TSDA Series Driver

User’s Manual
 CONTENTS

1. INTRODUCTION .......................................................................1
1.1. UNPACKING.......................................................................................................................................1
1.2. RELOCATION .....................................................................................................................................1
1.3. SAFETY PRECAUTIONS .....................................................................................................................2
1.4. INSTALLATION...................................................................................................................................2
1.5. DIMENSIONS .....................................................................................................................................4
1.6. SPECIFICATION ..................................................................................................................................6

2. SYSTEM WIRING......................................................................8
2.1. UNIT O VERVIEW ...............................................................................................................................8
2.2. CN1 CONNECTOR .............................................................................................................................9
2.3. CN2 ENCODER CONNECTOR ...........................................................................................................13
2.4. POSITION MODE ..............................................................................................................................14
2.5. SPEED MODE ...................................................................................................................................15
2.6. TORQUE MODE ................................................................................................................................16
2.7. POWER AND MOTOR DIAGRAM .......................................................................................................17
2.8. RS232 .............................................................................................................................................18
2.8.1. PC Communication port setting ....................................................................................18
2.8.2. Read data from driver.....................................................................................................18
2.8.3. Write data to driver.........................................................................................................19
2.8.4. Memory map ...................................................................................................................22

3. PANEL OPERATION ...............................................................23

3.1. MODE SELECTION .......................................................................................................................23
3.2. AUXILIARY FUNCTIONS ..................................................................................................................24
3.2.1. Historical alarm code.....................................................................................................24
3.2.2. Clear the historical alarm codes ...................................................................................25
3.2.3. Jog....................................................................................................................................25
3.2.4. Firmware version............................................................................................................26
3.2.5. Reset – Warm start..........................................................................................................26
3.2.6. Input ports status............................................................................................................27
3.2.7. Output ports status..........................................................................................................28
3.2.8. Scaling the positive speed input.....................................................................................28
 3.2.9. Scaling the negative speed input....................................................................................29
3.2.10. Reload the default values ...............................................................................................30
3.2.11. Lock & Unlock ................................................................................................................31
3.3. USER PARAMETERS .........................................................................................................................32
3.4. MONITOR MODE ..............................................................................................................................38

4. ALARM CODE ..........................................................................41

1
1. Introduction

Thank you for choosing TSDA series AC servo Drivers. TSDA series Drivers use the
latest servo technology to provide high-precision and versatile functions for driving TED
CB,MB and CC series servo motors. Many safety related features have been built in the
Driver design. However, erroneous operation may result in unpredictable accident and
cause damage to the Driver or severe personal injury. It is highly recommended that the
user is familiar with this manual and performs all setup and operations with caution.

This manual provides the information you need to install and configure TSDA series
Driver. This manual is intended for use by vendors who are responsible for installing and
setting up TSDA series Driver; consequently, it assumes a basic working knowledge of
SINANO AC servo Motors.

In this manual, the installation related information such as Dimensions and Specifications
are described in Chapter 1.

Wiring information is shown in Chapter 2.

Procedures for Panel Operation are described in Chapter 3.

Finally, the Alarm Codes are given in Chapter 4.

1.1. Unpacking
After receiving the shipment from your supplier, please verify the following:
1. The motor (s) and driver(s) are the same as ordered.
2. The capacity of the driver matches with the motor to be driven.
(Please see the Driver Specification for correct driver.)
3. No damage to the packaging material occurred during transportation.

1.2. Relocation
Please use the original packaging for driver relocation and handle with care.
1.3. Safety Precautions
1. Many high volume capacitors are used in the Driver circuit; these capacitors
remain charged even if the unit power is been shut off. If it is necessary to touch
the terminal or open the driver chassis, please wait at least 10 minutes before
continuing.
2. While power on the Driver and/or motor, stand clear from the unit to prevent
personal injury caused from erroneous operation.
3. Disconnect the power if the Driver/Motor unit is not used for a prolonged period.
4. To prevent electric leakage, connect the motor ground to the FG terminal of the
Driver and connect this FG to Class 3 grounding. The machine, which the Driver
and motor are installed must be single-point grounded.

1.4. Installation
1. Location
(1) If installed in a confined chassis, please provide necessary ventilation system
to maintain the environmental temperature of the Driver below 55 .
(2) Use rubber pad or shock absorber to insulate vibration if there is vibrating
equipment nearby.
(3) The Driver shall not be installed in an environment where corrosive gases,
excess dust, or metal power is present. Insulation from water, water mist, or
cutting fluid is required.
(4) If there is a big magnet switch or welding equipment, which may generate
electronic noise, near the Driver installation, then a line filter is required.
Recommend filter:
For single-phase power source: DELTA 06DPCW5
For three-phase power source: DELTA 08TDS4W4
(5) If a line filter is not allowed for the reason of excess leakage current, then a
insulating transformer is required at the input of the Driver.

2. Orientation
The Driver must be installed vertically.

3. Mounting Screw
Use four (4) M5 screws to mount the Driver securely.

2
[Link]
Maintain at lease 2 cm spacing around the Driver unit.

5. Foreign objects
During and after installation, any foreign object such as cutting chips, small screw,
or washer which may fall into the opening of the Driver unit must be prevented.

