the setting state

(4) The upper device starts to send pulse command until done is displayed and flashes to complete vibration
suppression

(5) Short press STA / ESC to exit

The vibration suppression parameters will be automatically written into the second and first notch filters
(when there is only one vibration point, the second notch will be opened first). See the user manual for
relevant parameters.

8. Panel vibration suppression (fast FFT) (F0-12)

This function can be used to analyze the mechanical characteristics through F0-12 parameters on the servo
operation panel, find out the mechanical resonance frequency and achieve vibration suppression.
The steps are as following:

 F1-XX
Function code Explanation
F1-00 Jog run
F1-01 Test run
F1-02 Current Sampling Zero-correction
F1-05 Forced enable
F1-06 Reset turns of absolute encoder

1.Jog operation (F1-00)

Before entering inching mode, please confirm that the motor shaft is not connected to the machine and the
driver is bb idle!
During inching operation, parameters such as gain will participate in the control, and whether the parameter
setting is appropriate can be judged according to the operation condition.

44
 P3-18 JOG speed
Unit Default Setting range Suitable Modify Effective
setting mode
1rpm 100 0~1000 JOG Servo OFF At once

2.Test run (F1-01)

Before entering the test run mode, please confirm that the motor shaft is not connected to the machine!
When the servo driver is connected to the non-original encoder or power cable, it should first enter the test
run mode to verify that the encoder terminal or power terminal is connected correctly.
Test run mainly checks the power cable and the encoder feedback cable to determine whether the connection
is normal. According to the following operation, the motor can normally achieve forward and reverse rotation.
If the motor shaft shakes or driver alarms, please immediately disconnect the power supply, and re-check the
wiring situation.

3.Current sampling zero-correction (F1-02)

When the servo driver is self-renewed or the motor runs unsteadily after a long time, the user is advised to

use the current sampling zero-correction function.

Press STA/ESC to exit, please power on again.

4.Panel enable
Parameter Signal name Setting Meaning Change Effective
0 Not enable
Enable 1 (default) I/O enable /S-ON Servo
P0-03 At once
mode OFF
2 Forced enable

45
 (F1-05 or communication)
3 Fieldbus enable (the model
which supports motion
bus)
If P0-03 set to 2,

F1-05 = 0: cancel enable, enter bb status.

F1-05 = 1: forced enable, servo is in RUN status.

Note: after power on again, the forced enable will fail.
If the user wants to enable as soon as the power is on, and it still takes effect after power failure, P5-20 is set
to n.0010. (P0-03 = 1 effective)

5.clear the turns of absolute encoder (F1-06)

First turn the servo off, and then clear the turns of the absolute encoder. The operation is as follows:
Write 1 to F1-06 through panel operation to clear the turns of absolute encoder.
Write 1 to 0x2106 hexadecimal address through Modbus RTU to clear the turns (servo bb status takes effect,
and write 0 to the address 0x2106 after clearing).

4-2. Panel button operation

Take modifing P3-09 as an example:
Step Display Use buttons Operation

1 No operation

Press STA/ESC to enter parameter

2
setting

Press INC to increase by 1, press 3

3
times to add to 3, it shows P3-00

Press ENTER, the last “0” will

4
flash

5 Press INC to increase to 9

6 Long press ENTER to enter P3-09

Press INC, DEC, ENTER to

increase/decrease and shift bit,
7
after changing, long press ENTER
to confirm
8 END

46
4-3. Modify the motor code
Note:
(1) A servo driver can be equipped with a variety of motors with similar power levels. Different types of
motors are distinguished by the motor code on the motor nameplate. Before commissioning the servo system,
please confirm whether the motor code U3-70 matches the motor nameplate label.
(2) If the motor code is set incorrectly, the driver will give an alarm, directly set P0-33 to 0000, power off and
power on again.

5. Gain adjustment
The new generation DS5C series servo has rigid self-adaptive, self-tuning and manual adjustment functions,
without complicated parameter adjustment process, which greatly saves the gain adjustment time.
Adaptive function: adaptive function refers to the function that can obtain stable response through automatic
adjustment regardless of the type of machinery and load fluctuation.
Self-tuning function: self-tuning refers to the function that the servo unit automatically adjusts according to
the mechanical characteristics when performing automatic operation (forward and reverse reciprocating
motion) within the set range or receiving the operation command of the upper device.
Manual adjustment function: manual adjustment is the function of directly setting the rigidity level to
obtain stable gain on the basis of setting the load inertia ratio.

5-1. Adaptive function

In the case of low responsiveness requirements, this function can be used quickly by setting the gear ratio and
enabling functional parameters, saves the servo adjustment time.
The self-adaption default parameter is defined as the small inertia mode, in which the load inertia does not
change within 20 times; P2-03.3 setting to 1 means switch to large inertia mode, which is most suitable for
50-80 times load inertia operation (above take 60/80 flange motor as the example).

47
In order to ensure safety, the self-adaption operation should be carried out when the enable function can be
shut down and servo can be stop urgently at any time.

5-1-1. Self-adaption mode selection switch parameter

Inertia mode Self-adaption Parameter notes

selection switch default parameters

P2-05=400 Adaptive small inertia mode speed loop gain

P2-11=100 Adaptive small inertia mode position loop gain

P2-10=500 Adaptive small inertia mode speed loop integral

P2-03.3=0
P2-07=0 Adaptive small inertia mode inertia ratio
Small inertia mode
P2-08=60 Adaptive small inertia mode speed observer gain

P2-12=30 Adaptive small inertia mode stable max inertia ratio

P2-19=50 Adaptive small inertia mode control bandwidth

P6-05=200 Adaptive large inertia mode speed loop gain

P2-11=100 Adaptive large inertia mode position loop gain

P2-10=500 Adaptive large inertia mode speed loop integral

P2-03.3=1
P6-07=50 Adaptive large inertia mode inertia ratio
Large inertia mode
P6-08=40 Adaptive large inertia mode speed observer gain

P6-12=50 Adaptive large inertia mode stable max inertia ratio

P2-19=70 Adaptive large inertia mode control bandwidth

Note:
(1) P2-19 default value is different for different power drive.
(2) P2-05 default value is 200 for the drive above 1.5kw.

Parameter Default Range Effect

value

P2-05/P6-05 400/200 200~400 Reduction can improve the inertia capability, but it will
reduce the responsiveness, which has a greater impact on
the responsiveness.

P2-07/P6-07 0/50 0~200 Increase can greatly improve the inertia capacity, and will
not affect the responsiveness, too large is prone to
oscillation.

48
 P2-08/P6-08 60/40 30~60 Reducing P2-08 and increasing P2-12 can greatly improve

P2-12/P6-12 30/50 30~60 the inertia capability, but it will reduce the responsiveness,
which has a great impact on responsiveness.

P2-10 500 200~larger Adjust according to need, generally increase

P2-11 100 50~200 Adjust according to need

P2-19 50~70 40~80 Increasing will increase the inertia capacity slightly, and it
has little effect on the responsiveness, as an auxiliary
parameter.

5-1-2. Recommended inertia ratio under default parameters

Recommended load inertia ratio in Recommended load inertia ratio in
Motor flange
small inertia mode large inertia mode
40 Below 20 times 60 times ~ 80 times
60 Below 20 times 60 times ~ 80 times
80 Below 20 times 60 times ~ 80 times
130 Below 10 times 15 times ~ 20 times
180 Below 5 times 10 times ~ 20 times
If the load inertia is over the recommended value in the table, please change the related parameters of gain.
The method is shown as below:
If the inertia is 20 times to 30 times
Increase P2-07 appropriately, decrease P2-05 if necessary. You can also refer to the following super-large
inertia debugging methods.
Super-large debugging experience (50-100 times inertia):
Increase P2-12 (40~50 is recommended), reduce P2-08 (40~50 is recommended), reduce P2-05(100~300 is
recommended), increase P2-07(10~50 is recommended). Please flexible adjust according to load inertia.

Application example:
(1) 30-times inertia load gain parameters
When it is default value, please set P2-08=50 P2-12=40 P2-07=50
(2) 80-times inertia load gain parameters
When it is default value, please set P2-08=40 P2-12=50 P2-07=50 P2-05=200 P2-10=1000

5-2. Auto-tuning
Auto-tuning parameter setting is based on the current institution, the parameters after auto-tuning is not
applicable to empty shaft and other types of load, the auto-tuning is divided into no instruction auto-tuning

49
and auto-tuning with instruction, it needs the servo PC software to adjust, detailed usage please refer to PC
software manual.

5-3. Manual adjustment

Manual adjustment needs to set load inertia first, then turn off the self-adaption function to use. Servo
firmware version 3640 and later supports this function.

5-3-1. Manual adjustment steps

1. Set the load inertia ratio P0-07 (Estimation of inertia by upper computer or known load inertia).

2. Change P2-01.0 to 0, turn off self-adaption function.

After the above two steps, the manual adjustment takes effect. The rigidity level is adjusted by P0-04 (rigidity

level parameter). The rigidity gain is divided into 31 levels, and each level corresponds to a set of parameters.
Parameter Name
P1-00 Speed loop gain
P1-01 Integral time constant of speed loop
P1-02 Position loop gain
P2-49 Model loop gain
P2-35 Torque command filter time constant

Notes for debugging:

(1) Rigidity level generally increases or decreases in the default value. If the rigidity level is not suitable in
actual operation, it can be modified by P0-04. The larger the value, the greater the gain and the stronger the
rigidity.

(2) Under the current rigidity level, if the requirements are not met, the above five parameters can still be
fine-tuned.

(3) If vibration occurs, it is necessary to detect resonance frequency by mechanical characteristic analysis and
to configure notch parameters to suppress vibration.

5-3-2. Manual adjustment parameter and function

Parameter Name Explanation

P0-07 Load inertia The ratio of load and rotor inertia, the value can be deduced by the upper
ratio device inertia recognition

P1-00 Speed loop In the absence of noise and vibration, increasing this parameter can speed up
gain the positioning time and bring better speed stability and follow-up. In the
case of noise and vibration, reduce the setting value of this parameter

50
P1-01 Speed loop In the absence of noise and vibration, reducing the value can strengthen the
integral integral function and speed up the positioning time. If this value is too high,
it will cause the speed loop deviation return to zero become slowly

P1-02 Position In the absence of noise and vibration, increasing this parameter can speed up
loop gain the positioning time

P2-01.0 Auto-tuning 0: auto-tuning

switch 1: self-adaption

P2-35 Torque filter increase this value can reduce the noise, but the velocity fluctuation will
time become larger and vibration will easily occur.
constant If this value is reduced, the noise will increase, but the velocity fluctuation
will decrease.
The greater the load inertia, the greater the value

P2-49 Model loop When the value is increased, the rigidity level will be improved and the
gain position curve following features will be improved, but it is easy to
overshoot.
decreasing this value can reduce the overshoot, but the position curve
becomes less traceable

5.4 Gain adjustment application function

5-4-1. Second set of gain adjustment

The following functions are only supported in version 3770 and later.
Default
Parameter Meaning Modify Effect
setting
0-SI terminal switching gain is valid (gain
switching condition parameters are not valid)
n.□□□0 1 - perform gain switching according to gain
switching conditions
2 - reserved
n.□□X□: Gain switching condition
P1-14 selection 0 Servo bb At once
0 - 1st gain fixed
1 - switching using external SI terminals
n.□□□1
2 - large torque command
3 - high speed command
4 - speed command changes greatly
5 - [reserved] - fixed as the first gain

51
 Default
Parameter Meaning Modify Effect
setting
6 - large position deviation
7 - position command
8 - positioning completed
9 - high actual speed
A - position command + actual speed
P1-15 Gain switching waiting time 5 Servo bb At once
P1-16 Gain switching level threshold 50 Servo bb At once
P1-17 Hysteresis of gain switching level threshold 30 Servo bb At once
P1-18 Position loop gain switching time 2 Servo bb At once
Note:
(1) The gain switching waiting time takes effect only when the second gain is switched back to the first gain.
(2) The definition of "gain switching level threshold hysteresis" is shown in the following figure:

(3) Description of "position gain switching time":

(4) Description of gain switching conditions

Gain switching condition setting Related parameter
P1-17
P1-16
P1-15 threshold
P1-14.1 condition Diagram Grade
Wait time hysteresis
threshold
loop
First gain
0 - Invalid Invalid invalid
fixed

52
 Gain switching condition setting Related parameter
P1-17
P1-16
P1-15 threshold
P1-14.1 condition Diagram Grade
Wait time hysteresis
threshold
loop

Terminal Valid Invalid Invalid

1
switching

Gain switching using G-SEL signal:

G-SEL signal is invalid, group 1 gain; G-SEL signal is valid, group 2 gain.

Valid Valid
Valid
(%) (%)
Torque
2
command

When the absolute value of torque command exceeds (level + hysteresis) [%] at the last
first gain, switch to the second gain;
In the last second gain, the absolute value of the torque command is less than (level -
hysteresis) [%], and then wait until P1-15 remain in this state, return to the first gain.

Valid Valid Valid

Speed
3
command

When the absolute value of the speed command exceeds (level + hysteresis) [RPM] at the
last first gain, switch to the second gain;
At the last second gain, the absolute value of the speed command is less than (level -
hysteresis) [RPM], and then wait until P1-15 remain in this state, return to the first gain.

53
 Gain switching condition setting Related parameter
P1-17
P1-16
P1-15 threshold
P1-14.1 condition Diagram Grade
Wait time hysteresis
threshold
loop

Valid Valid
Valid
speed (10rpm/s) (10rpm/s)
command
4
changing
rate

In the last first gain, when the absolute value of the speed command change rate exceeds
(level + hysteresis) [10rpm/s], switch to the second gain; At the last second gain, when the
absolute value of the speed command change rate is less than (level-hysteresis) [10rpm / s],
wait until P1-15 remain in this state, and return to the first gain.

Valid Valid
Speed Invalid
(rpm) (rpm)
command
high and
low speed
5 threshold
In the last first gain, when the absolute value of the speed command exceeds (level-
[not
hysteresis) [RPM], switch to the second gain, and the gain gradually changes. When the
supported
absolute value of the speed command reaches (level + hysteresis) [RPM], the gain
temporarily
completely changes to the second gain;
]
At the last second gain, when the absolute value of the speed command is lower than (level
+ hysteresis) [RPM], it starts to return to the first gain, and the gain changes gradually.
When the absolute value of the speed command reaches (level-hysteresis) [RPM], the gain
completely returns to the first gain.

54
 Gain switching condition setting Related parameter
P1-17
P1-16
P1-15 threshold
P1-14.1 condition Diagram Grade
Wait time hysteresis
threshold
loop

Valid Valid
Valid (encoder (encoder
unit) unit)
Position
6
offset

Valid only in position mode (other modes are fixed as the first gain)
When the absolute value of position deviation exceeds (level + hysteresis) [encoder unit] at
the last first gain, switch to the second gain; In the last second gain, the state when the
absolute value of the position deviation is less than (level-hysteresis) [encoder unit], and
then wait until P1-15 remain in this state, return to the first gain.

Valid Invalid Invalid

Position
7
command

Valid only in position mode (other modes are fixed as the first gain):
In the last first gain, if the position command is not 0, switch to the second gain; At the last
second gain, if the position command is in the state of 0, it returns to the first gain when
the waiting time P1-15 remains in this state.

Valid Invalid Invalid

Positioning
8
completion

Valid only in position mode (other modes are fixed as the first gain)
In the last first gain, if the positioning is not completed, switch to the second gain; At the
last second gain, if the state of positioning completion remains in this state for the waiting

55
 Gain switching condition setting Related parameter
P1-17
P1-16
P1-15 threshold
P1-14.1 condition Diagram Grade
Wait time hysteresis
threshold
loop
time P1-15, the first gain is returned
Note: it is necessary to set the mode of positioning completion detection according to
P5-01.

