SD Series Servo Drive

User Manual
SD Series V2.0

Shenzhen Guanhong Automation CO.,LTD.

Website: www.szghauto.com
Add: Room 503 Anxin Building, No 536 Shenhui Road, Liuyue community, Henggang
Street ,Longgang District, Shenzhen City,Guangdong Province, China
Post code: 518115
-ShenzhenGuanhong Automation Co.,Ltd- -SD Series AC Servo System-
-ShenzhenGuanhong Automation Co.,Ltd- -SD Series AC Servo System-

Warning and Alert

Warning

 Do not proceed to the assembly of the line while electrifying.

Input power of servo driver have two series: 220V & 380V , please pay more
attention during using

All needs to add isolation transformer; add electrical reactor when using 380V servo
driver.

 Circuit & change components between entering shutting down the power supply
and stopping showing LED light of the Servo Driver.

 The output of servo drive[U,V,W]must NOT touch the AC power, and UVW is
connected to UVW of servo motor one by one.

Before remove servo driver, must power off over 5 minutes.

Alert

 Install the fan if the temperature around is too high while the Servo Driver is installed in the
Control Board

 Do not proceed to the Anti-Pressure-Test to the Servo Driver.

 Confirm the quick stop function is available before operate Servo Driver.

 Matching up machine to change the user parameter setting before machine performs.If there is no
according correct setting number,it could lead to out of control or breakdown.

Safety Proceeding:

Check the covering letter details before installing,running,maintaining and examining.

Furthermost, only the profession-qualified people can proceed to the line-assembly.

Safety proceeding in the covering letter discriminate between “Warning” & “Alert”.
-ShenzhenGuanhong Automation Co.,Ltd- -SD Series AC Servo System-

Warning : Indicating the possibility dangerous situation. It could cause the death or
serious damage if being ignored.

Alert : Indicating the possibility dangerous situation. It could cause smaller or

lighter human injured and damage of equipment.

Please read the user manual detail before using Servo Driver.

First of all,thank you for using SZGH SD series Servo Driver and Servo Motors. SZGH Servo

Driver can be controlled by CNC Controller or motion control card, and provide excellent performance

for a wide range of applications and different requirement from customers.

Read this user manual before using SZGH SD Series Servo Driver.Contents of the manual

comprises:

 Servo System checking,installing and procedure of assembly line.

 Controller procedure for digital board,Status displaying,unusual alarm and strategy explanation.

 Servo System control function,running testing and procedures adjusted.

Explanation for all parameter of Servo Driver.

In order to daily examine,maintain and understand the reason of unusual situation and handle

strategy,please put this user manual in safe place to read it anytime.

P.S: The end user should own this user manual,in order to make the Servo Driver bring the

best performance.
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-Catalog-
Chapter 1 Checking and Installing.......................................................................................................... 1
1.1 Checking Products................................................................................................................................. 1
1.2 Front Panel of Servo Driver...................................................................................................................3
1.3 Motor and Drive Installation..................................................................................................................4
Chapter 2 Specifications............................................................................................................................6
2.1 Introduction of Specifications................................................................................................................6
2.2 Motors table........................................................................................................................................... 6
2.3 Mechanical Dimensions.........................................................................................................................7
2.4 Mechanical Dimensions.........................................................................................................................9
Chapter 3 Wiring..................................................................................................................................... 13
3.1 Servo Drive Wiring Configuration...................................................................................................... 13
3.2 Wiring Explanations And Notes.......................................................................................................... 13
3.3 Wires Specification..............................................................................................................................14
3.4 Terminals Explanation......................................................................................................................... 14
3.5 Terminal For Control Signals.............................................................................................................. 15
3.6 Wiring Diagram & Parameter Explanation..........................................................................................18
3.7 Homing(Zero point)............................................................................................................................. 24
Chapter 4 Operation and display........................................................................................................... 26
4.1 Introduction to Front Panel And Function........................................................................................... 26
4.2 Main Menu...........................................................................................................................................27
4.3 Status Monitoring.................................................................................................................................27
4.4 Process of Setting Parameter............................................................................................................... 29
4.5 Setting Analog Quantity to 0............................................................................................................... 29
4.6 Recovery Parameters To Default Values.............................................................................................29
4.7 Parameter Set for Servo Motor Code...................................................................................................30
Chapter 5 Parameters..............................................................................................................................31
5.1 PA Group Parameter............................................................................................................................ 31
5.2 P3 Group Parameter.............................................................................................................................43
5.3 P4 Group Parameter.............................................................................................................................49
Chapter 6 Alarm...................................................................................................................................... 53
Chapter 7 Solution for Solve Alarm.......................................................................................................55
-ShenzhenGuanhong Automation Co.,Ltd- -SD Series AC Servo System-