3
1.5. Dimensions

Model TSDA15:

4
Model TSDA20

Model TSDA30

5
 1.6. Specification
General Specification:

Driver Description
Model No. TSDA15 TSDA20 TSDA30
Motor Series B C B C C B
Motor Model No. 5CB12 7CB20 7CB30 6CC201 8CB50 8CB75 6CC401 8CC751 8CC102 3MB100A 3MB100B
Rated RPM 3000 3000 3000 3000 3000 3000 3000 3000 3000 1000 2000
Rated Phase
2.2 2.8 2 1.8 3 3.4 3.5 4.4 5.6 5.16 5.16
Current (A)
Maximum Peak
6.6 8.4 6 5.6 9 10.2 11.1 13.8 16.9 15.5 15.5
Current (A)
Encoder Incremental type
Control Sine Wave
Main AC110V AC220V +10% ~ -15%
Power

+10% ~ -15% AC220V +10% ~ -15% Single/Three-Phase 50 / 60 Hz

Control Single-Phase Single/Three-Phase 50 / 60 Hz AC220V +10% ~ -15%
50 / 60 Hz Single-Phase 50 / 60 Hz
Temperatur Operation: 0 ~ 50 C
Environ

e Storage: -20 ~ 80 C
ment

Humidity Operation/Storage: < 85% RH

Vibration < 0.5G
Manual Operation May be defined by User’s Parameter
Error Message 10 error messages are stored.
Over-Travel Positive or Negative Over-Travel inhibit
inhibit (If over-travel is occurred, the servo power may be disabled or put on hold.)
Emergency Stop Servo driver is OFF if Emergency Stop (D/I) is ON.
Analog
Monitoring Speed and Torque (-10V ~ 10V)
Output
Status Display D/I and D/O and Unit status
Encoder Output A, B, C Phase line driver output
Encoder Ratio 1/N: N=1 ~ 16
Regeneration Built-in
Protection Voltage, Current, Load, Speed; Encoder, memory malfunction
Display 5-digit LED display
D/I Servo ON, Reset, Reverse Inhibit, Control Mode, External Torque Limit
Emergency Stop, Pulse Input Inhibit, etc.
D/O Servo Ready, Error, In Position, Zero Speed, Encoder Output
Communication RS-232C for User’s Parameter setting and status monitoring

6
Control Mode

Control Mode Position / Speed / Torque

Input type A-B phase, Up-Down pulse, or direction pulse
Max. Input Freq. 500kpps
Position

Electronic
1/127 A/B 127 (A&B:1 ~ 10000)
Gear Ratio
Input Ripple
Time Constant = 0 ~ 10000ms
Filtering
In position range 0 ~ 32767 Pulses
Input 0 ~ 10V (Looking at the motor shaft, +V = CCW)
Three preset speeds available through defining User’s
Preset
Parameter
Speed Variation Less than 0.03%, when load changes from 0% to 100%.
Rate Less than 0.02%, when power source voltage changes
from –10% to +10%.
Less than 0.05%, when operation temperature changes
from 0°C to 50°C.
Speed

Linear Enable/Disable: may be defined by User’s Parameter

Acceleration/ When enabled, the time constant may be defined by
Deceleration User’s Parameter between 20ms ~ 10000ms
Zero Speed
0 ~ 255rpm
determination
Specified speed Specified by User’s Parameter, 0 ~ Rated Speed
reached
Servo Lock Enable/Disable: may be defined by User’s Parameter
Internal Torque 0 ~ 300% rated torque
Input 0 ~ 10V (Positive voltage for positive torque)
Torque

Input Ripple Time Constant: 0 ~ 10000ms

Filtering
Speed External 0 ~ 10V (Rated Speed)
Limit Internal 0 ~ Rated Speed

7
2. System Wiring

2.1. Unit Overview

Display Panel
and Push buttons
(Chapter 3)

RS-232
Connector
(Section 2.8)
Power Connector
( Section 2.7)

CN1
(Section 2.2)

Motor Connector
( Section 2.4)
Encoder Input
(Section 2.3)

8
2.2. CN1 Connector

Pin Symbo
Name I/O* Mode Function
no l
SON connects to DG means servo on or servo
1 Servo on SON Di-1 A
system ready, open circuit means servo off.
If ALRS is short to DG, then the alarm signal is
2 Alarm reset ALRS Di-1 A cleared. However, the alarm persists if the
reason, which caused the alarm, is not resolved.
Connect to DG will switch the control mode
3 P/PI switch PCNT Di-1 PS from proportional + integration mode to pure
proportional mode
Connect to a CW over-travel
4 CCW inhibit FSTP Di-1 sensor/switch/detector.
(Normally closed contact)
A
Connect to a CW over-travel
5 CW inhibit RSTP Di-1 sensor/switch/detector.
(Normally closed contact)
6 External torque Connect this signal to DG will limit the torque
PS
limit output in the range of NIC to PIC.
TLMT Di-1
External speed Connect this signal to DG will limit the motor
T
limit speed below the speed read from PIC(pin27)
Clear error Clear error counter
CLR P
counter
7 Di-1
Lock the last position if speed command is
Servo lock LOK S
lower than 23 RPM.
8 Reserved (Do not use.)
9 Emergency stop EMC Di-1 A Servo off if EMC connect to DG
SP SP Speed mode Torque mode
D1 D2
10 Internal speed 1 SPD1
0 0 SIN(pin26) PIC(pin27)
Di-1 ST 1 0 Internal speed 1 Speed limit 1
0 1 Internal speed 2 Speed limit 2
11 Internal speed 2 SPD2 1 1 Internal speed 3 Speed limit 3
Effective only in PN 12-4 is 1
12 Control mode MDC Di-1 A Please refer to PN10-1
13 Command INH Di-1 P Ignore the input command pulses.
pulse inhibit
14 Pulse + PP Input pulse. PN10-2 Pin 14,15 Pin 16,17
Di-2 value
15 Pulse - /PN P (The type 0 Positive Negative
16 Direction + DP is set by 1 Pulse Direction
Di-2 PN10-2)
17 Direction - /DN 2 Phase A Phase B
Power source is in normal condition and no
18 Servo ready REDY Do-1 A
alarm, REDY connects to DG.
19 alarm ALM Do-1 A ALM connects to DG normally; it is open when
any abnormal condition is detected.
9
Pin Symbo
Name I/O* Mode Function
no l
any abnormal condition is detected.
ZSP out, ZSP connects to DG if PN11-4 is 0
Zero speed ZS S and the motor speed lower than the speed set in
PN7.
This signal is used as a control signal for
20 Do-1
external brake if PN11-4 is 1. BI connects to
Brake BI S DG to release the brake at servo on, and open at
servo off. The timing can be adjusted by the
value set in PN32.
When the pulses difference between the
command pulses and the feedback pulses is less
In position INP P
than the value set in the PN20. The INP signal
21 Do-1 turns ON (INP connects to DG).
When the motor speed exceed the RPM value
Speed reached INS S set in PN8, the INS signal turns ON (INS
connects to DG).
22 alarm bit 0 Binary representation of the alarm codes. The
23 alarm bit 1 alarm code output from these ports is the same
Do-1 PS
24 alarm bit 2 as the code shown on the 7-segment display.
25 alarm bit 3
A +10V to –10V speed-command input or
torque-command input. PN3 is used to scale the
input value. If the rated speed is 3000RPM and
Speed /torque
26 SIN Ai ST PN3 is 8 that means a 8 V speed command is
command
interpreted as a 3000 rpm speed command.
PN10-3 is used to change the direction, please
refer to PN10-3for details.
Speed limit PIC Ai T External speed limit input, 10V gives a speed
limit the same as rated speed
27 CCW torque PS 0~10V External torque limit. 10V-voltage input
limit gives a 3 times rated torque limit in positive
direction.