Valid Valid
Valid
(rpm) (rpm)

Actual
9
speed
Valid only in position mode (other modes are fixed as the first gain):
When the absolute value of the actual speed exceeds (level + hysteresis) [RPM] at the last
first gain, switch to the second gain.
At the last second gain, the absolute value of the inter speed is less than (level-hysteresis)
[RPM], and then wait until P1-15 remain in this state, return to the first gain.

Valid Valid
Valid
（rpm） （rpm）

Position
A command+ Valid only in position mode (other modes are fixed as the first gain):
actual speed In the last first gain, if the position command is not 0, switch to the second gain.
At the last second gain, the state in which the position command is 0 maintains the second
gain within the waiting time P1-15.
When the position command is 0 and the waiting time P1-15 arrives, if the absolute value
of the actual speed is less than (level) [RPM], the speed integral time constant is fixed at
the second speed loop integral time constant (P1-07), and the others return to the first gain;
If the absolute value of the actual speed is less than (level-hysteresis) [RPM], the speed
integral also returns to the integral time constant of the first speed loop (P1-02).

56
5-5. Vibration suppression
When the excitation frequency of the mechanical system is close to the natural frequency of a certain order of
the system, the system amplitude increases significantly, which will cause vibration and noise.
Generally, the screw equipment with small load inertia can achieve better results by auto-tuning directly with
the upper computer. When the inertia identified by other equipment in the process of inertia identification is
small, it can also use the upper computer to auto-tune directly without manual adjustment. The current
version needs to be re-energized after modifying the P2 parameters in the process of manual adjustment. In
addition, after each parameter re-adjustment, it should first run at low speed to observe whether there is
vibration. However, vibration or overshoot may occur during the adjustment process. Please perform manual
adjustment when the enablement can be stopped or servo can be turned off at any time.
Band trap:
Notch filter can suppress mechanical resonance by reducing the gain at a specific frequency. After the notch
filter is set correctly, the vibration can be effectively suppressed and the servo gain can be continuously
increased. The principle of notch filter is as follows:

(1) Open the Xinje servo software, click mechanical properies

(2) Click measure, it will show below window

57
(3) click execute, wait for data reading to complete
(4) click amplitude and phase, set the filter width according to the waveform sharpness
(5) click display in the pointer window, set vibration frequency peak

(6) open vibration suppression switch, set the vibration frequency

(7) if there is still vibration after setting notch frequency, please adjust P2-35.

58
 Refer to below table for detailed parameters:

Parameter Name Explanation

P2-00.0 Disturbance observer switch 0: Close 1: Open

P2-41 Disturbance observer gain Default 91, Generally changed to 85

P2-69.0 First notch switch 0: Close 1: Open

P2-69.1 Second notch switch 0: Close 1: Open

P2-69.3 Fourth notch switch 0: Close 1: Open

P2-71 First notch frequency Setting according to the result of

characteristic analysis

P2-74 Second notch frequency Setting according to the result of

characteristic analysis

P2-77 Fourth notch frequency Setting according to the result of

characteristic analysis

6. EtherCAT communication specification

Physical layer 100BASE-TX
Communication interface RJ45 × 2 (CN1)
Network architecture Tandem connection
transmission speed 2 x 100 Mbps (full duplex)
Data frame length Maximum 1484 bytes
SM0：Mailbox output
SM1：Mailbox input
SyncManager
SM2：Periodic data output
SM3：Periodic data input
FMMU0：Periodic Data Output Zone
FMMU (Bus Memory
FMMU1：Periodic Data Output Zone
Management Unit)
FMMU2：Mailbox status zone
Application Layer Protocol CoE：CANopen over EtherCAT
Synchronization mode DC Synchronization mode（SYNC0）
SDO：Aperiodic data objects
Communication object
PDO：Periodic Data Objects
EtherCAT ERR(ER) × 1
LED light (the indicator lamp is
EtherCAT Link / Activity (L / A) × 2
located on the RJ45 port)
EtherCAT RUN(RN) × 1

59
 Application Layer Specification IEC61800-7 CiA402 Drive Profile
Homing Mode (HM)
Cycle Synchronized Position Mode (CSP)
Cycle Synchronized Velocity Mode (CSV)
Support CIA402 operating mode Cycle Synchronized Torque Mode (CST)
Profile Position Mode (PP)
Profile Velocity Mode (PV)
Torque Profile Mode (TQ)

7. EtherCAT operation mode

7-1. Homing Mode

7-1-1. Overview
The user can let the driver search the origin position, and set the way to return to the origin, the speed and
acceleration of return.

7-1-2. Operation steps

P5-22 corresponds to the positive limit terminal (the default value is 1, SI1 terminal), P5-23 corresponds to
the negative limit terminal (the default value is 2, SI2 terminal), and P5-27 corresponds to the origin terminal
(the default value is 3, SI3 terminal). If it is not allocated correctly, an error will be reported when homing.

1. 【Mode of operations:6060h】set to homing mode (0x06).

2. set 【Homing method:6098h】, the range is 1 to 35. (Support method 1, 2, 3, 4, 5, 6, 33, 34, 35, 37)

3. set【Homing speeds:6099h Sub-1】, define the speed when searching for origin switches (unit: command

unit/s)

4. set【Homing speeds:6099h Sub-2】, define the speed of finding origin (unit: command unit/s)

5. set【Homing acceleration:609Ah】, define the regression acceleration speed (unit: command unit/s2)

6. set【Controlword:6040h】to (0x06 > 0x07 > 0x0F), enable the driver and make the motor work.

7. set【Controlword:6040h】to (0x0F > 0x1F), find the (Home Switch) and regression.

8. read【Statusword:6041h】to get the driver status.

7-1-3. Related object table

Index Name Units Access

6040h Controlword - RW

60
 6041h Statusword - RO

6060h Modes of operation - RW

6061h Modes of operation display - RO

6098h Homing method - RW

6099h Homing speed Command unit/s RW

609A Homing acceleration Command unit /s2 RW

7-2. Cyclic Synchronous Position Mode

7-2-1. Overview
The host computer plans the path in CSP mode and sends the PDO in a specified period. When transmitting
each PDO, the data of target position and control word will be transmitted to the driver at the same time.

61
7-2-2. CSP mode

7-2-3. Operation steps

1. set【Mode of operations:6060h】to cyclic synchronous position mode) (0x08).
2. set【Interpolation time period: 60C2h】, settings must be the same as SYNC0 cycles.
 60C2h Sub-1 can set the Interpolation time units, the range is 1ms~20 ms.
 60C2h Sub-2 can set the Interpolation time index, the value fixed at -3 indicates that
Interpolation time unit is 10-3 seconds.
3. Drive PDO Rx:
 Use 607Ah to set Target Pos Cmd (32-bit).
 Use 6040h Sub-0 to set control word.

62
7-2-4. Related object table

Index Name Units Access

6040h Control word - RW

6072h Max torque 0.1% RW

607Ah Target Position Command unit RW

Soft Position Limit - RW

607Dh
Number of entries - RW

Position range limit - RW

607Bh
HighestSub-Index numbers - RW

60C5h Max acceleration Command unit /s 2

RW

60C6h Max deceleration Command unit /s2 RW

60F2h Positioning option code - RW

Detection type related to CSP control mode

Index Name Units Test result

6041h Statusword - RO

6062h Position demand value (command position) Command unit RO

6063h Position actual internal value pulse RO

6064h Position actual value RO

6065h Following error window Command unit RW

6066h Following error timeout 1ms RW

Velocity actual value Command unit RO

606Ch
/s

6076h Motor rated torque mN·m RO

6077h Torque actual value 0.1% RO

60F4h Following error actual value Command unit RO

Control effort （ Represents the output of internal Command unit RO

60FAh
instruction speed, position loop output）

Position deamnd internal value （ represents internal Command unit RO

60FCh
command position）

63
7-3. Cyclic Synchronous Velocity Mode

7-3-1. Overview
The host computer plans the speed in CSV mode and sends the PDO according to the specified period. When
transmitting each PDO, the data of target velocity and control word will be transmitted to the driver at the
same time.

7-3-2. The function of CSV mode

7-3-3. Operation steps

1. set【Mode of operations:6060h】 to Cyclic Synchronous Velocity Mode (0x09).
2. set【Interpolation time period:60C2h】, the settings should be same to the period of SYNC0.
 60C2h Sub-1 can set Interpolation time units, the range is 1ms~20ms.
 60C2h Sub-2 can set Interpolation time index, the value fixed at -3 indicates that Interpolation
time unit is 10-3 seconds.
3. Drive PDO Rx:
 Use 60FFh to set Target Velocity Cmd (32-bit)
 Use 6040h Sub-0 to set the controlword

64
7-3-4. Related object table
Index Name Units Access
6040h Control word - RW
60FFh Target velocity Command unit/s RW
6072h Max torque 0.1% RW
6080h Max motor speed rpm RW
60B1h Velocity offset Command unit/s RW

Detection type related to csv control mode

Index Name Units Access

6041h Statusword - RO

6063h Position actual internal value Pulse RO

6064h Position actual value Command unit RO

606Bh Velocity demand value Command unit /s RO

606Ch Velocity actual value Command unit /s RO

6074h Torque demand value 0.1% RO

6076h Motor rated torque mN·m RO

6077h Torque actual value 0.1% RO

7-4. Cyclic Synchronous Torque Mode

7-4-1. Overview
The upper computer plans the torque in the CST mode. In this mode, the host computer transmits the target
torque and control word data to the driver at the same time when transmitting each PDO.

65
7-4-2. The function of CST mode

7-4-3. Operation steps

1. set【Mode of operations:6060h】to Cyclic Synchronous Velocity Mode (0x09)
2. set【Interpolation time period: 60C2h】, the settings should be same to the period of SYNC0
 60C2h Sub-1 can set the Interpolation time units, the range is 1ms~20ms.
 60C2h Sub-2 can set the Interpolation time index, the value fixed at -3 indicates that
Interpolation time unit is 10-3 seconds.
3. Drive PDO Rx:
 Use 6071h to set the Target Torque Cmd (16-bit)
 Use 6040h Sub-0 to set the control word.

7-4-4. Related object table

Index Name Units Access
6040h Control word - RW
6071h Target Torque 0.1% RW
6072h Max Torque 0.1% RW
6080h Max motor speed rpm RW
60B2h Torque offset 0.1% RW

66
Detection type related to cst control mode

Index Name Units Access

6041h Status word - RO

6063h Position actual internal value Pulse RO

6064h Position actual value Command unit RO

606Ch Velocity actual value Command unit/s RO

6074h Torque demand 0.1% RO

6075h Motor rated current mA RO

6076h Motor rated torque mN·m RO

6077h Torque actual value 0.1% RO

6078h Current actual value 0.1% RO

6079h DC link circuit voltage mV RO

7-5. Profile Position Mode

7-5-1. Overview
After receiving the position command and speed command from the upper computer controller, the servo
driver controls the servo motor to reach the target position.

7-5-2. Operation steps

1. set【control mode: 6060h】to profile position mode (0x01).
2. set【target position: 607Ah】to target position (unit: command unit).
3. set【profile speed: 6081h】to profile velocity (unit: command unit/s).
4. set【profile acceleration 6083h】to plan the acceleration slope (unit: command unit/s²).
5. set【profile deceleration 6084h】to plan the deceleration slope (unit: command unit/s²).
6. set【control word: 6040h】to (0x06 > 0x07 > 0x0F), at this time, the driver is only in the starting state, and
the motor can run only after setting the relative or absolute motion mode. If the absolute motion is taken,
6040 can then be set to (0x1F). If it is relative motion, 6040 can then be set to (0x4fF> 0x5F).
7. read【position feedback: 6064h】to get the motor current feedback position.
8. read【status word: 6041h】to get the driver status, including following error, set-point acknowledge and
target reached.

7-5-3. Related object list

Index Name Unit Access
6040h Controlword UNSIGNED16 RW
6041h Statusword UNSIGNED16 RO
6060h Mode of operation INTEGER8 RW

67
 Index Name Unit Access
6061h Modes of operation display INTEGER8 RO
6062h Position demand value [PUU] INTEGER32 RO
6063h Position actual value [increment] INTEGER32 RO
6064h Position actual value INTEGER32 RO
6065h Following error window UNSIGNED32 RW
6067h Position window UNSIGNED32 RW
6068h Position window time UNSIGNED16 RW
607Ah Target position INTEGER32 RW
6080h Max motor speed rpm RW
6081h Profile velocity (internal speed) UNSIGNED32 RW
6083h Profile acceleration UNSIGNED32 RW
6084h Profile deceleration UNSIGNED32 RW
6093h Position factor UNSIGNED32 RW
60F4h Following error actual value INTEGER32 RO
60FCh Position demand value INTEGER32 RO

7-6. Profile Velocity Mode

7-6-1. Overview
The driver can receive speed commands and plan acceleration and deceleration.

7-6-2. Operation steps

1. set【control mode: 6060h】to profile velocity mode (0x03).
2. set【control word: 6040h】to (0x06 > 0x07 > 0x0F), start the driver and run the motor.
3. set【profile acceleration: 6083h】to plan the acceleration slope (unit: command unit/s²).
4. set【profile deceleration: 6084h】to plan the deceleration slope (unit: command unit /s²).
5. set【target speed: 60FFh】. The unit is command unit/s.
6. read【status word: 6041h】to get the driver status.

7-6-3. Related object list

Index Name Unit Access
6040h Controlword UNSIGNED16 RW
6041h Statusword UNSIGNED16 RO
6060h Modes of operation INTEGER8 RW
6061h Modes of operation display INTEGER8 RO
606Bh Velocity demand value INTEGER32 RO
606Ch Velocity actual value INTEGER32 RO
606Dh Velocity window UNSIGNED16 RW
606Eh Velocity window time UNSIGNED16 RW

68
 606Fh Velocity threshold UNSIGNED16 RW
60FFh Target velocity INTEGER32 RW
6080h Max motor speed rpm RW

7-7. Torque Profile Mode

7-7-1. Overview

The servo driver can receive torque command and plan torque slope.

7-7-2. Operation steps

1. set【control mode: 6060h】to profile torque mode (0x04).
2. set【control word: 6040h】to (0x06 > 0x07 > 0x0F), start the driver and run the motor.
3. set【torque slope: 6087h】to plan the torque slope (unit: 0.1%/s).
4. set【target torque: 6071h】to target torque (unit: 0.1%).

7-7-3. Related object list

Index Name Unit Access
6040h Controlword - RW
6041h Statusword - RO
6060h Modes of operation - RW
6061h Modes of operation display - RO
6071h Target torque 0.1% RW
6072h Max torque 0.1% RW
6074h Torque demand value 0.1% RO
6075h Motor rated current 1mA RO
6077h Torque actual value 0.1% RO
6078h Current actual value 0.1% RO
6087h Torque slope 0.1%/s RW

69
8. Mode common function
8-1. Touch Probe Function

8-1-1. Overview
The probe function can be triggered by the SI terminal of CN0 or encoder, and the feedback position can be
fixed to the rising or falling edge by the P-(SI5)/D-(SI6) input terminal of CN0. The fixed position time can
be less than 5 s. This function can be used for high-speed measurement or packaging applications.

8-1-2. Operation steps

P5-62 corresponds to probe 1, P5-63 corresponds to probe 2 (must be allocated on SI5/SI6).
【Touch probe function：60B8h】disable the probe in 60B8h, set the input terminal in P5-62/P5-63, then
enable the object word 60B8h.
When reading the probe value, the corresponding probe value object (60BAh-60BDh) needs to be added to
TxPDO.