Chapter 1 Checking and Installing

1.1 Checking Products

Our Servo Pack have already completely been functionally examined before leaving the factory. In
order to protect the products from the damage during transportation, please check the items below before
sealing off the pack:
 Check if the model of servo driver and motor are the same with the models of ordering.
(About the model explanation, please check the chapters below)
 Check if there are damage or scrape out side of the servo driver and motor.
(If there is any damage during transportation, do not power ON)
 Check if there are any bad assembly or slipped component in the Servo Driver and Motor.
 Check if the Motor’s rotor and shaft can be rotated smoothly by hand
(The Servo Motor with Mechanical-Brake can not be rotated directly)
 Check if there is user manual and accessories in the servo pack.
 There must be the “QC”-seal in each servo drive, if not,please do not proceed Power ON.
If there is any bug or irregular under the situation above,please contact with us or SZGH Local
sales representative or distributor instantly.

1.1.1 Confirming with Servo Drivers

Note: 1.SZGH-SD2004 servo driver can drive SZGH-06060DC max.

2.SZGH-SD2026 servo driver can drive SZGH-13380CC max.
3.SZGH-SD4038 servo driver can drive SZGH-18370AC max.
4.SZGH-SD4075 servo driver can drive SZGH-18750CC max.

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1.1.1 Confirming with Servo Motor

Note: These are only some model of servo motors display above as limit,not all model. Any asks ,please discuss with
our sales representative or distributor.

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1.2 Front Panel of Servo Driver

1.2.1 Front Panel of SZGH-SD2004/SD2010/SD2026

1.2.2 Front Panel of SZGH-SD4038/SD4075

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1.3 Motor and Drive Installation

1.3.1 Method of Installation of drive
In order to get good cooling the servo drive should normally mount in vertical direction with the
topside down.
For installing the servo drive, fasten the backboard of servo driver with M4 screw.
Reserve enough space around the servo drives as shown in the reference diagram. In order to
guarantee the performance of the servo drive and the lifetime, please make the space as full as
possible.
To provide vertical wind to the heat sink of the servo drive should install ventilating fans in the
control cubicle.
Prevent the dust or the iron filings entering the servo drive when install the control cubicle.

Keep enough space between drives in the electric cabinet.

1.3.2 Environmental Conditions for Installation of drive

Since the environment conditions for servo drive installation have the direct influence to the normal
function and service life of the servo driver, therefore the environment conditions must be conformed to
the following conditions:
Ambient temperature: 0 to 40 o C, Ambient humidity, less than 80% (no dew).
Storage temperature: -40 to 50 o C, Storage humidity, less than 93% (no dew).
Vibration: less than 0.5G.
Preventive measure shall be taken against raindrop or moist environment.
Preventive measure shall be taken against corrosion by oil mist and salinity.

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When several drive installments in a control cubicle, for good ventilation please reserve enough
space around each driver, install fans to provide effective cooling, keep less than 40 o C for
long-term trouble-free service.
If there are vibration sources nearby (punch press for example) and no way to avoid it, please use
absorb or anti-vibration rubber filling piece.
If there is disturbance from interfering equipment nearby along the wiring to the servo,
anti-jamming measure must be used to guarantee normal work of the servo drive. However, the
noise filter can increase current leakage; therefore an insulating transformer in the input
terminals of power supply should be installed.

1.3.3 Method of Servo motor Installation

For horizontal installation:
in order to prevent water, oil, etc. from entering inside of the servo motor, please put the cable
connector downward.
For vertical installation:
if the shaft of the servo motor is in upward direction with a speed reducer, some prevention measure
shall be taken against entering inside of the servo motor by oil come from the speed reducer.
Motor shaft extension should be long enough, or may cause vibration while motor is in running.
In case of installation or removing the servo motor, please do not hit the servo motor with a
hammer, otherwise the shaft and the encoder can be damaged.

1.3.4 Definition of Rotation Direction for Servo Motor

The motor rotating direction description in this manual is defined as facing the shaft of the servo
motor. If the rotating shaft is in counterclockwise direction it will be called as positive direction, and in
clockwise as reversal direction.