CW torque NIC Ai PS 0~-10V External torque limit,-10V-voltage

28 limit input gives a 3 time rated torque limit in
negative direction.
+10V represent +4500rpm, offset can be
30 Speed monitor TG Ao PS
adjusted from PN34.
+10V represent +3.5 times of rated torque
31 Torque monitor CUR Ao PS
output. The offset can be adjusted from PN35.
29
Analog ground AG Ao PS Analog ground
32
33 +15 +15V DC 10mA MAX. power source for SIN,
Voltage out S PIC, NIC test
34 -15
35 Encoder phase PA D0-2 PS Encoder input pulses after frequency division
36 A output /PA (PN0) is output by line driver.
37 Encoder phase PB When PN10-3 is 1, the motor rotation direction
is CCW, phase A lead by 90 degree.
10
Pin Symbo
Name I/O* Mode Function
no l
38 B output /PB is CCW, phase A lead by 90 degree.
39 Encoder phase PZ Transfer the Z phase of the encoder input
40 Z output /PZ signal.
41 Reserved (Do not use)
42 Reserved (Do not use)
Encoder phase Zo D0-1 PS An open collector output for encoder phase Z
43
Z output
44 Encoder ground EG PS Encoder ground
46
47
Digital ground DG PS Ground for digital input and output ports.
48
49
50 Shielding FG PS Connect to the shielding of the cable
* ‘P’ means for position mode, ‘S’ means for speed mode, ‘T’ means for torque mode,
‘A’ means for all modes in mode column.
*Di—1~3 are input pins, Do—1~2 are output pins, Ai and Ao are analog input and analog
output respectively. All the circuits are listed in the following charts.

11
2.3. CN2 encoder connector

Encoder
Pin no Name Symbol I/0* Function
Wire color Terminal
1,2 5V +5V white B If the wire length for the encoder is
longer than 20m, please use double
wire to minimize voltage drop.
3,4 0V 0V black I If the wire is longer than 30m,
please consult with your supplier for
recommended wire gage.
5 A A green A Encoder phase A
Di-3
6 /A /A blue C Encoder phase /A
7 B B red H Encoder phase B
Di-3
8 /B /B peach D Encoder phase /B
9 Z Z yellow G Encoder phase Z
Di-3
10 /Z /Z orange E Encoder phase /Z
11~19 Reserved Not used.
20 Shielding FG shielding F Connect to the shielding of cable.

* Note: Please see the chart shown on Page 12 for Di-3 characteristics.

13
2.4. Position mode

14
2.5. Speed mode

15
2.6. Torque mode

16
 2.7. Power and motor diagram
TSDA15,TSDA20

TSDA30

Recommended line filter:

Three-phase: DELTA 08TDS4W4
Single-phase: DELTA 06DPCW5

Regenerative Resister:
When the inertia presented on the motor is heavy, a regenerative resister is
required. The value of the resister may be obtained by dividing the wattage of the
motor from 2500. For example, a 50Ω resister may be used for a 50W motor. If
“error02” (Chapter4) persists, then adjusting the regeneration duty cycle (Pn040,
Section 3.3) is also required. Select suitable wattage for the resistor, forced
cooling (by fan) may be required for proper heat dissipation.

17
2.8. RS232
DB-9 Driver PC DB-9
Com Port
1 1
2 2
3 3
4 4
5 5
6 6
MALE 7 7 FEMALE
8 8
9 9

Please use the cable described above to connect the servo-driver to a PC for retrieving
the system data and setting up the operation parameter.

2.8.1. PC Communication port setting

Baud rate: 9600 bps
Parity: None
Data bit: 8
Stop bit: 1
Flow Control: None

2.8.2. Read data from driver

To read a SINGLE-WORD from driver
Syntax R5XxSs The read command must be started with “R5” and the command
string length must be “6”.
Where: R5: This is a single-word read command.
Xx = the address of the data to be read.
Ss = Check Sum = ’R’+’5’+’X’+’x’
Example
Read the data stored in 30H.