8-1-3. Related object table

Index Name Units Access

60B8h Touch probe function - RW

60B9h Touch probe status - RO

60BAh Touch probe pos1 pos value Command unit RO

60BBh Touch probe pos1 neg value Command unit RO

60BCh Touch probe pos2 pos value Command unit RO

60BDh Touch probe pos2 neg value Command unit RO

Users can get the current settings of probe function from object 60B8h. For the same probe, do not set the
rising edge and the falling edge at the same time. Below is the bit description of 60B8h.

bit value note

0 switch off Touch probe 1

0 stop/execute Touch probe1
1 enable Touch probe 1

0 Trigger first event

1 Touch probe1 mode selection
1 Continuous

0 Trigger with Touch probe1 input Touch probe1 triggering

2
1 Trigger with zero impulse signal of position encoder selection

70
 （external input/Z phase）

3 0 Reserved Not used

0 switch off sampling at positive edge of touch probe1 Touch probe1 rising edge
4
1 enable sampling at positive edge of touch probe1 selection

0 switch off sampling at negative edge of touch probe1 Touch probe1 falling edge
5
1 enable sampling at negative edge of touch probe1 selection

6-7 0 reserved Retention parameters

0 switch off Touch probe 2

8 Stop/execute Touch probe2
1 enable Touch probe 2

0 Trigger first event Touch probe2 mode selection

9
1 Continuous （single/continuous）

0 Trigger with Touch probe2 input Touch probe2 triggering

10 selection
1 Trigger with zero impulse signal of position encoder
（external input/Z phase）

11 0 Reserved Not used

0 switch off sampling at positive edge of touch probe2 Touch probe2 rising edge
12
1 enable sampling at positive edge of touch probe2 selection

0 switch off sampling at negative edge of touch probe2 Touch probe2 falling edge
13
1 enable sampling at negative edge of touch probe2 selection

14-15 0 reserved Retention parameters

The user can get the current status of the probe from the object 60B9h. Below is description of the
corresponding bits for 60B9h.

bit value note

0 0 Touch probe1 is switch off Probe 1 action stop

1 Touch probe1 is enabled Probe 1 action

1 0 Touch probe1 no positive edge value stored Rising edge probe 1 incomplete
state

1 Touch probe1 positive edge value stored Rising edge probe 1 completion
state

2 0 Touch probe1 no negative edge value stored Falling edge probe 1 incomplete

71
 state

1 Touch probe1 negative edge value stored Falling edge probe 1 completion
state

3-5 - reserved Not used

6-7 - Not supported Not used

8 0 Touch probe2 is switch off Probe 2 action stop

1 Touch probe2 is enabled Probe 2 action

9 0 Touch probe2 no positive edge value stored Rising edge probe 2 incomplete
state

1 Touch probe2 positive edge value stored Rising edge probe 2 completion
state

10 Touch probe2 no negative edge value stored Falling edge probe 2 incomplete
state

Touch probe2negative edge value stored Falling edge probe 2 completion

state

11-13 - Reserved Not used

14-15 - Not supported Not used

8-2. Position information

8-2-1. Electronic gear function

Index Sub-Index Name Units Access

- Position encoder resolution - RO

00h Highest Sub-Index supported - RO

608Fh
01h Encoder increments Pulse RO

02h Motor revolutions r（motor） RO

- Gear ratio - RW

00h Number of entries - RW

6091h
01h Motor revolutions r（motor） RW

02h Shaft revolutions R（shaft） RW

- Feed constant - RW

6092h 00h Highest Sub-Index supported - RO

01h Feed Command unit RW

72
 02h Shaft revolutions R（shaft） RW

【Encoder resolution: 608Fh】

【Gear ratio: 6091h】

【Encoder frequency division ratio: 6092h】

Note:
(1) 608Fh-01h (Encoder increments) is auto-set as the encoder resolution.
(2) 6092h-01h (Feed) default value is setas encoder resolution.
(3) 6091h-01h, 6091h-02h default value is all 1.

8-2-2. Initialization of absolute encoder

When absolute encoder is used in position control mode and multi-turn mode, it no needs homing operation.

8-2-3. Position range limit

If the value of [target position: 607A] exceeds [position range limit: 607B], perform wrap-around operation,
do not change the factory value of 607B at - 01h and - 02h.

Index Sub-Index Name Units Access

- Position encoder resolution - RW

607Ah
00h Highest Sub-Index supported - RW

- Position range limit - RW

00h Highest Sub-Index supported - RW

607Bh
01h Min position range limit Command unit RW

02h Max position range limit Command unit RW

8-3. Interpolation time period

【Interpolation time period：60C2h】 is set automatically according to the communication cycle, please do
not change.

Communication period 60C2h-01h 60C2h-02h

73
 250us 25 -5

500us 5 -4

1ms 1 -3

2ms 2 -3

4ms 4 -3

Index Sub-Index Name Units Access

- Interpolation time period - -

00h Highest Sub-Index supported - RO

60C2h
01h Interpolation time period value - RW

02h Interpolation time index - RW

74
9. Parameter list (refer to XML file for details)
9-1. CoE object word

9-1-1. Communication Profile zone

Index Name Data type Access

1000h VAR device type UNSIGNED32 RO

1001h VAR error register UNSIGNED8 RO

1600h~03h RECORD Receive PDO mapping UNSIGNED32 RW

1A00h~03h RECORD Transmit PDO mapping UNSIGNED32 RW

9-1-2. Driver Profile zone

Index Name Data type Access

603Fh VAR Error Code UNSIGNED16 RO

6040h VAR Controlword UNSIGNED16 RW

6041h VAR Statusword UNSIGNED16 RO

605Bh VAR Shutdown option code INTEGER16 RW

605Eh VAR Fault reaction option code INTEGER16 RW

6060h VAR Modes of operation INTEGER8 RW

6061h VAR Modes of operation display INTEGER8 RO

6062h VAR Position demand value INTEGER32 RO

[PUU]

6063h VAR Position actual value INTEGER32 RO

[increment]

6064h VAR Position actual value INTEGER32 RO

6065h VAR Following error window UNSIGNED32 RW

6067h VAR Position windows UNSIGNED32 RW

6068h VAR Position window time UNSIGNED16 RW

606Bh VAR Velocity demand value INTEGER32 RO

606Ch VAR Velocity actual value INTEGER32 RO

606Dh VAR Velocity window UNSIGNED16 RW

606Eh VAR Velocity window time UNSIGNED16 RW

606Fh VAR Velocity threshold UNSIGNED16 RW

75
6071h VAR Target torque INTEGER16 RW

6072h VAR Max torque UNSIGNED16 RW

6074h VAR Torque demand value INTEGER16 RO

6075h VAR Motor rated current UNSIGNED32 RO

6076h VAR Motor rated torque UNSIGNED32 RO

6077h VAR Torque actual value UNSIGNED16 RO

6078h VAR Current actual value INTEGER16 RO

607Ah VAR Target position INTEGER32 RW

607Ch VAR Home Offset INTEGER32 RW

607Dh ARRAY Software position limit INTEGER32 RW

607Eh VAR Polarity UNSIGNED8 RW

607Fh VAR Max profile velocity UNSIGNED32 RW

6080h VAR Max motor speed UNSIGNED32 RW

6081h VAR Profile velocity UNSIGNED32 RW

6083h VAR Profile acceleration UNSIGNED32 RW

6084h VAR Profile deceleration UNSIGNED32 RW

6085h VAR Quick stop deceleration UNSIGNED32 RW

6086h VAR Motion profile type INTEGER16 RW

6087h VAR Torque slope UNSIGNED32 RW

6093h ARRAY Position factor UNSIGNED32 RW

6098h VAR Homing method INTEGER8 RW

6099h ARRAY Homing speeds UNSIGNED32 RW

609Ah VAR Homing acceleration UNSIGNED32 RW

60B0h VAR Position offset INTEGER32 RW

60B1h VAR Velocity offset INTEGER32 RW

60B2h VAR Torque offset INTEGER16 RW

60B8h VAR Touch probe function UNSIGNED16 RW

60B9h VAR Touch probe status UNSIGNED16 RO

60BAh VAR Touch probe pos1 pos value INTEGER32 RO

60BBh VAR Touch probe pos1 neg value INTEGER32 RO

60BCh VAR Touch probe pos2 pos value INTEGER32 RO

60BDh VAR Touch probe pos2 neg value INTEGER32 RO

76
60C0h VAR Interpolation sub mode INTEGER16 RW
select

60C1h ARRAY Interpolation data record UNSIGNED16/3 RW

2

60C2h RECORD Interpolation time period SIGNED8 RW

60C5h VAR Max acceleration UNSIGNED32 RW

60C6h VAR Max deceleration UNSIGNED32 RW

60F2h VAR Positioning option code UNSIGNED16 RW

60F4h VAR Following error actual value INTEGER32 RO

60FCh VAR Position demand value INTEGER32 RO

60FDh VAR Digital inputs UNSIGNED32 RO

60FFh VAR Target velocity INTEGER32 RW

6502h VAR Supported drive modes UNSIGNED32 RO

Xinje custom area

2000h~281Ah VAR Parameter Mapping INTEGER16/32 RW

77
9-2. Driver parameters

9-2-1. Group P parameters

Modification and Effective Time:
○ represents servo OFF modification, effective immediately.
√ means that it may be changed at any time and shall take effect immediately.
● represents need to re-energize to take effect after the change.
△ represents can be changed at any time and take effect when motor is not rotating.
▲ represents can be modified at any time and takes effect when it needs to be powered on again.
Adding “n.” before the parameter means the value is hex format.
Parameter:

Function selection P0
P0- Function Unit Default Range Effective Suitable
mode
Driver type
P0-00 0: Common type - 1 0～1 ○ All
1: EtherCat type
P0-00=0: common type
1-internal torque mode
2-external analog torque mode
3-internal speed mode
4-external analog speed mode
5-internal position mode
6-external pulse position mode
7-external pulse speed mode
P0-01 P0-00=1: EtherCAT type - 0 1～10 ○ All

1-profile position control mode (PP)

3-profile speed control mode (PV)
4-profile torque control mode (TQ)
6-homing mode (HM)
8-cyclic synchronized position
control mode (CSP)
9-cyclic synchronization speed

78
 P0- Function Unit Default Range Effective Suitable
mode
control mode (CSV)
10-cyclic synchronized torque
control mode (CST)
Control Mode 2 (Description same as
above)
P0-02 When the /C-SEL signal is valid, the - 0 1～10 ○ All
servo system will switch to the mode
selected by P0-02
Enabling mode:
0: Not enabled
1:IO/SON Input Signal
2: Software enabled (panel/Modbus)
P0-03 - 3 0~3 ○ All
panel F1-05 writes 1; Modbus writes
1 to 0x2105 register. Write 0 to
cancel enablement
3: Bus Enablation
20P1：0
20P2/20P4/
P0-04 Rigidity level - 0~63 △ All
20P7：15
>=21P5：10
P0-05 Selection of rotation direction - 0 0~1 ● All
P0-07 First inertia ratio 1% 500 0~50000 √ All
Forward direction of input pulse
P0-09 - 0 0~1 ● 6, 7
command
0：CW/CCW
P0-10
1：AB - 2 0~2 ○ 6, 7
xxx□
2：P+D
P0-10 0: Falling edge is valid
- 0 0~1 ○ 6, 7
x1x□ 1: Rising edge is valid
Set the low position of pulses per
P0-11 - 0 0~9999 ○ 6
cycle ×1
Set the high position of pulses per
P0-12 - 0 0~65535 ○ 6
cycle ×10000
Numerator of electronic gear ○ (before
3770)
P0-13 - 1 1~65535 6
√ (3770 and
later and

79
 P0- Function Unit Default Range Effective Suitable
mode
only in mode
6)
P0-14 Denominator of electronic gear - 1 1~65535 ○ 6
Pulse Frequency Corresponding to
P0-15 *100Hz 1000 0~10000 ○ 7
Rated Speed in Speed Mode
Speed Instruction Pulse Filtering
P0-16 0.01ms 100 0~10000 ○ 7
Time
*256
P0-23 Pulse Deviation Limit comman 2000 0~65535 √ 6
d unit
version 3640 and before:
Discharge resistance type
0: built in
P0-24 - 0 0~1 ○ All
1: external
Version 3700 and later:
This parameter is invalid

P0- Function Unit Default Range Effe Suitable

ctive mode
P0-25 Discharge Resistance power W Related to 0~65535 √ All
Discharge Resistance value driver All
P0-26 Ω 0~65535 √
power
Servo OFF Stop Mode All

0: Inertial operation stops and remains in

P0-27 inertial operation state after stopping. - 0 0, 2 ○

2: The deceleration operation stops, and the
inertia operation state is maintained after the
stop.
Servo Overrun Stop Mode All

0: deceleration stop, after stop, overrun

direction moment is 0, receive instructions.
1: Inertia stops, after stopping, overrun
P0-28 - 2 0~3 ○
direction moment is 0, receiving instructions.
2: The deceleration stops, after stopping, the
overrun direction does not receive instructions.
3: Alarm (E-260)

80
 P0- Function Unit Default Range Effe Suitable
ctive mode
Servo Alarm Stop Mode All

0: Inertial operation stops and remains in

P0-29 inertial operation state after stopping. - 2 0, 2 ○

2: The deceleration operation stops, and the
inertia operation state is maintained after the
stop.
P0-30 Stopping overtime time 1ms 20000 0~65535 ○ All
P0-31 Decelerating stop time 1ms 25 0~5000 ○ All
P0-33 Motor code - 0 0~65535 ● All
Read motor parameter alarm shielding bit
0 - do not shield the alarm 1|3|5|6|7|
P0-53 - 0 0~1 ●
1 - shield does not read valid motor parameter 8|9|10
alarm
-6000~60 1|2|3|4|5|
P0-55 Open loop rotation speed - 0 ●
00 6|7
1|2|3|4|5|
P0-56 Number of encoder communication attempts - 10 1~65535 ●
6|7
P0-68.xx□□
P0-68. 0x01~0x 1|2|3|4|5|
Number of continuous error alarms for the - 0x05 ●
0~1 FF 6|7
update sequence of coded data
P0-68. P0-68.□□xx 1|2|3|4|5|
- 0 0~0xFF ●
2~3 E-241 alarm filter times 6|7
Fan power on All

0: Turn on the fan with temperature greater

than 45 degrees and turn off the fan with
P0-69 temperature less than 42 degrees (hysteresis 3 - 1 0/1 ○

degrees Celsius)
1: Turn on the fan after enabling, turn off the
fan when enabling.
Blocking alarm time Related to All
P0-74 1ms driver 0-65535 ○
power
P0-75 Blocking alarm speed 1rpm 50 5~9999 ○ All
Motor thermal power protection mode
0 - current protection
P0-80 - 2 0~2 ● 1|3|5|6|7
1 - average thermal power protection
2 - analog thermal power protection

81
 P0- Function Unit Default Range Effe Suitable
ctive mode
P0-92 Low position of electronic gear numerator - 1 1~9999 √ 6
P0-93 High position of electronic gear - 0 1~65535 √ 6
numerator*10000
P0-94 Low position of electronic gear denominator - 1 1~9999 √ 6
P0-95 High position of electronic gear - 0 1~65535 √ 6
denominator*10000

Parameter P1
P1- Function Unit Default Range Effective Suitable
mode
P1-00 The gain of speed loop (fit for auto-tuning 1Hz 200 10~20000 √ All
mode)
P1-01 speed loop integral time (fit for auto-tuning 0.1ms 3300 15~51200 √ All
mode)
P1-02 The gain of position loop (fit for 1/s 200 10~20000 √ All
auto-tuning mode)
P1-10 Speed feedforward gain 1% 0 0~300 √ 5|6|7
P1-11 Speed feedforward filter time 0.01ms 50 0~10000 √ 5|6|7
P1-14 Gain switching mode - 0 0~0x00A2 √ 1|2|3|4|5|6|7
P1-15 Gain switching waiting time - 5 0~1000 √ 1|2|3|4|5|6|7
P1-16 Gain switching level threshold - 50 0~20000 √ 1|2|3|4|5|6|7
P1-17 Hysteresis of gain switching level threshold - 30 0~20000 √ 1|2|3|4|5|6|7
P1-18 Position loop gain switching time - 3 0~1000 √ 1|2|3|4|5|6|7
Speed command filter selection
P1-22 0-first order low-pass filter - 0 0~1 ○ 3|7
1-smooth average filter
P1-23 Speed command filter time 0.1ms 0 0~65535 ○ 3|7
P1-24 Position command--- first order low-pass 0.1ms 0 0~65535 △ 5|6
filter time
P1-25 Position command smoothing filtering time 0.1ms 0 0~65535 △ 5|6
P1-74 Encoder zero offset detection cycle - 1000 0~65535 √ 1|2|3|4|5|6|7
P1-75 Encoder zero offset detection threshold - 10 0~500 √ 1|2|3|4|5|6|7

Parameter P2
Function Unit Default Range Effect Suitable
P2-
ive mode
Disturbance observer switch
P2-00.0 - 0 0~1 ○ 1|2|3|4|5|6|7
0 - off

82
 Function Unit Default Range Effect Suitable
P2-
ive mode
1 - on
Adaptive mode switch
20P1：0
P2-01.0 0 - off - 0~1 ● 1|2|3|4|5|6|7
Others：1
1 - on
Adaptive level 20P2/20P4/20P7/
P2-01.1 0 -high response - 21P5：1 0~1 ● 1|2|3|4|5|6|7
1 -low noise Others：0
Auto-tuning mode
1-soft
P2-02.0 - 3 1~3 √ 1|2|3|4|5|6|7
2-fast positioning
3-fast positioning, control the overshoot
Load type (valid only during
auto-tuning)
P2-02.2 1- synchronous belt - 2 1~3 √ 1|2|3|4|5|6|7
2- screw rod
3-Rigid Connection

Adaptive load type

P2-03.3 0-Small Inertia Mode - 0 0~1 ● 1|2|3|4|5|6|7

1-Large Inertia Mode

20P1/20P2/
Adaptive mode speed loop gain
P2-05 0.1Hz 20P4/20P7：400 1~65535 ○ 1|2|3|4|5|6|7
(standard)
>=21P5：200
P2-07 Adaptive mode inertia ratio (standard) % 0 0~10000 ○ 1|2|3|4|5|6|7
20P1/20P2/
Gain of adaptive mode speed observer
P2-08 Hz 20P4/20P7：60 10~1000 ○ 1|2|3|4|5|6|7
(standard)
>=21P5：40
Maximum Inertia Ratio of Adaptive
P2-12 - 30 1~10000 ○ 1|2|3|4|5|6|7
Mode (Standard)
Internal command self-tuning
P2-15 0.01r 100 1~3000 √ 1|2|3|4|5|6|7
maximum stroke
Maximum Speed of Inertia
P2-17 Identification and Internal Instruction - 0 0~65535 √ 1|2|3|4|5|6|7
Auto-tuning
P2-18 Initial Inertia Ratio of Inertia % 500 1~20000 √ 1|2|3|4|5|6|7

83
 Function Unit Default Range Effect Suitable
P2-
ive mode
Identification
20P1：100
P2-19 Adaptive mode bandwidth % 20P2，20P4：70 1~100 ○ 1|2|3|4|5|6|7
>=20P7：50
Torque Instruction Filtering Time
P2-35 0.01ms 100 0~65535 √ 1|2|3|4|5|6|7
Constant 1
Torque Instruction Filtering Time
P2-36 0.01ms 100 0~65535 √ 1|2|3|4|5|6|7
Constant 2
Disturbance Torque Compensation
P2-41 Coefficient (Non-adaptive Mode % 99 0~100 √ 1|2|3|4|5|6|7
Effective)
Model Loop Switch
P2-47.0 0-OFF - 0 0~f √ 3|4|5|6|7
1-ON
P2-49 Model loop gain 0.1Hz 500 10~20000 √ 3|4|5|6|7
Active Vibration Suppression Switch
P2-60.0 0-OFF - 0 0~1 √ 3|4|5|6|7
1-ON
Active Suppression Auto-tuning Switch
0-Active Vibration Suppression is not
P2-60.1 Configured in auto-tuning - 1 0~1 √ 3|4|5|6|7

1- configure the Active Vibration

Suppression when auto-tuning
Active Vibration Suppression
P2-61 0.1Hz 10000 10~20000 √ 1|2|3|4|5|6|7
frequency
P2-69.3 Notch filter 3 switch - 0 0~1 √ 1|2|3|4|5|6|7
P2-70.0 Notch filter 4 switch - 0 0~1 √ 1|2|3|4|5|6|7
P2-70.1 Notch filter 5 switch - 0 0~1 √ 1|2|3|4|5|6|7
P2-71 First notch frequency Hz 5000 50~5000 √ 1|2|3|4|5|6|7
P2-72 First notch attenuation 0.1dB 70 50~1000 √ 1|2|3|4|5|6|7
P2-73 First notch band width Hz 0 0~1000 √ 1|2|3|4|5|6|7
P2-74 Second notch frequency Hz 5000 50~5000 √ 1|2|3|4|5|6|7
P2-75 Second notch attenuation 0.1dB 70 50~1000 √ 1|2|3|4|5|6|7
P2-76 Second notch band width Hz 0 0~1000 √ 1|2|3|4|5|6|7
P2-77 Third notch frequency Hz 5000 50~5000 √ 1|2|3|4|5|6|7

84
 Function Unit Default Range Effect Suitable
P2-
ive mode
P2-78 Third notch attenuation 0.1dB 70 50~1000 √ 1|2|3|4|5|6|7
P2-79 Third notch band width Hz 0 0~1000 √ 1|2|3|4|5|6|7
P2-80 Fourth notch frequency Hz 5000 50~5000 √ 1|2|3|4|5|6|7
P2-81 Fourth notch attenuation 0.1dB 70 50~1000 √ 1|2|3|4|5|6|7
P2-82 Fourth notch band width Hz 0 0~1000 √ 1|2|3|4|5|6|7
P2-83 Fifth notch frequency Hz 5000 50~5000 √ 1|2|3|4|5|6|7
P2-84 Fifth notch attenuation 0.1dB 70 50~1000 √ 1|2|3|4|5|6|7
P2-85 Fifth notch band width Hz 0 0~1000 √ 1|2|3|4|5|6|7

Speed control parameters P3

Default Suitable
P3- Function Unit Range Effective
value mode
V-REF function distribution
0-V-REF input as speed command
1-V-REF input as external speed limit,
P3-00 - 0 0~2 ○ 1|2|4
actual speed limit is related to external
analog speed limit
2-speed feedforward
Rated speed corresponded analog
P3-01 0.001V 10000 1500~30000 ○ 1|2|4
voltage
P3-02 Analog voltage speed filter 0.01ms 0 0~10000 √ 1|2|4
Speed command input dead zone
P3-03 0.001v 0 0~500 √ 1|2|4
voltage
P3-04 V-REF analog speed direction - 0 0~1 √ 1|2|4
P3-05 Preset speed 1 rpm 0 -9999~9999 √ 3
P3-06 Preset speed 2 rpm 0 -9999~9999 √ 3
P3-07 Preset speed 3 rpm 0 -9999~9999 √ 3
P3-09 Acceleration time ms 0 0~65535 ○ 3|4|7
P3-10 Deceleration time ms 0 0~65535 ○ 3|4|7
P3-12 Zero-speed clamping mode - 0 0~3 ○ 3|4|7
P3-13 Zero-speed clamping speed rpm 10 0~300 ○ 3|4|7
Forward Maximum Speed Instruction
P3-14 rpm 6500 0~10000 ○ All
Limit
Reverse Maximum Speed Instruction
P3-15 rpm 6500 0~10000 ○ All
Limit

85
 Default Suitable
P3- Function Unit Range Effective
value mode
Internal Forward Speed Limitation in
P3-16 rpm 3000 5~10000 √ 1|2
Torque Control
Internal Reverse Speed Limitation in
P3-17 rpm 3000 5~10000 √ 1|2
Torque Control
P3-18 Jogging speed rpm 100 0~1000 ○ All
P3-19 forward warning speed rpm 3000 0~10000 ○ 1|2|3|4|5|6|7
P3-20 reverse warning speed rpm 3000 0~10000 ○ 1|2|3|4|5|6|7
P3-21 forward alarming speed rpm 7150 0~10000 ○ 1|2|3|4|5|6|7
P3-22 reverse alarming speed rpm 7150 0~10000 ○ 1|2|3|4|5|6|7
T-REF function distribution
0-input as torque command
1- As a necessary condition for
P3-23 external torque limit input, compared - 0 0~2 ○ 2|3|4|5|6|7
with P3-28 / P3-29, the minimum
value is valid
2-torque feedforward
Analog value corresponding to rated
P3-24 0.001V 10000 1500~30000 ○ 2|3|4|5|6|7
torque
P3-25 Analog voltage torque filtering time 0.01ms 0 0~10000 √ 2|3|4|5|6|7
Torque command input dead band
P3-26 0.001V 0 0~500 √ 2|3|4|5|6|7
voltage
Analog torque direction
P3-27 0-forward - 0 0~1 ○ 2|3|4|5|6|7
1-reverse
P3-28 Internal forward torque limit % 300 0~1000 √ All
P3-29 Internal reverse torque limit % 300 0~1000 √ All
P3-30 external forward torque limit % 300 0~1000 √ 1|2|3|4|5|6|7
P3-31 external reverse torque limit % 300 0~1000 √ 1|2|3|4|5|6|7
P3-32 Brake torque 1% 100 0~1000 √ 1|2|3|4|5|6|7
P3-33 Preset torque % 0 -1000~1000 √ 1
P3-45 Torque mode switching delay ms 40 0~9999 √ 1|2

86
Internal position parameters P4
Default Suitable
P4- Function Unit Range Effective
value mode

Z phase signal numbers

P4-00.0 The Z phase signal numbers after leaving the piece 2 0~f ○ 5|6
limit switch (note: stop when N+1 Z phase
signal reached)
Homing function
P4-00.1 0-off - 0 0~1 ○ 5|6
1-on
Homing overrun prohibition
P4-00.2 0-not prohibit - 0 0~1 ○ 5|6
1-prohibit
P4-01 Speed of hitting the proximity switch rpm 600 0~65535 ○ 5|6
P4-02 Speed of leaving proximity switch rpm 100 0~65535 ○ 5|6

Internal Location Given Mode Sets Location

Mode
P4-03.0 - 0 0~1 ○ 5
0-relative positioning
1-Absolute positioning

Internal Position-Given Mode Sets Step

Change Mode
0-step-changing when signal is ON,
recyclable
1-change step at signal rising edge, single
step execution
2-starting at Signal rising edge, sequential
P4-03.1 execution of all, no cycle - 0 0~5 ○ 5
3-set segment no. through communication
4-/CHSTP dual edge triggerring
5-terminal/PREFA(P5-57), /PREFB(P5-58),
/PREFC(P5-59) select the segment no., range
1~3
6- terminal/PREFA (P5-57), /PREFB(P5-58),
/PREFC(P5-59), /PREFD(P5-60) select

87
 Default Suitable
P4- Function Unit Range Effective
value mode

segment no., range 1~8 (version 3730 and

before)
terminal/ PREFA (P5-57), /PREFB(P5-58),
/PREFC(P5-59), /PREFD(P5-60) select
segment no., range 1~16 (version 3740 and
later)

Internal position mode sets waiting mode

P4-03.2 0-wait positioning completion - 0 0~1 ○ 5
1-not wait positioning completion

P4-04 Valid segment number - 0 0~35 ○ 5

P4-10～ -327689999~
First segment pulse 1pul 0 √ 5
P4-11 327679999
P4-12 First segment speed 0.1rpm 0 0~65535 √ 5
P4-13 First segment acceleration time 1ms 0 0~65535 √ 5
P4-14 First segment deceleration time 1ms 0 0~65535 √ 5
P4-16 Adjusting time 1ms 0 0~65535 √ 5
P4-10+
（n-1）*7 segment 1 to 35 pulse parameters (n is
- - - √ 5
~ P4-16+ segment number)
（n-1）*7

Note:
(1) set pulse number=pulse number (high bits) ×10000+pulse number (low bits)
(2) total 35 segments. Segment 1~12 can be set through the panel, segment 13~35 can be set through
communication (RS232 or RS485).

Signal parameters P5
Default
P5- Function Unit Range Effective Suitable mode
value
Positioning completion Command
P5-00 11 1~65535 √ 5|6
width/COIN unit
Location Completion Detection
P5-01 - 0 0~3 √ 5|6
Mode
Location completion retention
P5-02 ms 0 0~65535 √ 5|6
time

88
 Default
P5- Function Unit Range Effective Suitable mode
value
P5-03 Rotation Detection Speed rpm 50 0~10000 √ 1|2|3|4|5|6|7
P5-04 Same speed detection speed rpm 50 0~10000 √ 1|2|3|4|5|6|7
P5-05 Reached detection speed rpm 1000 0~10000 √ 1|2|3|4|5|6|7
Command
P5-06 Positioning near output width 50 0~65535 √ 5|6
unit
P5-07 Servo OFF delay time ms 500 0~65535 ○ 1|2|3|4|5|6|7
P5-08 Brake instruction output speed rpm 30 20~10000 ○ 1|2|3|4|5|6|7
P5-09 Brake instruction waiting time ms 500 0~65535 ○ 1|2|3|4|5|6|7
user-defined output 1 trigger
P5-10 - 0 0~ffff √ 1|2|3|4|5|6|7
condition
Set a value that compares with Relating to
P5-11 the trigger condition of custom trigger 0 -9999~9999 √ 1|2|3|4|5|6|7
output 1 condition
P5-12 Select custom output 1 mode - 0 0~3 √ 1|2|3|4|5|6|7
Relating to
Setting custom output 1
P5-13 trigger 0 0~65535 √ 1|2|3|4|5|6|7
hysteresis
condition
Custom Output 2 Trigger
P5-14 - 0 0~ffff √ 1|2|3|4|5|6|7
Condition
Set a value that compares with Relating to
P5-15 the trigger condition of custom trigger 0 -9999~9999 √ 1|2|3|4|5|6|7
output 2 condition
P5-16 Select custom output 2 mode - 0 0~3 √ 1|2|3|4|5|6|7
Relating to
Setting custom output 2
P5-17 trigger 0 0~65535 √ 1|2|3|4|5|6|7
hysteresis
condition

P5-18 SI filter time multiple - 1 0~10000 √ 1|2|3|4|5|6|7

P5-19 Z phase output maintain time ms 2 1~65535 √ 1|2|3|4|5|6|7

/S-ON: servo signal

00: Set the signal to be invalid
all the time.
P5-20.0~1 - 00 0~ff √ 1|2|3|4|5|6|7
01: Input positive signal from
SI1 terminal.
02: Input positive signal from