Check Sum = 52H + 35H + 33H + 30H = EAH

R 5 3 0
Thus, the reading command is “R530EA” R(52H) 5(35H) 3(33H) 0(30H)
E(45H) A(41H).

18
 Drive’s response: %XxYySs
Where: %: This is a response.
Xx = High word of data
Yy = Low word of data
Ss = Check Sum = ’%’+’X’+’x’+’Y’+’y’

If the data stored in the address 30H is 0008H, then

Check Sum = 25H + 30H + 30H + 30H + 38H = EDH
% 0 0 0 8
Thus, the reiver’s response is “ %0008ED” %(25H) 0(30H) 0(30H) 0(30H)
8(38H) E(45H) D(44H).

If there is a Check Sum error in the read command, then the driver returns “! (21H)”

To read a DOUBLE-WORD from driver

Syntax L5NnSs The read command must be started with “L5” and the
command string length must be “6”.
Where: L5: This is a double-word read command.
Nn = the address of the data to be read.
Ss = Check Sum = ’L’+’5’+’N’+’n’

’ %XxYyAaBbSs
Where: %: This is a response.
XxYy = data stored in Nn+1
AaBb = data stored in Nn
Ss=’%’+’X’+’x’+’Y’+’y+’A’+’a’+’B’+’b’
If there is a Check Sum error in the read command, then the driver returns “! (21H)”

2.8.3. Write data to driver

To write a SINGLE-WORD to driver
Syntax W5XxYyZzSs The write command must be started with “W5” and the
command string length must be “8”.
Where: W5: This is a single-word write command.
Xx = the address of the data to be written.
Yy = The high word of the data
Zz = The low word of the data
Ss = ’W’+’5’+’X’+’x’+’Y’+’y’+’Z’+’z’

19
Example: Write “8” to address “30H”.
Check Sum=57H+35H+33H+30H+30H+30H+30H+38H=1B7H
W 5 3 0 0 0 0 8
Thus, the write command is W5300008B7: W(57H) 5(35H) 3(33H)
0(30H) 0(30H) 0(30H) 0(30H) 8(38H) B(42H) 7(37H)
Please note that only the last two digits of the Check Sum are used.

’ %(25H)
If there is a Check Sum error in the read command, then the driver returns “! (21H)”

For Monitor Mode Address 128(80H) ~ 157(9DH), the data sent to the driver is the
number of times, which the driver will respond with the content stored in the
specified address. For example: Sending a string of “W5800008BC” will cause the
driver to respond with the content stored in address 80H for eight times. The format
of the response string is the same as “R5” read command. This function can be used
to monitor a certain data such as speed or torque continuously. Writing a “zero” to
one of these addresses will clear the content store at that address.

To write a DOUBLE-WORD to driver

Syntax M5NnXxYyAaBbSs The write command must be started with “M5”
and the command string length must be “14”.
Where: M5: This is a double-word write command.
Nn = the address of the data to be written.
Xx = The high word of the data to stored in Nn+1
Yy = The Low word of the data to stored in Nn+1
Aa = The high word of the data to stored in Nn
Bb = The Low word of the data to stored in Nn
Ss = ’M’+’5’+’N’+’n’+’X’+’x’+’Y’+’y’+’A’+’a’+’B’+’b’

’ %(25H)
If there is a Check Sum error in the read command, then the driver returns “! (21H)”

For Monitor Mode Address 128(80H) ~ 157(9DH), the data sent to the driver is the
number of times, which the driver will respond with the content stored in the
specified address. For example: Sending a string of “M58000080008Ss” will cause
the driver to respond with the content stored in address 81H and 80H for eight
times. The format of the response string is the same as “L5” read command. This
function can be used to monitor a double-word data such as accumulated pulses

20
continuously. Writing a “zero” to one of these addresses will clear the content store
at that address.

21
2.8.4. Memory map

Address Descriptions
0~9 Historical Alarm Codes (NO.0~NO.9)
10 Address of the last Alarm (0~9)
11 User Parameter Check Sum (NO.0~NO.51, XOR)
12~63 User Parameter (NO.0~NO.51), Read/Write, unsigned.
64~79 Reserved for USER as the motor model
80~93 Reserved
94 Backup copy of Addr11
95~127 Default values for User Parameters (NO.32~NO.0)
128~147 Monitor Mode (NO.0~NO.19), Read only, signed.
148~157 Monitor Mode Data Area. See Section 2.8.3 for detailed information.
158~191 Reserved
192(C0H) 1. Address 11 is the check sum of Address 12~63. Any value change
in Address 12~63 will cause Address 11 to be changed accordingly.
2. Writing a “0” to this address (192) will disable the updating
function of the Address 11. Writing a “1” to this address (192) will
enable the updating function. The system default is “enable”.
3. During the “disable” state, writing any value to Address 11 will
cause the Check Sum to be regenerated.
4. If there are many User Parameters need to be changed, disabling
the Check-Sum updating function is highly recommended to
prevent excessive writing of EEPROM. After changing all the User
Parameters, a write operation to Address 11 may then be executed.
193(C1H) Clear historical Alarm codes, the contents in Address 0~10are cleared.
194(C2H) Writing a “1” to this address will initialize the driver with the setting
stored in the address 12 ~63; the block, where a user is not allow to
change, is excluded.
195(C3H) Firmware version, the format is similar to that of Fn003. For the
numbering of year, 0 ~ 9 stands for Year2000~2009; A ~Z stands for
Year 2010 ~ 2035, respectively.
196(C4H) RESET
197(C5H) Input Status, the description of each bit is shown in Section 3.2.6.
198(C6H) Output Status, the description of each bit is shown in Section 3.2.7.
199(C7H) Current Alarm code, “0” means no alarm.