89
 Default
P5- Function Unit Range Effective Suitable mode
value

SI2 terminal.
03: Input positive signal from
SI3 terminal.
04: Input positive signal from
SI4 terminal.
10: Set the signal to always be
"valid".
11: Inverse signal is input from
SI1 terminal.
12: Inverse signal is input from
SI2 terminal.
13: Inverse signal is input from
SI3 terminal.
14: Inverse signal is input from
SI4 terminal.
P5-20.2 SI terminal filtering time ms 0 0~f √ 1|2|3|4|5|6|7
/P-CON proportion action
P5-21.0~1 - 00 0~ff √ 1|2|3|4|5|6|7
instruction
P5-21.2 SI terminal filtering time ms 0 0~f √ 1|2|3|4|5|6|7
/P-OT: Forbidden forward
P5-22.0~1 - 01 0~ff √ 1|2|3|4|5|6|7
driving
P5-22.2 SI terminal filtering time ms 0 0~f √ 1|2|3|4|5|6|7
P5-23.0~1 /N-OT: forbidden reverse driving - 02 0~ff √ 1|2|3|4|5|6|7
P5-23.2 SI terminal filtering time ms 0 0~f √ 1|2|3|4|5|6|7
P5-24.0~1 /ALM-RST: alarm clear - 00 0~ff √ 1|2|3|4|5|6|7
P5-24.2 SI terminal filtering time ms 0 0~f √ 1|2|3|4|5|6|7
/P-CL：External Torque
P5-25.0~1 Limitation at Forward Rotation - 00 0~ff √ 1|2|3|4|5|6|7
Side
P5-25.2 SI terminal filtering time ms 0 0~f √ 1|2|3|4|5|6|7
/N-CL：External Torque
P5-26.0~1 Limitation at Reverse Rotation - 00 0~ff √ 1|2|3|4|5|6|7
Side

90
 Default
P5- Function Unit Range Effective Suitable mode
value
P5-26.2 SI terminal filtering time ms 0 0~f √ 1|2|3|4|5|6|7
/SPD-D: Internal Speed
P5-27.0~1 - 03 0~ff √ 1|2|3|4|7
Direction Selection
P5-27.2 SI terminal filtering time ms 0 0~f √ 1|2|3|4|7
/SPD-A: Internal Setting Speed
P5-28.0~1 - 00 0~ff √ 3|5
Selection
P5-28.2 SI terminal filtering time ms 0 0~f √ 3|5
/SPD-B: Internal Setting Speed
P5-29.0~1 - 00 0~ff √ 3|5
Selection
P5-29.2 SI terminal filtering time ms 0 0~f √ 3|5
P5-30.0~1 /C-SEL: control mode selection - 00 0~ff √ 1|2|3|4|5|6|7
P5-30.2 SI terminal filtering time ms 0 0~f √ 1|2|3|4|5|6|7
/ZCLAMP: zero position
P5-31.0~1 - 00 0~ff √ 3|4|7
clamping
P5-31.2 SI terminal filtering time ms 0 0~f √ 3|4|7
/INHIBIT: Instruction pulse
P5-32.0~1 - 00 0~ff √ 5|6|7
prohibition
P5-32.2 SI terminal filtering time ms 0 0~f √ 5|6|7
P5-33.0~1 /G-SEL: gain switching - 00 0~ff √ 1|2|3|4|5|6|7
P5-33.2 SI terminal filtering time ms 0 0~f √ 1|2|3|4|5|6|7
P5-34.0~1 /CLR: pulse offset clear - 00 0~ff √ 5|6
P5-34.2 SI terminal filtering time ms 0 0~f √ 5|6
/CHGSTP: internal position
P5-35.0~1 - 00 0~ff √ 5
mode change step signal
P5-35.2 SI terminal filtering time ms 0 0~f √ 5
P5-36.0~1 /I-SEL: inertia ratio switching - 00 0~ff √ 1|2|3|4|5|6|7
P5-36.2 SI terminal filtering time ms 0 0~f √ 1|2|3|4|5|6|7

/COIN_HD: Location
Completion Maintenance
00: No output to terminal
P5-37 - 0000 0~ffff √ 5|6
01: Output positive signal from
SO1 terminal
02: Output positive signal from

91
 Default
P5- Function Unit Range Effective Suitable mode
value

SO2 terminal
03: Output positive signal from
SO3 terminal
11: Output reverse signal from
SO1 terminal
12: Output reverse signal from
SO2 terminal.
13: Output reverse Signal from
SO3 terminal

P5-38 /COIN: positioning completion - 0001 0~ffff √ 5|6

P5-39 /V-CMP: same speed detection - 0000 0~ffff √ 3|4|7
P5-40 /TGON: rotation detection - 0000 0~ffff √ 1|2|3|4|5|6|7
P5-41 /S-RDY: ready - 0000 0~ffff √ 1|2|3|4|5|6|7
P5-42 /CLT: torque limit - 0000 0~ffff √ 1|2|3|4|5|6|7
P5-43 /VLT: speed limit detection - 0000 0~ffff √ 1|2
P5-44 /BK: brake locking - 0000 0~ffff ○ 1|2|3|4|5|6|7

Default
P5- Function Unit Range Effective Suitable mode
value
P5-45 /WARN: warning - 0000 0~ffff √ 1|2|3|4|5|6|7
P5-46 /NEAR: near - 0000 0~ffff √ 5|6
P5-47 /ALM: alarm - 0002 0~ffff √ 1|2|3|4|5|6|7
P5-48 /Z: encoder Z phase signal output - 0000 0~ffff √ 1|2|3|4|5|6|7
P5-49 /XNETERR: Xnet error signal - 0 0~ffff √ 10
/MRUN: internal position mode motion
P5-50 - 0000 0~ffff √ 5
starting signal
P5-51 /V-RDY: speed reached - 0000 0~ffff √ 3|4|7
P5-52 /USER1: user-defined output 1 - 0000 0~ffff √ 1|2|3|4|5|6|7
P5-53 /USER2: user-defined output 2 - 0000 0~ffff √ 1|2|3|4|5|6|7
P5-57 PREFA segment 1 internal position - 0 ※1 √ 5
P5-58 PREFB segment 2 internal position - 0 ※1 √ 5
P5-59 PREFC segment 3 internal position - 0 ※1 √ 5
P5-62 Probe function 1 - 0 0005 ○

92
 P5-63 Probe function 2 - 0 0006 ○

Signal parameters P6 (some parameters are reserved)

Default
P6-XX Function Unit Range Effective Suitable mode
value
Adaptive Mode Speed Loop Gain (Large
P6-05 0.1Hz 200 1~65535 ○ 1|2|3|4|5|6|7
Inertia)
Adaptive mode inertia ratio (Large
P6-07 % 50 0~10000 ○ 1|2|3|4|5|6|7
inertia)
Gain of adaptive mode speed observer
P6-08 Hz 40 10~1000 ○ 1|2|3|4|5|6|7
(large inertia)
Maximum Inertia Ratio of Adaptive Mode
P6-12 - 50 1~10000 ○ 1|2|3|4|5|6|7
(Large Inertia)

Communication parameters P7 (not support RS485 communication)

Default
P7-XX Function Unit Range Effective Suitable mode
value
P7-10 RS232 station no. - 1 0~100 ○ 1|2|3|4|5|6|7
RS232 baud rate
00：300
01：600
02：1200
03：2400
04：4800
05：9600
06：19200
07：38400
08：57600
09：115200
P7-11.0~1 Baud rate 06 0~16 ○ 1|2|3|4|5|6|7
0A：192000
0B：256000
0C：288000
0D：384000
0E：512000
0F：576000
10：768000
11：1M
12：2M
13：3M
14：4M

93
 Default
P7-XX Function Unit Range Effective Suitable mode
value
15：5M
16：6M
RS232 stop bit
P7-11.2 0：2 bits Stop bit 2 0~2 ○ 1|2|3|4|5|6|7
2：1 bit
RS232 parity bit
0-no parity
P7-11.3 Parity bit 2 0~2 ○ 1|2|3|4|5|6|7
1-odd parity
2-even parity
Homing mode Z phase
- 1 0~99999 ○ hm
P7-20 numbers
Note: this parameter indicates the number of Z phases found in homing mode.
ScanA
Filter time after homing (bus) 400 1~65535 ○ 10
Cycle
P7-21 Note: after finding the zero position, return to the position mode, and the position has no
deviation. After holding this parameter for a time, the homing action is completed and sent to the
PLC homing completion flag

Panel power on display P8

Parameter Function Unit Default value Range Effective Suitable mode
P8-25 Panel power on display content - 0 0~2 ▲ 1|2|3|4|5|6|7|8|9|10

Homing parameters P9
Default
Parameter Function Unit Range Effective Suitable mode
value
P9-11.0 Homing find Z phase numbers - 0 0~f ○ 5|6
New homing trigger mode
0-prohibit triggering
P9-11.1 - 0 0~2 ○ 5|6
1-trigger through SI terminal
2-homing after enable
0-New homing mode 0
1-homing mode 1
2-homing mode 2
P9-11.2 3-homing mode 3 - 0 0~7 ○ 5|6
4-homing mode 4
5-homing mode 5
6-homing mode 6

94
 Default
Parameter Function Unit Range Effective Suitable mode
value
7-homing mode 7
Deceleration mode when
P9-11.3 - 0 0~1 ○ 5|6
meeting the overtravel signal
P9-12 Homing high speed - 200 0~3000 ○ 5|6
P9-13 Homing low speed - 20 0~1000 ○ 5|6
Homing acceleration 0~5000
P9-14 - 1000 ○ 5|6
deceleration time
P9-15 Homing timeout time - 0 0~12000 ○ 5|6
Touch stop homing speed 0~1000
P9-16 - 2 ○ 5|6
threshold
Touch stop homing torque 0~300
P9-17 - 100 ○ 5|6
threshold
Touch stop homing time 10~1500
P9-18 - 500 ○ 5|6
threshold
P9-19 Quantitative pulses low bits - 0 -9999~9999 ○ 5|6
P9-20 Quantitative pulses high bits - 0 -9999~9999 ○ 5|6
P9-21 Homing selection - 0 0~1 ● 5|6
P9-22 Homing end filter time - 500 50~10000 ○ 5|6

Table 1 input signal distribution

Input terminal Servo model Range
parameter
P5-20~P5-36 n.0000~n.0003
DS5C series
P5-57~P5-59 n.0010~n.0013

Table 2 output signal distribution

Output terminal Servo model Range
parameter
n.0000~n.0003
P5-37~P5-53 DS5C series
n.0010~n.0013

9-2-2. Group F parameters

Parameter Content
F0-00 Clear the alarm
F0-01 Back to factory setting
F0-02 Clear the position offset
F1-00 Jog run

95
 Parameter Content
F1-01 Test run
F1-02 Current sampling zero calibration
F1-05 Panel enable
F1-06 Absolute encoder clear the turns

9-2-3. Group U monitoring parameters

U0-XX：
Code Contents Unit
U0-00 servo motor speed Rpm
U0-01 Input speed instruction Rpm
U0-02 Torque instruction % rated

U0-03 Mechanical angle 1°

U0-04 Electric angle 1°

U0-05 Bus voltage V

U0-06 IPM temperature 0.1℃

U0-07 Torque feedback % rated

U0-08 （0000～9999）*1 Instruction
pulse offset
U0-09 （0000～9999）*10000 pulse
U0-10 （0000～9999）*1
Encoder feedback Encoder pulse
U0-11 （0000～65535）*10000
U0-12 input instruction pulse （0000～9999）*1 Instruction
U0-13 numbers （0000～9999）*10000 pulse
U0-14 （0000～9999）*1 Instruction
position feedback
U0-15 （0000～9999）*10000 pulse
U0-16 encoder accumulated （0000～9999）*1
Encoder pulse
U0-17 position （0000～9999）*10000
U0-18 Torque current 0.01A
U0-19 Analog input V-REF value 0.001V
U0-20 Analog input T-REF value 0.001V
U0-21 Input signal status 1
U0-22 Input signal status 2
U0-23 output signal status 1
U0-24 ouput signal status 2
U0-25 Input pulse （0000～9999）*1
Hz
U0-26 frequency （0000～9999）*10000
U0-41 Instantaneous output power 1W
U0-42 Average output power 1W

96
 Code Contents Unit
U0-43 Instantaneous thermal power 1W
U0-44 average thermal power 1W
1 command
U0-49 position feedforward
unit
U0-50 speed feedforward rpm
U0-51 torque feedforward % rated
U0-52 Instantaneous Bus Capacitor Power 1W
U0-53 Average Bus Capacitor Power 1W
U0-55 Instantaneous regenerative braking discharge power 1W
U0-56 Average regenerative brake discharge power 1W
U0-57 Encoder
Absolute encoder present position feedback low 32-bit
U0-58 position
U0-59 Encoder
Absolute encoder present position feedback high 32-bit
U0-60 position
U0-89 Position command end flag
U0-91 Multi-turn absolute motor turns
U0-98 High power motor temperature 0.1℃

U1-XX：
Code Contents Unit
U1-00 present alarm code
U1-01 present warning code
U1-02 U phase current when alarming 0.01A
U1-03 V phase current when alarming 0.01A
U1-04 bus voltage when alarming V
U1-05 IGBT temperature when alarming 0.1℃
U1-06 torque current when alarming 0.1A
U1-07 excitation current when alarming A
Command
U1-08 position offset when alarming
pulse
U1-09 speed when alarming rpm
Seconds (low 16-bit) when alarming, cumulated seconds from the
U1-10 s
first time power-on
Seconds (high 16-bit) when alarming, cumulated seconds from the
U1-11 s
first time power-on
U1-12 this time running error numbers, counting after power on this time
this time operation warning numbers, counting after power on this
U1-13
time
U1-14 historical alarm amounts

97
 Code Contents Unit
U1-15 historical warning amounts
U1-16 Recent 2nd alarm code
U1-17 Recent 3rd alarm code
U1-18 Recent 4th alarm code
U1-19 Recent 5th alarm code
U1-20 Recent 6th alarm code
U1-21 Recent 2nd warning code
U1-22 Recent 3rd warning code
U1-23 Recent 4th warning code
U1-24 Recent 5th warning code
U1-25 Recent 6th warning code

U2-XX：
Code Contents Unit
U2-00 Power on times
U2-01 series
U2-02 Model (low 16-bit)
U2-03 Model (high 16-bit)
U2-04 out of factory date: year
U2-05 out of factory date: month
U2-06 out of factory date: day
U2-07 Firmware version
U2-08 Hardware version
U2-09 Total running time (from the first time power on) hour
U2-10 Total running time (from the first time power on) minute
U2-11 Total running time (from the first time power on) second
U2-12 This time running time (from this time power on) hour
U2-13 This time running time (from this time power on) minute
U2-14 This time running time (from this time power on) second
Average output power (from the first time enabled, average power in
U2-15 1W
the process of enabling)
Average thermal power (from the first time enabled, average power
U2-16 1W
in the process of enabling)
Average bus capacitor filter power (from the first time power on,
U2-17 1W
average power in the process of power on)
U2-18 Cumulative turns of （0000～9999）*1 Turn
U2-19 motor （0000～9999）*10000 Turn
U2-20 Device serial no.: low 16-bit
U2-21 Device serial no.: high 16-bit
U2-22 Firmware generation date: year
U2-23 Firmware generation date: month/day

98
 Code Contents Unit
U2-24 Firmware generation date: hour/minute

U3-XX：
Code Contents Unit
Motor code (including thermal power parameters) read
U3-00 -
automatically by driver
U3-01 Motor version -
U3-02 Encoder version -

U4-XX：
Code Contents Unit
U4-10 Resonance frequency detected by fast FFT Hz
Cumulative value of continuous overload operation of thermal
U4-16 -
power protection (supported by 3770 version and later)
Cumulative value of instantaneous overload operation of thermal
U4-17 -
power protection (supported by 3770 version and later)