22
3. Panel operation

Name Function
MODE Mode selection, press this key for more than 1 second to
confirm the flashing function
Increase the flashing digit by 1
Decease the flashing digit by 1
press and simultaneously to clear the alarm
DATA Shift the cursor (the flashing digit) left by 1 position. Press
this key for more than 1 second to select or store the data into
the EEPROM (PN)

3.1. Mode selection

There are 3 modes to select from: Auxiliary function, Parameter setting, and
Monitoring. Press the MODE key repeatedly to cause the displays to scroll in the
following sequence:
Power on

Display the RPM equivalent to dn000.

AUX Function mode

Parameter setting mode

Monitoring mode

23
3.2. Auxiliary functions

Press the MODE key repeatedly until the following pattern is displayed.

3.2.1. Historical alarm code

The last 10 alarm codes are stored in the EEPROM.
Use the following procedures to retrieve the stored alarm codes.

1. Select the auxiliary function mode.

2. Press the DATA key for more than 1 second.

3. Press the key or the key to scroll up and down among the previous
alarm codes. The leftmost number is the alarm sequence, where “9” means the
oldest.
4. Press the DATA key for more than 1 second to return to the auxiliary function
mode.

24
3.2.2. Clear the historical alarm codes
[Link] the key or the key to select function 1.

2. Press the DATA key for more than 1 second until the following message
appears.

3. Press the MODE key to clear the memory.

Flash for 1 second.

4. Press the DATA key more than 1 second to return to the auxiliary function
mode.

3.2.3. Jog
Jog uses the speed specified in the PN29 and the acceleration time specified in
the PN28.

1. Press the key or the key to select the jog function ‘Fn002’.

2. Press the DATA key for more than 1 second.

3. Press the key or the key to jog in positive or negative direction.

Jog in positive direction.

Jog in negative direction.

Hold.
25
 4. Press the DATA key for more than 1 second to return to the auxiliary function
mode and close the jog function.

3.2.4. Firmware version

1. Press the key or the key to select the function 3.

2. Press the DATA key for more than 1 second to display the firmware release
date

represents the date: 26 JAN 2000

Counting from left to right, the first and second digit represents YEAR. The
third digit represents the month. 1 2 3 4 5 6 7 8 9 A b C represent
JAN to DEC respectively. The figures are shown as following:

The fourth and fifth digit represents the Date.

4. Press the DATA key for more than 1 second to return to the auxiliary function
mode.

3.2.5. Reset – Warm start

1. Press the key or the key to select the function 4.

2. Press the DATA key for more than 1 second, and the following pattern is
displayed.

[Link] the MODE key to confirm the reset Press the DATA key for more than
1 second to abort the reset.

26
3.2.6. Input ports status
PIN number Bit number definition
1 9 Servo on
2 10 Alarm reset
3 2 P/PI
4 3 CCW inhibit
5 4 CW inhibit
6 5 External torque limit
7 1 Clear error counter
8 11 Reserve
9 8 Emergence stop
10 6 Internal speed 1
11 7 Internal speed 2
12 0 Control mode
13 12 Pulse command inhibit

1. Press the key or the key to select the function 5.

2. Press the DATA key for more than 1 second, The displays will show the pin
number in left 3 characters and show the status in rightmost digit. If the
status digit is 1, which means the pin is connected to DG or 0V or close.
If the status digit is 0, which means the pin is connected to 24V or open.

3. Press the key or the key to scroll up and down to view all the input
ports.
4. Press the DATA key for more than 1 second to return to the auxiliary function
mode.

27
3.2.7. Output ports status
PIN number Bit number definition
18 3 Ready
19 0 Alarm
20 1 Zero speed
21 2 In Position
22 4 Alarm code bit0
23 5 Alarm code bit1
24 6 Alarm code bit2
25 7 Alarm code bit3

1. Press the key or the key to select the function 6.

2. Press the DATA key for more than 1 second, then the display will show the
pin number in the left 3 characters and show the status in rightmost digit. If
the status digit is 1, which means the pin is connected to DG or 0V or close.
If the status digit is 0, which means the pin connect to 24V or open.

3. Press the key or the key to scroll up and down to view all output
ports.
4. Press the DATA key for more than 1 second to return to the auxiliary function
mode.

3.2.8. Scaling the positive speed input

This is a special function for final calibration. Please don’t perform this action
without a precision Voltage generator.
Procedure of this function: Fn010 à Fn007à Fn008.
1. Press the key or the key to select the function 7.

2. Press DATA for more than 1 second. The driver will ask you to present a
2-Volt signal in the speed reference input pin.

28
 3. Press MODE key to indicate that a 2-volt signal is connected.

While scaling, is flashing.

This function is locked to prevent unintentionally activation. If this function was

activated before unlocking, a message is displayed.

If this function is done successfully, a message flashes for 1

second before the confirmation. After confirmation, is displayed

and indicating that the result has been written into the EEPROM.
[Link] the DATA key for more than 1 second to return to the auxiliary function
mode.

Unless a “donE” is displayed, the result is stored in the memory temporary to

wait for negative data.

3.2.9. Scaling the negative speed input

This is a special function for final calibration. Please don’t perform this action
without a precision Voltage generator.
Procedure of this function: Fn010 à Fn008à Fn007.
1. Press the key or the key to select the function 8.

2. Press DATA for more than 1 second. The driver will ask you to prepare a
-2-Volt signal in the speed reference input pin.