99
Appendix
Appendix 1. motor specification
Voltage level 220V
Motor model MS 5S-40ST- 5S-60ST 5H-60ST 5S-60ST-
CS00330 CS00630 CS00630 CS01330
-20P1-S01/S02 -20P2-S01/S02 -20P2-S01/S02 20P4-S01/S02
Motor code 5022/5822 5003/5803 5803/58C3 5004/5804
Encoder bits 17 17 17 17
Pole-pair numbers 4 5 5 5
Rated speed [rpm] 3000 3000 3000 3000
Max speed [rpm] 6000 6500 6500 6500
Rated torque [Nm] 0.32 0.64 0.64 1.27
Max torque [Nm] 0.96 1.92 1.92 4.45
Overload multiples 3 3.5 3.5 3.5
Rated current [mA] 950 1900 1900 2800
Max current [mA] 2850 6650 6650 9800
Phase resistance [mΩ] 5780 2410 2410 1705
Phase inductance [mH10-3] 5675 5150 5150 2910
Rotor inertia [10-7kg.m2] 44 137 137 258
Back EMF [V/krpm] 34 35 35 42
Rated output power [W] 100 200 200 400
Protection level IP65
Insulation grade of motor Class F (155℃)
Ambient temperature －15℃～＋40℃
Ambient humidity Relative humidity <90% (no condensation)

Voltage level 220V

Motor model MS 5H-60ST 5S-80ST 5H-80ST
CS01330 CS02430 CS02430
-20P4-S01/S02 -20P7-S01/S02 -20P7-S01/S02
Motor code 50C4/58C4 5011/5811 50D1/58D1
Encoder bits 17 17 17
Pole-pair numbers 5 5 5
Rated speed [rpm] 3000 3000 3000
Max speed [rpm] 6500 5200 5200
Rated torque [Nm] 1.27 2.39 2.39
Max torque [Nm] 4.45 7.17 7.17

100
 Overload multiples 3.5 3 3
Rated current [mA] 2800 4000 4000
Max current [mA] 9800 12000 12000
Phase resistance [mΩ] 1665 990 990
Phase inductance [mH10-3] 2810 3300 3300
Rotor inertia [10-7kg.m2] 648 902 1650
Back EMF [V/krpm] 42 54 54
Rated output power [W] 400 750 750
Protection level IP65
Insulation grade of motor Class F（155℃）
Ambient temperature －15℃～＋40℃
Ambient humidity Relative humidity <90% (no condensation)

Appendix 2. Servo driver and motor matching list

Motor Motor Suitable driver Voltage level
code
MS-220STE-TL96015B□-415P0-XJ 916B DS5C-415P0-PTA Three phase 380V
MS-220STE-TL70015B□-411P0-XJ 916A DS5C-411P0-PTA Three phase 380V
MS5G-180STE-TL48015B□-47P5 9163 DS5C-47P5-PTA Three phase 380V
MS5G-180STE-TL35015B□-45P5 9162 DS5C-45P5-PTA Three phase 380V
MS5G-180STE-TL28015B□-44P4 9161 DS5C-45P5-PTA Three phase 380V
MS-130ST-TL10030B(Z)-43P0 9148 DS5C-43P0-PTA Three phase 380V
MS5G-180STE-TL19015B□-42P9 9166 DS5C-43P0-PTA Three phase 380V
MS5G-130ST-TL14615B(Z)-42P3-S01 9175 DS5C-43P0-PTA Three phase 380V
MS5G-130ST-CS/CM14615B(Z)-42P3-S01 5175 DS5C-43P0-PTA Three phase 380V
MS-130ST-TL10025B□-22P6 9045 DS5C-22P6-PTA Single phase /Three
phase 220V
MS-130STE-T07730B□-22P4 404B DS5C-22P3/22P6-PTA Single phase /Three
phase 220V
MS-130STE-TL15015GB-22P3(-F) 9046 DS5C-22P3-PTA Single phase /Three
phase 220V
MS5G-130STE-TL14615BZ-22P3-S01 9875 DS5C-22P3-PTA Single phase /Three
phase 220V
MS5G-130STE-TL14615B-22P3-S01 9075 DS5C-22P3-PTA Single phase /Three
phase 220V
MS5G-130STE-CS/CM14615BZ-22P3-S01 5875 DS5C-22P3-PTA Single phase /Three
phase 220V
MS5G-130STE-CS/CM14615B-22P3-S01 5075 DS5C-22P3-PTA Single phase /Three
phase 220V

101
 Motor Motor Suitable driver Voltage level
code
MS5S-110STE-CS/CM06030B□-21P8 5037 DS5C-22P3-PTA Single phase /Three
phase 220V
MS5S-110STE-TL06030B□-21P8 9037 DS5C-22P3-PTA Single phase /Three
phase 220V
MS5G-130STE-TL11515BZ-21P8-S01 9874 DS5C-22P3-PTA Single phase /Three
phase 220V
MS5G-130STE-TL11515B-21P8-S01 9074 DS5C-22P3-PTA Single phase /Three
phase 220V
MS5G-130STE-CS/CM11515BZ-21P8-S01 5874 DS5C-22P3-PTA Single phase /Three
phase 220V
MS5G-130STE-CS/CM11515B-21P8-S01 5074 DS5C-22P3-PTA Single phase /Three
phase 220V
MS5G-130STE-TL07220BZ-21P5-S01 9877 DS5C-21P5-PTA Single phase /Three
phase 220V
MS5G-130STE-TL07220B-21P5-S01 9077 DS5C-21P5-PTA Single phase /Three
phase 220V
MS5G-130STE-CS/CM07220BZ-21P5-S01 5877 DS5C-21P5-PTA Single phase /Three
phase 220V
MS5G-130STE-CS/CM07220B-21P5-S01 5077 DS5C-21P5-PTA Single phase /Three
phase 220V
MS-130ST-T10015B□-21P5 4044 DS5C-21P5-PTA Single phase /Three
phase 220V
MS-130ST-T06025B□-21P5 4042 DS5C-21P5-PTA Single phase /Three
phase 220V
MS5S-110STE-TL04830B□-21P5 9034 DS5C-21P5-PTA Single phase /Three
phase 220V
MS5S-110STE-CS/CM04830B□-21P5 5034 DS5C-21P5-PTA Single phase /Three
phase 220V
MS-110ST□-T05030B□-21P5 4032 DS5C-21P5-PTA Single phase /Three
phase 220V
MS-110ST□-T04030B□-21P2 4031 DS5C-21P5-PTA Single phase /Three
phase 220V
MS5S-110STE-TL03230B□-21P0 9033 DS5C-21P5-PTA Single phase /Three
phase 220V
MS5S-110STE-CS/CM03230B□-21P0-S01 5033 DS5C-21P5-PTA Single phase /Three
phase 220V
MS5H-80ST□-CS/CM03230B□-21P0-S01 50D2 DS5C-20P7-PTA Single phase 220V
MS5S-80ST□-CS/CM03230B□-21P0-S01 5012 DS5C-20P7-PTA Single phase 220V

102
 Motor Motor Suitable driver Voltage level
code
MS5G-130STE-TL05415BZ-20P8-S01 9872 DS5C-20P7-PTA Single phase 220V
MS5G-130STE-TL05415B-20P8-S01 9072 DS5C-20P7-PTA Single phase 220V
MS5G-130STE-CS/CM05415BZ-20P8-S01 5872 DS5C-20P7-PTA Single phase 220V
MS5G-130STE-CS/CM05415B-20P8-S01 5072 DS5C-20P7-PTA Single phase 220V
MS5S-80ST-CS02430-20P7-S01/S02 5011 DS5C-20P7-PTA Single phase 220V
MS5S-80ST-CS02430BZ-20P7-S01/S02 5811 DS5C-20P7-PTA Single phase 220V
MS5H-80ST-CS02430B-20P7-S01/S02 50D1 DS5C-20P7-PTA Single phase 220V
MS5H-80ST-CS02430B-20P7-S01/S02 58D1 DS5C-20P7-PTA Single phase 220V
MS5S-60ST-CS01330B-20P4-S01/S02 5004 DS5C-20P4-PTA Single phase 220V
MS5S-60ST-CS01330BZ-20P4-S01/S02 5804 DS5C-20P4-PTA Single phase 220V
MS5H-60ST-CS01330B-20P4-S01/S02 50C4 DS5C-20P4-PTA Single phase 220V
MS5H-60ST-CS01330BZ-20P4-S01/S02 58C4 DS5C-20P4-PTA Single phase 220V
MS-60STE-TL01330B-20P4 9025 DS5C-20P4-PTA Single phase 220V
MS5S-60ST-C00630B-20P2-S01/S02 5003 DS5C-20P2-PTA Single phase 220V
MS5S-60ST-C00630BZ-20P2-S01/S02 5803 DS5C-20P2-PTA Single phase 220V
MS5H-60ST-C00630B-20P2-S01/S02 50C3 DS5C-20P2-PTA Single phase 220V
MS5H-60ST-C00630BZ-20P2-S01/S02 58C3 DS5C-20P2-PTA Single phase 220V
MS5S-40ST-CS00330B-20P1-S01/S02 5022 DS5C-20P1-PTA Single phase 220V
MS5S-40ST-CS00330BZ-20P1-S01/S02 5822 DS5C-20P1-PTA Single phase 220V
MS6S-60CS/CM30B1/B2-20P4 5005 DS5C-20P4-PTA Single phase 220V
MS6S-60CS/CM30BZ1/BZ2-20P4 5805 DS5C-20P4-PTA Single phase 220V
MS6H-60CS/CM30B1/B2-20P4 50C5 DS5C-20P4-PTA Single phase 220V
MS6H-60CS/CM30BZ1/BZ2-20P4 58C5 DS5C-20P4-PTA Single phase 220V
MS6S-80CS/CM30B1/B2-20P7 5007 DS5C-20P7-PTA Single phase 220V
MS6S-80CS/CM30BZ1/BZ2-20P7 5807 DS5C-20P7-PTA Single phase 220V
MS6S-80CS/CM20B1/B2-20P7 5013 DS5C-20P7-PTA Single phase 220V
MS6S-80CS/CM20BZ1/BZ2-20P7 5813 DS5C-20P7-PTA Single phase 220V
MS6H-80CS/CM30B1/B2-20P7 50D7 DS5C-20P7-PTA Single phase 220V
MS6H-80CS/CM30BZ1/BZ2-20P7 58D7 DS5C-20P7-PTA Single phase 220V
MS6H-80CS/CM20B1/B2-20P7 50D3 DS5C-20P7-PTA Single phase 220V
MS6H-80CS/CM20BZ1/BZ2-20P7 58D3 DS5C-20P7-PTA Single phase 220V
MS6H-130CS/CM15B2-20P8 5082 DS5C-21P0-PTA Single phase /Three
phase 220V
MS6H-130CS/CM15B2-40P8 5182 DS5C-41P0-PTA Three phase 380V
MS6H-130CS/CM15BZ2-40P8 5982 DS5C-41P0-PTA Three phase 380V
MS6H-130TL15B2-40P8 9182 DS5C-41P0-PTA Three phase 380V
MS6H-130TL15BZ2-40P8 9982 DS5C-41P0-PTA Three phase 380V
MS6H-130CS/CM20B2-21P5 5087 DS5C-21P5-PTA Single phase /Three

103
 Motor Motor Suitable driver Voltage level
code
phase 220V
MS6H-130CS/CM20BZ2-21P5 5887 DS5C-21P5-PTA Single phase /Three
phase 220V
MS6H-130TL20B2-21P5 9087 DS5C-21P5-PTA Single phase /Three
phase 220V
MS6H-130TL20BZ2-21P5 9887 DS5C-21P5-PTA Single phase /Three
phase 220V
MS6S-100CS/CM30B2-21P5 5083 DS5C-21P5-PTA Single phase /Three
phase 220V
MS6H-130CS/CM15B2-41P3 5181 DS5C-41P5-PTA Three phase 380V
MS6H-130CS/CM15BZ2-41P3 5981 DS5C-41P5-PTA Three phase 380V
MS6H-130TL15B2-41P3 9181 DS5C-41P5-PTA Three phase 380V
MS6H-130TL15BZ2-41P3 9981 DS5C-41P5-PTA Three phase 380V
MS6H-130CS/CM15B2-41P8 5186 DS5C-41P5-PTA Three phase 380V
MS6H-130CS/CM15BZ2-41P8 5986 DS5C-41P5-PTA Three phase 380V
MS6H-130TL15B2-41P8 9186 DS5C-41P5-PTA Three phase 380V
MS6H-130TL15BZ2-41P8 9986 DS5C-41P5-PTA Three phase 380V
MS6H-130CS/CM15B2-21P8 5084 DS5C-22P6-PTA Single phase /Three
phase 220V
MS6H-130CS/CM15BZ2-21P8 5884 DS5C-22P6-PTA Single phase /Three
phase 220V
MS6H-130TL15B2-21P8 9084 DS5C-22P6-PTA Single phase /Three
phase 220V
MS6H-130TL15BZ2-21P8 9884 DS5C-22P6-PTA Single phase /Three
phase 220V
MS6H-130CS/CM15B2-22P3 5085 DS5C-22P6-PTA Single phase /Three
phase 220V
MS6H-130CS/CM15BZ2-22P3 5885 DS5C-22P6-PTA Single phase /Three
phase 220V
MS6H-130TL15B2-22P3 9085 DS5C-22P6-PTA Single phase /Three
phase 220V
MS6H-130TL15BZ2-22P3 9885 DS5C-22P6-PTA Single phase /Three
phase 220V
MS6H-130CS/CM15B2-42P3 5185 DS5C-43P0-PTA Three phase 380V
MS6H-130TL15B2-42P3 9185 DS5C-43P0-PTA Three phase 380V
MS6H-130CS/CM15BZ2-42P3 5985 DS5C-43P0-PTA Three phase 380V
MS6H-130TL15BZ2-42P3 9985 DS5C-43P0-PTA Three phase 380V
MS6H-180CS/CM15B2-43P0 5196 DS5C-43P0-PTA-H Three phase 380V

104
 Motor Motor Suitable driver Voltage level
code
MS6H-180TL15B2-43P0 9196 DS5C-43P0-PTA-H Three phase 380V
MS6H-180CS/CM15B2-44P4 5191 DS5C-45P5-PTA-H Three phase 380V
MS6H-180TL15B2-44P4 9191 DS5C-45P5-PTA-H Three phase 380V
MS6H-180CS/CM15B2-45P5 5192 DS5C-45P5-PTA-H Three phase 380V
MS6H-180TL15B2-45P5 9192 DS5C-45P5-PTA-H Three phase 380V
MS6H-180CS/CM15B2-47P5 5193 DS5C-47P5-PTA-H Three phase 380V
MS6H-180TL15B2-47P5 9193 DS5C-47P5-PTA-H Three phase 380V
Note:
Motors are divided into large inertia, small inertia and holding brake motors, and their motor codes are also
different.
For example: 5003: 200W small inertia motor
50C3: 200W large inertia motor
5083: 200W brake motor

105
Appendix 3. Alarm list
Type Code Description Reasons Solutions
1 EEEE1 (1) Stable power supply to
①Voltage fluctuation of
2 EEEE2 ensure the stability of power
power supply is large, and
3 EEEE3 Communication supply voltage.
low voltage leads to failure
EEEE error between panel (2) after repower on the driver,
of panel refresh;
and CPU if the alarm cannot be
4 EEEE4 ②Damage of panel
removed, please contact the
program
agent or the manufacturer.
Firmware version Downloaded firmware Please contact the agent or the
0 E-010
mismatch version error manufacturer.
①program damaged Please contact the agent or the
3 E-013 FPGA loading error
②device damaged manufacturer.
(1) Program damage Please contact the agent or the
(2) Device damage manufacturer
4 E-014 FPGA Access error
(3)Serious external
interference
01
Program running Please contact the agent or the
5 E-015 Program damage
error manufacturer
Processor operation Please contact the agent or the
6 E-016 Hardware damage
error manufacturer
Processor operation Program damage Please contact the agent or the
7 E-017
timeout manufacturer
System password Program damage Please contact the agent or the
9 E-019
error manufacturer
Re-energizing can restore
default parameters, if there are
Parameter loading Failure of parameter
0 E-020 repeated problems, please
error self-checking
contact the agent or
manufacturer.
Parameter range Setting values are not
1 E-021 Check the parameters and
beyond limit within the prescribed setting
02
Conflict of TREF or VREF P0-01=4, P3-00 set to 1 will
2 E-022 Parameter conflict
Function Settings alarm
Error setting of custom
Sampling channel Check that the settings are
3 E-023 output trigger channel or
setting error correct
data monitoring channel
(1) If it is single-phase 220V
4 E-024 parameter lost Low voltage of power grid
power supply, please connect