3. Press MODE key to indicate that a -2-volt signal is connected.

While scaling, is flashing.

This function is locked to prevent unintentionally activation. If this function was

activated before unlocking, a message is displayed.

29
 If this function is done successfully, message flashes for 1

second before the confirmation. After confirmation, is displayed

and indicating that the result has been written into the EEPROM.
4. Press the DATA key for more than 1 second to return to the auxiliary function
mode.

Unless a “donE” is displayed, the result is stored in the memory temporary to

wait for positive data.

3.2.10. Reload the default values

Function: reload the default values for Pn0 ~ Pn32
Procedure of this function: Fn010 à Fn009.
1. Press the key or the key to select the function 9.

[Link] the DATA key for more than 1 second to request for a parameter
initialization function.

[Link] the MODE key to confirm the request.

flashes while reloading.

flashes for 1 second.

This function is locked to prevent unintentionally activation. If this function

was activated before unlocking, a message is displayed.

[Link] the DATA key for more than 1 second to return to the auxiliary function
mode.

30
3.2.11. Lock & Unlock
Functions 7, 8 and 9 are locked normally to prevent unintentionally activation.
The following procedures can be used to unlock these functions.
1. Press the key or the key to select the function 10.

[Link] the DATA key for more than 1 second to request the unlock function.

3. Press the MODE key to confirm the request

flashes while unlocking.

Flash for 1 second.

Press the MODE key again will lock the function again.
[Link] the DATA key for more than 1 second to return to the auxiliary function
mode.

After unlocking, the function 9 or the function 7 and 8 can only executed 1 once.
Function 7,8, and 9 will be locked after execution.

31
3.3. User Parameters
1. Press the MODE key repeatedly until PN000 is displayed.

Press the key or the key to get the desired parameter number.
2. Press the DATA key for more than 1 second to retrieve the content of the
listed parameter number.

If there is a leading ‘H’, then it is a hexadecimal number.

3. To edit the number, press the DATA key to shift the flashing digit left. Press
the key or the key to increase or decrease the flashing digit.
4. Press the DATA key for more than 1 second to store the new data into the
EEPPROM. The number entered will flash for 1 second while recording.

5. Press the DATA key for more than 1 second to return to the parameter
setting mode.

32
 User Parameter Table
No. Definition Range Unit Default Mod effect PC r/w
e address
0 PG dividing ratio 1~16 1 A reset 12
1 Speed loop gain 5~500 40 A enter 13
2 Speed loop integration time 1~1000 msec 100 A enter 14
3 Speed scale. The motor speed at 200~ rpm 3000 S reset 15
SIN pin = 10V . 30000
4 Speed reference offset 63 0 S reset 16
5 Positive torque limit 0~300 % 300 A reset 17
6 Negative torque limit 0~300 % 300 A reset 18
7 Zero speed detection. Under this 0~255 rpm 20 S enter 19
speed, pin20 will be connected
to DG. Also refer to
Parameter 11-4, 12-2.
8 Reach the specified speed. If the 0~rated rpm Rated S enter 20
current speed is greater than the speed speed
specified speed, pin21 will be
connected to DG.
9 PWM sampling time 90~125 s 100 A reset 21
10-1 Hxxxn, n mode 0~5 1 A reset 22-1
Pin 12 Pin12 short
open
0 speed speed
1 position position
2 torque torque
3 speed position
4 position torque
5 torque speed
10-2 Hxxnx, n=0 sign + pulse, n=1 0~2 1 P reset 22-2
CW + CCW, n=2 AB phase
pulse input.
10-3 Hxnxx, n=0, CCW for positive 0,1 0 A reset 22-3
command, n=1, CW for positive
command.
10-4 Hnxxx, n=0, current input 0,1 0 A reset 22-4
calibrate automatically. n=1 set
current input offset to 0 .
11-1 Hxxxn,n=0, dynamic brake on 0,1 0 A reset 23-1
while servo off. n=1, dynamic
brake off while servo off.
Dynamic brake always on while
power off.
11-2 Hxxnx, n=0, high-speed mode, 0,1 1 A reset 23-2
increase the MAX speed by
10~20%. n=1, normal mode.

11-3 Hxnxx, External inhibit signal 0~3 3 A reset 23-3

33
No. Definition Range Unit Default Mod effect PC r/w
e address
from input ports to enable or
disable. n=0 disables ,n=1,
enables positive inhibit signal.
n=2 enable negative inhibit
signal. n=3 inhibits both signals.
Please refer to parameter 12-3
for more information.
11-4 Hnxxx, n=0 output signal 0~1 0 A reset 23-4
‘zsp/bi’ means zero speed.
n=1, output signal ZSP/BI is
used to control an external
brake.
12-1 Hxxxn, acceleration and 0,1,3,4 1 S reset 24-1
deceleration time for speed
mode.
n=0: time =0;
n=1: linear acceleration.
Acceleration and deceleration
time is set in the parameter
number 28.
n=3: deceleration time is set in
the parameter number 27
Acceleration time is set in the
parameter number 28.
n=4:Smoothing acceleration
Acceleration and
deceleration time is set in the
parameter number 28.
12-2 Hxxnx,n=0, speed command is 0,1 0 S reset 24-2
not influenced by ZSP ouput.
n=1 speed command is clamped
to 0 while ZSP signal is on.
12-3 Hxnxx,n=0 servo keeps on while 0,1 0 A reset 24-3
external inhibit activated. n=1
servo off while external inhibit
is activated. Please also refer to
parameter number 11-3.
12-4 Hnxxx, n=0 internal speeds not 0,1 1 S reset 24-4
effective, n=1 internal speeds
effective. One of the 3 internal
speeds is select from input port.
Speeds are defined in parameter
29~31.
14 Torque command smoothing 0~10000 ms 0 T reset 26
time
15 Torque command gain, e.g. 300 30~3000 % 300 T reset 27
means 300% rated torque output

34
No. Definition Range Unit Default Mod effect PC r/w
e address
when torque command is 10
Volts. 100 means 100% rated
torque output when torque
command is 10V.
16 Torque command offset, e.g. if -1000 0.01V 0 T reset 28
offset is 100(1V), a 2.5V ~+1000
command from input port only
executed as a 1.5V command.
17 Speed limit 1. Activated while 0~rated rpm 0 T enter 29
the pin 10 of the CN1 short, and speed
the pin 11 of the CN1 open.
18 Speed limit 2: activated while 0~rated Rpm 0 T enter 30
the pin 10 of the CN1 open, and speed
the pin 11 of the CN1 short.

19 Speed limit 3, activated whiles 0~ rated rpm 0 T enter 31

the pin 10 and the pin 11 of the speed
CN1 are both short.
20 In position, sets range of 0 pulse 4 P reset 32
positioning completion signal 32767
output (INP).
21 Molecule of electronic gear 1 1 P reset 33
ratio: indicates the number of 10000
encoder pulses per reference
unit. The input pulses will
multiply this number to form an
actual calculation number.
0.02<(21)/(22)<50.
22 Denominator of electronic gear 1 1 P reset 34
ratio: indicates the number of 10000
encoder pulses per reference
unit. The input pulses will divide
this number to form an actual
calculation number.
0.02<(21)/(22)<50.
23 Position gain 10~500 1/sec 30 P enter 35
24 Position smoothing time 0~10000 msec 10 P Servo 36
on
25 Error counter length 1~500 kpulse 50 P reset 37
26 Feed forward gain 0~100 % 0 P reset 38
27 Deceleration time: The time 10~1000 msec 100 S Servo 39
consumed from rated speed to 0 on
stop. Parameter number 12-1 is
used to disable or enable this
function.
28 Acceleration time and 10~1000 msec 100 S Servo 40
deceleration time: The time 0 on

35
No. Definition Range Unit Default Mod effect PC r/w
e address
consumed from still to rated
speed or from rated speed to
still. Parameter number 12-1 is
used to disable or enable this
function.
29 Internal speed 1. Activated while rated rpm 0 S enter 41
the pin10 of the CN1 short, and speed
the pin11 of the CN1 open.
30 Internal speed 2: activated while rated rpm 0 S enter 42
the pin 10 of the CN1 open, and speed
the pin 11 of the CN1 short.
31 Internal speed 3: activated while rated rpm 0 S enter 43
both the pin10 and the pin 11 of speed
the CN1 are short.
32 Brake timing: Waiting time or 2000 msec 0 A reset 44
delay time around servo on and
servo off. Brake will be released
before servo on, and hold after
servo off if this constant is
negative, servo on command
will be postponed. Brake will be
released after servo on, and hold
before servo off if this constant
is positive, servo off command is
postponed.
34 Speed monitor offset -10~+10 0.02V 0 A enter 46
35 Torque monitor offset -10~+10 0.02V 0 A enter 37
36 Speed command offset -199 ~ 0.02V 0 ST reset 48
199
37 Speed command scale 10000 ~ 1/163 16384 ST reset 49
20000 84
38 Speed command offset (4 times -199 ~ 5mV 0 S reset 50
precision) 199
39 Speed command scale (4 times 10000 ~ 1/163 16384 S reset 51
precision) 20000 84
40 Regeneration duty cycle, default 0~250 0.1% 4 A reset 52
value is 4. It means that if the
voltage exceed 360V, there is
0.04-second regeneration in
every 10 second. If there is error
2 exists, connect an external
resistor, and observe the DN8, if
the value of DN8 remains
divergent, then this value need to
be increased. The maximum
value here is resistance of the
resistor ( ) times power

36
No. Definition Range Unit Default Mod effect PC r/w
e address
dissipation (W) /134
41 Current loop gain 0 100 10 A Reset 53
42 Inductance 0 300 % 200 A Reset 54
43 Feed back gain 0 300 100 A Reset 45
44 Reserved PC
45 Reserved PC
46 Reserved PC
47 Reserved PC
48 Reserved PC
49 Reserved PC
50 Reserved PC

Remarks:
1. Reset means the number is effective after reset from panel, CN1 or power off
-on.
2. Enter means effective after value set.
3. PC means the value must be transfer in from the RS232 communication port.
4. Mode: A: effective for all control mode. P: effective in position mode only;
S: effective in speed mode only; T: effective in torque mode only.
5. Default value of Pn0~Pn32 can be reload by function 9. Pn 33~ Pn 40 can be
set from panel or from communication port. Pn41~Pn50 can only be set from
the RS232 communication port.

37
3.4. Monitor mode
1. Press the MODE key repeatedly until the monitor mode is reached.

2. Press the key or the key to get the desired parameter number.
3. Press the DATA key for more than 1 second to display the content of the DN.
4. Press the DATA key again for more than 1 second to return to the monitor mode.