106
 R and T.
(2) Resetting parameters
Erase FLASH error Abnormal parameter please contact the agent or the
5 E-025 preservation during power manufacturer
failure
Initialization FLASH Power supply instablity of please contact the agent or the
6 E-026
error FLASHchip manufacturer
(1) The cable is in poor
① Check the communication
Data reading failed contact or not connected
wiring
8 E-028 during (2) Abnormal data
② Power on and power off
communication communication between
again
driver and motor

Type Code Explanation Reason Solution

Check the fluctuation of power grid,
220V driver normal voltage range 200V ~
High voltage of 240V, 380V driver normal voltage range
power grid 360V ~ 420V. If the voltage fluctuation is
large, it is recommended to use the
correct voltage source and regulator.
(1) connect external regenerative resistor,
(220V: bus voltage U0-05 = 392
Bus voltage
discharge starts, U-05 = 377 discharge
U0-05 is higher
Excessive load ends; 380V: U-05 = 750 discharge starts,
than the actual
moment of inertia U-05 = 720 discharge ends;)
preset threshold,
(insufficient (2) Increasing Acceleration and
220V Power
03 0 E-030 regeneration Deceleration Time
Supply Machine
capacity) (3) Reducing load inertia
(U0-05≥402V)
(4) Reduce start-stop frequency
380V Power
(5) Replacement of larger power drivers
Supply Machine
and motors
(U0-05≥780V)
Check the regenerative resistor and
Brake resistance
replace the external resistor with the
damage or
appropriate resistance value. See chapter
excessive
1.4.1 for the selection of the external
resistance value
resistor.
Acceleration and
Extending Acceleration and Deceleration
deceleration time
Time
is too short

107
 (1) Check the fluctuation of power grid.
The normal voltage range of 220V driver

low voltage of is 200V~240V. If the voltage fluctuation

power grid when is large, the voltage regulator is
normal power on
recommended.
(2) Replacement of larger capacity

Bus voltage transformers

Instantaneous
U0-05 is lower Re-energize after voltage stabilization
power failure
than the actual
The AC gear of the multimeter measures
preset threshold. the input value of the servo LN (R/S/T),
220V power which is 220V ± 10% of the normal
04 0 E-040
value. If < 220V + 10% (380V + 10%),
supply machine
Hardware Fault of then check the supply voltage; if the
(U0-05 ≤ 150V)
Driver Internal supply voltage is normal, then servo BB
380V power Sampling Circuit state, monitoring U0-05, multimeter
supply machine measurement voltage * 1.414 > U0-05
(U0-05 ≤ 300V) (error within 10V), then the servo driver
is faulty and needs to be sent back for
repair.
Driver power off Check the power supply
① The supply
When the driver is powered on, please
voltage is too low
pay attention to whether there is relay
② Hardware
closing sound
damage

Type Code Explanation Reason Solution

Driver power
1 E-041 Driver power off Check the power supply
down
low voltage of
low voltage of power grid when normal
power grid when
Bus Voltage power on
3 E-043 normal power on
04 Charging Failure
When the driver is on, please pay attention
Hardware damage
to whether there is relay actuation sound
Three phase Three phase input
4 E-044 voltage input power supply is Check the power supply
phase loss lack of phase
06 0 E-060 Module ① Long time (1) Re-consider the capacity of the motor,

108
 temperature is operation under monitor the U0-02 torque during operation,

too high heavy load whether it is in the value of more than 100
② The ambient for a long time, if yes, please chose the
(Module
temperature is too large-capacity motor or load reduction.
temperature high (2) Enhance ventilation measures to reduce
U-06 ≥ 90℃ ③ Cooling fan ambient temperature
alarm, U-06 ≥ failure (3) Check whether the fan rotates when the
servo is enabled; Module temperature
70℃ Warning)
U0-06 ≥ 45 ℃, fan on
Alarm when ① Check whether the motor fan is
motor abnormal
1 E-061 Motor overheat
temperature is ② Contact the manufacturer for technical
higher than 95℃ support
① The motor
thermocouple of
11kw and above
power is Check the external thermocouple
Thermocouple
disconnected connection
2 E-063 disconnection
② False opening Shield thermocouple disconnection alarm:
alarm
detection and P0-69.1 = 1
disconnection
alarm of motor
below 11kw
Overspeed Check if the driver U3-70 is identical with
(actual speed ≥ the motor code of the motor label (the
Motor code not
P3-21/P3-22) number after MOTOR CODE), if not,
match
The maximum please change to the same one, then power
forward speed is on again.
P3-21 and the UVW wiring Inspection of motor UVW wiring, need to
maximum error be connected in phase sequence.
reverse speed is (1) The maximum speed limit value
08 0 E-080 P3-22. P3-21/P3-22 was reduced.

Motor speed too (2) To confirm whether the external force

fast makes the motor rotate too fast, whether
the pulse input frequency is too high, and
whether the electronic gear ratio is too
large.
(1) Check the encoder cable or change a
Encoder fault
new one

109
 (2) Set the servo driver to BB state and the
driver to U-10. Rotate the motor shaft
slowly by hand to see if the value of U-10
changes normally, increasing in one
direction and decreasing in one direction
(0-9999 cycle display).
When the actual speed is greater than P3-21 /
Parameter setting
P3-22, an alarm will be given

Type Code Explanation Reason Solution

Analog Tref Analog Zero
Please correct zero without analog
2 E-092 Zero-Calibration Calibration
voltage
Over limit Operation Error
09
Analog Vref Analog Zero
Please correct zero without analog
3 E-093 Zero-Calibration Calibration
voltage
Over limit Operation Error
In position control,
the difference (1) Observe whether the motor is
between the given
Position offset blocked or not.
0 E-100 position and the
too large (2) Increase the deviation pulse limit
actual position
exceeds the limit P0-23.

10 value.
The position
difference of every
Position
6K cycle exceeds (1) Check and modify procedures
1 E-101 command
the command (2) Set the appropriate P0-70 value
mutation
difference alarm
value set by P0-70
Check if the driver U3-70 is identical
with the motor code of the motor
Not match the motor
External UVW label (the number after MOTOR
code
Short Circuit CODE), if not, please change to the
11 0 E-110
Discovered in same one, then power on again.
Self-Inspection Inspection of motor UVW wiring,
UVW wiring error need to be in phase sequence (brown
U, black V, blue W)

110
 (1) Measure whether the UVW phase
resistance of the motor is balanced. If
the phase resistance is unbalanced,
replace the motor.
(2) Measure whether there is short

Driver UVW Output circuit between UVW and PE of the

Short Circuit or motor. If there is short circuit, replace
Motor Failure the motor.
(3) Measure the driver side UVW
output through multimeter (diode
gear), black pen P+, red pen to
measure UVW; red pen P-, black pen
to measure UVW; if anyone is 0 in 6
groups of value, replace the driver.
It is suggested that the motor should
Load part is blocked be operated on an empty shaft to
eliminate the load problem.
High-speed
Increasing Acceleration and
start-stop
Deceleration Time
instantaneous alarm
(1) Check the encoder cable or
change a new one
(2) Set the servo driver to BB state
and the driver to U-10. Rotate the
Encoder problem motor shaft slowly by hand to see if
the value of U-10 changes normally,
increasing in one direction and
decreasing in one direction (0-9999
cycle display).
Disconnect the power supply of the
driver and check the connection of
Any phase in UVW the power cable. It is suggested that
Power cable
15 0 E-150 of driver, cable or the multimeter be used to test the
disconnection
motor broken condition. After eliminating the
errors, the driver should be
re-energized.

111
 Type Code Explanation Reason Solution
Check if the driver U3-70 is
identical with the motor code of the
motor label (the number after
Not match the motor code
MOTOR CODE), if not, please
change to the same one, then power
on again.
Overload, the actual
operating torque exceeds
the rated torque, and
continuous operation for a
long time. (Monitor U0-02 Increase the capacity of drivers and
to check the actual motors. Extend the acceleration and
operating torque. If the deceleration time and reduce the
motor is in normal load. Monitor the U-00, whether it
operation, it will not jam or is running over speed.
jitter. If the U0-02 is longer
than 100, it will be
considered improper
Driver selection of the motor.)
thermal Mechanisms are impacted,
16 1 E-161 Eliminate mechanical distortion.
power suddenly weighted and
overload Reduce load
distorted.
Measure the voltage of the brake
terminal and decide to open the
brake.
Motor action when motor
It is suggested to use servo BK
brake is not opened
signal to control the brake lock. If it
is not servo control, attention must
be paid to the timing of brake
opening and motor action.
Check the UVW connection of
power cable to see if there is any
Wrong wiring of encoder phase sequence error.
cable, power cable or
The multimeter is used to measure
broken wire or loose pin of
whether all the encoder cable are
connector plug
on. Check whether the plug is loose,
for machine vibration, whether the
plug has shrinkage pin, virtual

112
 welding, damage.
In multiple mechanical
Detection of servo wiring, the motor
wirings, incorrect
cable, encoder cable is correctly
connection of motor cable
connected to the corresponding
to other shafts leads to
shaft.
incorrect wiring.
Poor gain adjustment
results in motor vibration,
Readjustment of gain parameters
back and forth swing and
abnormal noise.
There are servo cross test or motor
empty shaft on site, F1-01 trial
operation, F1-00 jog run can not
Driver or motor hardware
failure; rotate uniformly.
Replace the new driver or motor
and send the malfunction machine
back to the manufacturer for repair.

Type Code Explanation Reason Solution

(1) Eliminate the factors of
mechanical distortion. Reduce load
(2) Measure the voltage of the brake
(1) Machinery is
terminal and determine the opening of
impacted, suddenly
the brake
Anti-blocking alarm becomes heavier
Judging that the It is suggested to use servo BK brake
and distorted
current motor output signal to control the brake lock. If it is
torque is greater (2) When the brake
not servo control, attention must be
16 5 E-165 of the motor is not
than P3-28/P3-29
paid to the timing of brake opening
(P3-38 /P3-39 for opened, the motor
and motor action.
version 3760 and
moves
later), and the time (3) Monitor the actual output torque
(3) The parameter range of U0-02 and check whether the
reaches P0-74 (unit
setting is setting of P3-28/29 torque limit is
ms), and the speed
unreasonable. reasonable. (After version 3760, the
is lower than P0-75
(unit 1 rpm). output torque limit setting parameters
of anti locked rotor alarm are P3-38
and P3-39）

113
 The discharge
① Replace the regenerative
power of
Regenerative discharge resistor with higher power
20 0 E-200 regeneration
resistance overload ② Check whether the regeneration
resistance exceeds
resistance is properly connected
the rated value
Motor matching
Check if the motor matches correctly
error
Check whether the value of U0-54
increases rapidly. If yes, the encoder
circuit is disconnected. Disconnect
the power supply of the driver, check
the connection of the encoder cable, if
Unconnected
there is cable loosening, it is
encoder cable or
poor contact recommended to use the multimeter
Communication
to test the conduction condition; after
error of absolute
0 E-220 eliminating errors, power on again
servo encoder
Hot plugging is strictly prohibited,
and special cables are required for
tank chains.
22 Check whether the value of U0-79
Received encoder and U0-54 increase. If yes, the
data errors, and the encoder is interfered. Encoder wire
number of errors and strong power do not have the
exceeds the number same pipeline wiring; install filter on
of errors retries of servo driver power input side;
encoder registers encoder wire sleeves magnetic ring;
P0-56 shut down welding machine type of
equipment with large interference
The received
encoder data is
wrong and the
Too many CRC
number of errors Encoder interfered, isolate
1 E-221 errors in encoder
exceeds the value in interference source
communication
encoder error retry
number register
P0-56

114
 Type code Explanation Reason Solution
① Please replace the battery
while keeping the servo driver
Absolute value ① The battery voltage power on to avoid error of encoder
servo encoder in the encoder cable position information; Battery
battery low battery box is lower than Specification: No. 5 battery, 3.6V.
2 E-222
voltage alarm 3.2V ② If the encoder cable is
(can shield this ② New machine power disconnected from the motor, the
alarm) on alarm current position of the motor will
be lost, an alarm will be given,
and F0-00 = 1 will clear the alarm
Encoder cable with
battery box is not used
for multi-turn absolute
motor ① Please use encoder cable with
Generally, it is the battery box
alarm of problem of the encoder ② Power off and power on again
22 3 E-223 absolute value itself, or the power (the driver panel shall be
servo encoder supply of the encoder is completely off). If the alarm
unstable cannot be removed, please contact
Abnormal power on of the agent or manufacturer
main control chip of
multi-turn absolute value
servo encoder
Generally, it is the
Power on
problem of the encoder In the case of no battery,
encoder multi
7 E-227 itself, or the power unplugging the encoder cable may
turn signal data
supply of the encoder is cause this alarm.
error
unstable

The motor runs in one ① Set F1-06 = 1, clear the

Absolute value
direction continuously, absolute encoder's multiple turns
8 E-228 servo encoder
the encoder data value is ② Set P0-79 = 1, the alarm can
value overflow
too large, overflow be shielded.
①The number of ① Restart driver
Timing error in consecutive errors in ②Check the arrangement of
fetching encoder data update transmission cables to ensure that
24 0 E-240
encoder sequence is greater than the strong and weak current are
position data the value in P0-68 wired separately.
② CPU timer fluctuates ③High current equipment is

115
 Type code Explanation Reason Solution
supplied separately.
④The grounding is good.
① Check the arrangement of
The received encoder
transmission cables to ensure that
data is wrong and the
Encoder the strong and weak current are
number of errors
1 E-241 responds to wired separately.
exceeds the value in
data scrambling ② High current equipment is
encoder error retry
supplied separately.
number register P0-56
③ The grounding is good.
The status frame fed
①Check whether the encoder
back by the encoder is
Delta encoder cable is normal
3 E-243 wrong, which is the
abnormal ②Confirm whether the encoder is
alarm of delta encoder
normal
itself
① Increase P9-15
② Ensure that the direction of
①P9-15 is not 0 and the
mechanical offset (P9-19, P9-20)
total time to return to the
is opposite to the direction of
origin exceeds the time
Zero return returning to the origin
25 0 E-250 set by P9-15
error alarm ③Check whether there is a
②The parameter setting
problem with the origin signal
of the original function
④Check the parameter setting of
is wrong.
the new return to the original
function
Overrun signal was If you do not want to alarm
Over range detected and the overrun immediately when the overrun
0 E-260
alarm processing mode was occurs, you can change the
configured to alarm overrun signal processing mode.
(1) When the motor is in
forward rotation, it
encounters reverse
Overrun signal
26 overrun signal. Check over-run signal connection
1 E-261 connection
(2) When the motor is in and over-run terminal allocation.
error
reverse rotation, it
encounters forward
overrun signal.
(1) Excessive inertia (1) Reduce inertia or use brake
Control stop
2 E-262 (2) Stop timeouts too motor
timeout
short (2) Increase the stop timeout time