The monitor mode information list:

DN number mode definition PC r/w
address
0 PST Revolutions (rpm), e.g. 120 means current motor 128
revolution is 120 rpm, this value is the average rpm
in 0.1 second.
1 PST Torque: the value is the percentage of the rated 129
torque of the motor. E.g. value 120 means that the
current torque output is 120% of the rated torque of
the motor.
2 PST Actual load: the value is the average torque output 130
percentage in 26 seconds.
3 PST Maximum load: the value is the maximum value 131
appeared in DN2
4 P Error: the difference between command pulses and 132
encoder feedback pulses. The command pulses are
input pulse number multiply electronic gear ratio.
The display value is clamped between –9999 ~
9999.
5 S PIC: torque limit for positive direction in percent. 133
6 S NIC: torque limit for negative direction in percent. 134
7 T PIC: speed limit in 1/4 rpm. A value of 4 indicates 1 135
rpm. A value of 12000 indicates 3000 rpm.
8 PST Regeneration rate, 100 represents 1 %. 136
9 PST Maximum regeneration rate, 100 represents 1 %. 137
10 PST Maximum torque, the maximum torque output since 138
power on.
11 PST Driver capacity: 150 means 15A, 200 means 20A, 139
300 means 30A.
12 PST Speed command, 4 means 1 rpm, 12000 means 140
3000 rpm.
13 ST Voltage detected in AD0, 975 means 10V, 97 means 141

38
DN number mode definition PC r/w
address
1V.
14 S Voltage detected in AD1, 975 means 2.5V. 142
15 PST Motor type, please refer to table at the end of this 143
section.
16 PST Servo status. 0 means ‘servo on’, 1 means ’servo 144
off’.
17 PST Current control mode: 0 means speed mode, 1 145
means position mode, 2 means torque mode.
X P Low word of error counter, the 32 bit counter has a 148
range from –500000 to 500000.
X P High word of error counter. 149
X P Low word of accumulated input pulse. 150
X P High word of accumulated input pulse. 151
X P Low word of accumulated encoder feedback pulses. 152
X P High word of accumulated encoder feedback pulses. 153
X PST RPM: 4 means 1RPM. E.g. 480 means current 154
motor speed is 120 rpm, this is a sampled value in 1
of 50 samples taken in 10 milliseconds.
X PST Torque: output percentage of the rated torque. 120 155
means the torque output now is 120% of the rated
torque. This is a sampled value in 1 of 50 samples
taken in 10 milliseconds.
DN number X these values can only be read/written via the RS232 communication
port.

CB series motor’s ID list

(If the ID less than 10, then the power sources is 110 VAC)
Motor type ID Motor type ID Motor type ID
CB012F 110 CB020F 120 CB030F 130
CB050F 140 CB075F 150 CB075H 151
MB40AF 161 MB55AF 171 MB75AF 181
MB75BF 182 MB100AF 191 MB100BF 192
MB100BH 194 MB110CF 203 MB150AF 211
MB150BF 212 MB150CF 213 MB200BF 232
MB220CF 243 MB300BF 252 MB300CF 253
C series motor’s ID list
Motor type ID Motor type ID Motor type ID
CC201G 300 CC401G 310 CC501E 321
CC501D 322 MC501C 323 CC751G 330
CC751E 331 MC751D 332 MC751C 333
CC102G 340 MC102E 341 MC102D 342
MC102C 343

39
Motor type naming convention

M B 1 0 0 B H

Encoder pulses per revolution

CB, MB series: F 2000ppr, H 2500ppr
CC, MC series: null 2000ppr

Motor rated speed

CB series: null 3000rpm
MB series: A 1000rpm, B 2000rpm, C 3000rpm
CC, MC series: G 3000rpm, E 2000rpm,
D 1500rpm, C 1000rpm

Motor rated power

CM, MB series 100 à 1000W, 030à 300W
CC, MC series 102 à 1000W, 201à 200W

Series name

40
4. Alarm code

A message such as indicating that an error has occurred. The message

will stay until any key is pressed.

Error To remove Definition

code
1 reset Low voltage (DC voltage below 224V, or AC voltage below
160V, see note 1, 2).
2 reset Over voltage (DC voltage over 390V, note 1,2), most of the case
is happened on a large inertia. Please watch DN9 while running.
If this value becomes bigger and never return to 0, please add an
external resistor for regeneration. Please refer to PN40.
The alarm also happens on high AC line voltage.
3 reset Over load, a 200% rated load can last for about 10 seconds, a
300% load can last for about 4 seconds.
4 Power off IPM error, due to high temperature, short-circuit, over current or
low control voltage in IPM, the device which provides power to
the motor.
5 reset Encoder error, the signal from encoder is erroneous, please
check connection or encoder.
6 reset An abnormal value was read from the current sensors during
power on.
7 reset Parameter error— the electronic gear rate is not in the range
(0.02~50).
8 reset Parameter checksum error. The data stored in EEPROM may be
corrupted.
9 reset Emergency stop.
10 reset [Link] current (300% rated current), please check the motor
connection. Or,
[Link] a longer acceleration/deceleration time.
11 reset Error-counter overflow: (the difference of command pulses and
feedback pulses is larger than the range of error-counter, which
is defined in PN25.
12 reset Over speed, the speed exceeds the value defined in the PN46.
13 reset Peak input pulse exceeds 600kpps.
14 reset Pin 3 and pin 4 of CN1 open simultaneously. Normally all these
2 pins must be connected to DG.
15 reset Due to the setting in PN 12-3, one of the 2 over travel switches
(pin3 and pin4) is activated and cause servo off.
16 reset CPU error, watch dog time out.

41
Note 1: Due to the accuracy of the resistor, the voltage detected has a maximum of
2.02% difference.
Note 2: If the rated voltage of the motor is 100 V, the voltage level to alarm will be
half of the value listed (DC112V for low voltage, DC195V for over voltage).
Note 3: There are 3 methods to reset the driver. Power cycle (Power off then on),
Fn004, and send an input signal from pin2 of CN1. However, the cause of
alarm must be resolved first.

42