116
 Type code Explanation Reason Solution
(3) The setting of P0-30
braking torque is too (3) Increase braking torque P3-32.
small.
(1)Check the source of external
force to see if there are any
problems in mechanical
installation;
(2)Increase the servo gain to
improve the anti-disturbance
ability;
(1) Oscillation caused by (3)Acquisition speed curve
external forces analysis; When the first three
(2) Load inertia is large peaks are convergenced after
and the setting of load pulse instruction completed (0.8* |
Excessive
4 E-264 inertia ratio is wrong or first peak | > | second peak | and
vibration
the gain is too small, 0.8* | second peak | > | third peak
which leads to the |), the driver should not alarm,
oscillation of which can adjust the relevant
positioning. threshold.
When the first three peaks speed
are not less than 300 rpm for three
consecutive times after the
completion of the pulse
instruction, the driver will alarm.
(4)Contact manufacturers for
technical support
Excessive (1)Set P2-03.0 to 0;
5 E-265 Mechanical vibration
motor vibration (2)Check the motor installation
On the premise that the
professional determines that the
Failed to read driver and motor are matched and
Request to read
0 E-280 motor can be used together, it can (read
EEPROM failed
parameters the motor parameter alarm
28 shielding bit) through P0-53 and
correctly set P0-33 motor code.
On the premise that the driver and
Error writing
Request to write motor are matched and can be
1 E-281 data to encoder
EEPROM failed used together, read the alarm
EEPROM
shielding position of motor

117
 Type code Explanation Reason Solution
parameters through P0-53, and set
the motor code of P0-33 correctly.
Check whether the power of
Power mismatch
Motor code is motor and driver is consistent, and
0 E-310 between driver and
error replace the driver corresponding
motor.
to the motor
The driver is equipped On the premise that the driver and
with optical encoder motor are matched and can be
Motor code motor, P0-33 is n.0000, used together, read the alarm
1 E-311
missing and the motor shielding position of motor
parameters are not parameters through P0-53, and set
written in the motor the motor code of P0-33 correctly
The motor code ① Update motor
does not match parameters Contact the manufacturer for
2 E-312
the software ② Update software technical support
version version
①Update driver firmware to
maximize current motor parameter
performance
②Read the alarm shielding
Encoder
31 position of motor parameters
software Encoder software
3 E-313 through P0-53, and set the motor
version version mismatch
code of P0-33 correctly. At this
mismatch
time, the motor parameters are in
the driver, which can work
normally, but may affect some
performance
The encoder version
does not match .
The motor code The encoder version ①Update motor parameters
does not match currently used by the ②Update the software version
4 E-314
the software motor is higher than the ③Contact the manufacturer for
version encoder version technical support
supported by the drive
firmware
There are motor On the premise that the driver and
parameters in the motor motor are matched and can be
5 E-315
Invalid read encoder, but the used together, read the alarm
parameter parameter is 0 (this is the shielding position of motor

118
 Type code Explanation Reason Solution
property of the motor parameters through P0-53, and set
encoder), and P0-33 is the motor code of P0-33 correctly.
not n.0000
The auto read motor Check U3-70 and motor code on
Auto-read code code is inconsistent with motor body nameplate. If the two
6 E-316
error the motor code set in values are different, contact the
P0-33 manufacturer's technical support
Confirm whether the sending time
of PDO from the upper device is
fixed (interrupted). Confirm that
the PDO watchdog detection
delay value is too large. Confirm
PDO watchdog EtherCAT whether there is any problem with
80 4 E-804 abnormal communication the wiring of EtherCAT
protection disconnected communication cable and whether
there is excessive noise on the
cable. The servo alarm can be
cleared by setting SM2013 +
20*(n-1) or by servo panel F0-00
=1

Type Code Explanation Reason Solution

Confirm that the data size of TxPDO
TxPDO mapping is set within 24 bytes. The
TxPDO mapped data size
0 E-850 assign fault servo alarm can be cleared by setting
exceeds 24 bytes
protection SM2013 + 20*(n-1) or by servo panel
F0-00 = 1
85
Confirm that the data size of RxPDO
RxPDO mapping is set within 24 bytes. The
RxPDO mapped data size
1 E-851 assign fault servo alarm can be cleared by setting
exceeds 24 bytes
protection SM2013 + 20*(n-1) or by servo panel
F0-00 = 1
When the set value of
Control 6060h is 0 and the set Confirm the set value of 6060h. The
mode setting value of 6061h is 0, change servo alarm can be cleared by setting
88 1 E-881
abnormal the PDS state to "operation SM2013 + 20*(n-1) or by servo panel
protection enabled" and the control F0-00 = 1
mode corresponding to

119
6060h is not set. In full
closed-loop control, 6060h
is the case when the mode
other than position control
is set

120
Appendix 4. Modbus address list

 Parameter address
Modbus address Modbus address
Parameter Parameter
Hexadecimal Decimal Hexadecimal Decimal
P0-00 0x0000 0 P0-17 0x0011 17
P0-01 0x0001 1 P0-18 0x0012 18
P0-02 0x0002 2 P0-19 0x0013 19
P0-03 0x0003 3 P0-20 0x0014 20
P0-04 0x0004 4 P0-21 0x0015 21
P0-05 0x0005 5 P0-22 0x0016 22
P0-06 0x0006 6 P0-23 0x0017 23
P0-07 0x0007 7 P0-24 0x0018 24
P0-08 0x0008 8 P0-25 0x0019 25
P0-09 0x0009 9 P0-26 0x001A 26
P0-10 0x000A 10 P0-27 0x001B 27
P0-11 0x000B 11 P0-28 0x001C 28
P0-12 0x000C 12 P0-29 0x001D 29
P0-13 0x000D 13 P0-30 0x001E 30
P0-14 0x000E 14 P0-31 0x001F 31
P0-15 0x000F 15 P0-32 0x0020 32
P0-16 0x0010 16 P0-33 0x0021 33

Modbus address Modbus address

Parameter Parameter
Hexadecimal Decimal Hexadecimal Decimal
P1-00 0x0100 256 P1-15 0x010F 271
P1-01 0x0101 257 P1-16 0x0110 272
P1-02 0x0102 258 P1-17 0x0111 273
P1-03 0x0103 259 P1-18 0x0112 274
P1-04 0x0104 260 P1-19 0x0113 275
P1-05 0x0105 261 P1-20 0x0114 276
P1-06 0x0106 262 P1-21 0x0115 277
P1-07 0x0107 263 P1-22 0x0116 278
P1-08 0x0108 264 P1-23 0x0117 279
P1-09 0x0109 265 P1-24 0x0118 280
P1-10 0x010A 266 P1-25 0x0119 281
P1-11 0x010B 267 P1-26 0x011A 282
P1-12 0x010C 268 P1-27 0x011B 283

121
 Modbus address Modbus address
Parameter Parameter
Hexadecimal Decimal Hexadecimal Decimal
P1-13 0x010D 269 P1-28 0x011C 284
P1-14 0x010E 270

Modbus address Modbus address

Parameter Parameter
Hexadecimal Decimal Hexadecimal Decimal
P2-00 0x0200 512 P2-15 0x20F 527
P2-01 0x0201 513 P2-16 0x210 528

Modbus address Modbus address

Parameter Parameter
Hexadecimal Decimal Hexadecimal Decimal
P3-00 0x0300 768 P3-19 0x0313 787
P3-01 0x0301 769 P3-20 0x0314 788
P3-02 0x0302 770 P3-21 0x0315 789
P3-03 0x0303 771 P3-22 0x0316 790
P3-04 0x0304 772 P3-23 0x0317 791
P3-05 0x0305 773 P3-24 0x0318 792
P3-06 0x0306 774 P3-25 0x0319 793
P3-07 0x0307 775 P3-26 0x031A 794
P3-08 0x0308 776 P3-27 0x031B 795
P3-09 0x0309 777 P3-28 0x031C 796
P3-10 0x030A 778 P3-29 0x031D 797
P3-11 0x030B 779 P3-30 0x031E 798
P3-12 0x030C 780 P3-31 0x031F 799
P3-13 0x030D 781 P3-32 0x0320 800
P3-14 0x030E 782 P3-33 0x0321 801
P3-15 0x030F 783 P3-34 0x0322 802
P3-16 0x0310 784 P3-35 0x0323 803
P3-17 0x0311 785 P3-36 0x0324 804
P3-18 0x0312 786

Modbus address Modbus address

Parameter Parameter
Hexadecimal Decimal Hexadecimal Decimal
P4-00 0x0400 1024 P4-15 0x040F 1039
P4-01 0x0401 1025 P4-16 0x0410 1040

122
 Modbus address Modbus address
Parameter Parameter
Hexadecimal Decimal Hexadecimal Decimal
P5-00 0x0500 1280 P5-27 0x051B 1307
P5-01 0x0501 1281 P5-28 0x051C 1308
P5-02 0x0502 1282 P5-29 0x051D 1309
P5-03 0x0503 1283 P5-30 0x051E 1310
P5-04 0x0504 1284 P5-31 0x051F 1311
P5-05 0x0505 1285 P5-32 0x0520 1312
P5-06 0x0506 1286 P5-33 0x0521 1313
P5-07 0x0507 1287 P5-34 0x0522 1314
P5-08 0x0508 1288 P5-35 0x0523 1315
P5-09 0x0509 1289 P5-36 0x0524 1316
P5-10 0x050A 1290 P5-37 0x0525 1317
P5-11 0x050B 1291 P5-38 0x0526 1318
P5-12 0x050C 1292 P5-39 0x0527 1319
P5-13 0x050D 1293 P5-40 0x0528 1320
P5-14 0x050E 1294 P5-41 0x0529 1321
P5-15 0x050F 1295 P5-42 0x052A 1322
P5-16 0x0510 1296 P5-43 0x052B 1323
P5-17 0x0511 1297 P5-44 0x052C 1324
P5-18 0x0512 1298 P5-45 0x052D 1325
P5-19 0x0513 1299 P5-46 0x052E 1326
P5-20 0x0514 1300 P5-47 0x052F 1327
P5-21 0x0515 1301 P5-48 0x0530 1328
P5-22 0x0516 1302 P5-49 0x0531 1329
P5-23 0x0517 1303 P5-50 0x0532 1330
P5-24 0x0518 1304 P5-51 0x0533 1331
P5-25 0x0519 1305 P5-52 0x0534 1332
P5-26 0x051A 1306 P5-53 0x0535 1333

Modbus address Modbus address

Parameter Parameter
Hexadecimal Decimal Hexadecimal Decimal
P6-00 0x0600 1536 P6-10 0x060A 1546
P6-01 0x0601 1537 P6-11 0x060B 1547

Modbus address Modbus address

Parameter Parameter
Hexadecimal Decimal Hexadecimal Decimal
P7-00 0x0700 1792 P7-10 0x070A 1802
P7-01 0x0701 1793

123
 Monitor parameters group U
Modbus address Modbus address
Parameter Parameter
Hexadecimal Decimal Hexadecimal Decimal
U0-00 0x1000 4096 U0-28 0x101C 4124
U0-01 0x1001 4097 U0-29 0x101D 4125
U0-02 0x1002 4098 U0-30 0x101E 4126
U0-03 0x1003 4099 U0-31 0x101F 4127
U0-04 0x1004 4100 U0-32 0x1020 4128
U0-05 0x1005 4101 U0-33 0x1021 4129
U0-06 0x1006 4102 U0-34 0x1022 4130
U0-07 0x1007 4103 U0-35 0x1023 4131
U0-08 0x1008 4104 U0-36 0x1024 4132
U0-09 0x1009 4105 U0-37 0x1025 4133
U0-10 0x100A 4106 U0-38 0x1026 4134
U0-11 0x100B 4107 U0-39 0x1027 4135
U0-12 0x100C 4108 U0-40 0x1028 4136
U0-13 0x100D 4109 U0-41 0x1029 4137
U0-14 0x100E 4110 U0-42 0x102A 4138
U0-15 0x100F 4111 U0-43 0x102B 4139
U0-16 0x1010 4112 U0-44 0x102C 4140
U0-17 0x1011 4113 U0-45 0x102D 4141
U0-18 0x1012 4114 U0-46 0x102E 4142
U0-19 0x1013 4115 U0-47 0x102F 4143
U0-20 0x1014 4116 U0-48 0x1030 4144
U0-21 0x1015 4117 U0-49 0x1031 4145
U0-22 0x1016 4118 U0-50 0x1032 4146
U0-23 0x1017 4119 U0-51 0x1033 4147
U0-24 0x1018 4120 U0-52 0x1034 4148
U0-25 0x1019 4121 U0-53 0x1035 4149
U0-26 0x101A 4122 U0-57 0x1039 4153
U0-27 0x101B 4123 U0-58 0x103A 4154
U1-00 0x1100 4352 U2-00 0x1200 4608
U1-01 0x1101 4353 U2-01 0x1201 4609
U1-02 0x1102 4354 U2-02 0x1202 4610
U1-03 0x1103 4355 U2-03 0x1203 4611
U1-04 0x1104 4356 U2-04 0x1204 4612
U1-05 0x1105 4357 U2-05 0x1205 4613
U1-06 0x1106 4358 U2-06 0x1206 4614
U1-07 0x1107 4359 U2-07 0x1207 4615

124
 Modbus address Modbus address
Parameter Parameter
Hexadecimal Decimal Hexadecimal Decimal
U1-08 0x1108 4360 U2-08 0x1208 4616
U1-09 0x1109 4361 U2-09 0x1209 4617
U1-10 0x110A 4362 U2-10 0x120A 4618
U1-11 0x110B 4363 U2-11 0x120B 4619
U1-12 0x110C 4364 U2-12 0x120C 4620
U1-13 0x110D 4365 U2-13 0x120D 4621
U1-14 0x110E 4366 U2-14 0x120E 4622
U1-15 0x110F 4367 U2-15 0x120F 4623
U1-16 0x1110 4368 U2-16 0x1210 4624
U1-17 0x1111 4369 U2-17 0x1211 4625
U1-18 0x1112 4370 U2-18 0x1212 4626
U1-19 0x1113 4371 U2-19 0x1213 4627
U1-20 0x1114 4372 U2-20 0x1214 4628
U1-21 0x1115 4373
U1-22 0x1116 4374
U1-23 0x1117 4375
U1-24 0x1118 4376
U1-25 0x1119 4377

Parameter Modbus address Parameter Modbus address

Hexadecimal Decimal Hexadecimal Decimal
F0-00 0x2000 8192 F1-00 0x2100 8448
F0-01 0x2001 8193 F1-01 0x2101 8449
F0-02 0x2002 8194 F1-02 0x2102 8450
F2-09 0x2209 8713 F1-03 0x2103 8451
F1-04 0x2104 8452
F1-05 0x2105 8453
F1-06 0x2106 8454

125
Appendix 5. New functions of version 3770
 The numerator of electronic gear ratio can be modified in real time in pulse position mode, and it is
not allowed to be modified in enable mode in other modes.
 Improve the homing function and add 8 modes.
 Add the second group of gain parameters, and the two groups of gain parameters can be switched.
 The internal speed command S-shaped curve filtering function is added, and the parameter P3-11 is
added.
 Add Z-phase output function of multi-turn motor.
 Add parameter P8-25. When powered on, the panel directly displays speed or torque feedback
according to group P parameter settings.
 P8-2 = 0: normal display, as before, power on to display 'bb' or 'run', the default setting.
 P8-2 = 1: power on the panel to display the value of U0-00, speed feedback, unit: rpm.
 P8-2 = 2: the value of U0-07 displayed on the panel when powered on, torque feedback, unit %.

126
WUXI XINJE ELECTRIC CO., LTD.
No.816, Jianzhu West Road, Binhu District,
Wuxi City, Jiangsu Province, China
214072
Tel: 400-885-0136
Fax: 86-510-85111290
www.xinje.com