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Chapter 2 Specifications

2.1 Introduction of Specifications

SD Series SD2004 SD2010 SD2026 SD4038 SD4075
Output Power 50W~600W 400W~1kW 600W~3.8kW 2kW~3.8kW 3kW~7.5kW
Single/Three Phase AC220V-15%~+10%
Input Power Three Phase 380V
50/60Hz
Control Mode 0: Position Control; 1:Speed Control; 2: Torque Control; 3:Position/Speed Control;
4:Position/Torque Control; 5:Speed/Torque Control
Protective Over-speed/Over-voltage/Under-voltage/Over-current/Overload/Encoder Error/
Function Control Power Error/ Position Offset Error
Monitor Function Speed/Position/Pulses/Offset/Torque/Current/Status...
Digital Input 1:Servo Enable; 2:Alarm Reset; 3:CCW-Forbidden; 4:CW-Forbidden; 5:Clear
Position Offset; 6:Pulse Input Forbidden; 7:CCW Torque Limit; 8:CW Torque Limit
Digital Output Servo-Ready On/Alarm/Orientation End/Braker Control
Energy Braking Support built-in/External Resistor Braking
Drive Load Less than 3 times of rotor inertia
Display 5 bits LED Indicator display , 4 Operate keys
Communication RS485
0: Pulse+Direction
Input Mode 1:CCW/CW Pulse
Position Control 2: AB Phase Orthogonal Pulse
3:Inner Position Control
Numerator of Electric Ratio: 1~32767
Electric Ratio
Denominator of Electric Ratio: 1~32767

2.2 Motors table

Flange Model Power (W) Torque (N.m.) Speed (rpm) Matched Servo Drive

SZGH-04005D 50 0.16 3000 SZGH-SD2004

40mm
SZGH-04010D 100 0.32 3000 SZGH-SD2004
SZGH-06020DC 200 0.6 3000 SZGH-SD2004
60mm SZGH-06040DC 400 1.3 3000 SZGH-SD2004
SZGH-06060DC 600 1.9 3000 SZGH-SD2004
SZGH-08040DC 400 1.3 3000 SZGH-SD2010
SZGH-08075DC 750 2.4 3000 SZGH-SD2010
80mm
SZGH-08075BC 750 3.5 2000 SZGH-SD2010
SZGH-08100CC 1000 4 2500 SZGH-SD2010
SZGH-09075DC 750 2.4 3000 SZGH-SD2010
90mm SZGH-09075BC 750 3.5 2000 SZGH-SD2010
SZGH-09100CC 1000 4 2500 SZGH-SD2010

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SZGH-11060DC 600 2 3000 SZGH-SD2026

SZGH-11080DC 800 4 2000 SZGH-SD2026
SZGH-11120DC 1200 4 3000 SZGH-SD2026
110mm
SZGH-11150DC 1500 5 3000 SZGH-SD2026
SZGH-11120BC 1200 6 2000 SZGH-SD2026
SZGH-11180DC 1800 6 3000 SZGH-SD2026
SZGH-13100CC 1000 4 2500 SZGH-SD2026
SZGH-13130CC 1300 5 2500 SZGH-SD2026
SZGH-13150CC 1500 6 2500 SZGH-SD2026
SZGH-13200CC 2000 7.7 2500 SZGH-SD2026/SZGH-SD4038(380V)
130mm SZGH-13100AC 1000 10 1000 SZGH-SD2026
SZGH-13150AC 1500 10 1500 SZGH-SD2026
SZGH-13230AC 2300 15 1500 SZGH-SD2026/SZGH-4038(380V)
SZGH-13260CC 2600 10 2500 SZGH-SD2026/SZGH-4038(380V)
SZGH-13380CC 3800 15 2500 SZGH-SD2026/SZGH-4038(380V)
SZGH-15380CC 3800 15 2500 SZGH-4038
SZGH-15300BC 3000 15 2000 SZGH-4038
150mm SZGH-15360BC 3600 18 2000 SZGH-4038
SZGH-15470BC 4700 23 2000 SZGH-4075
SZGH-15550BC 5500 27 2000 SZGH-4075
SZGH-18270BC 2700 17.2 1500 SZGH-4075
SZGH-18290BC 2900 27 1000 SZGH-4075
SZGH-18300CC 3000 19 1500 SZGH-4075
SZGH-18370BC 3700 35 1000 SZGH-4075
180mm
SZGH-18430AC 4300 27 1500 SZGH-4075
SZGH-18450CC 4500 21.5 2000 SZGH-4075
SZGH-18550CC 5500 35 1500 SZGH-4075
SZGH-18750CC 7500 48 1500 SZGH-4075
2.3 Mechanical Dimensions

SZGH-SD2004

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SZGH-SD2010

SZGH-SD2026

SZGH-SD4038

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SZGH-SD4075

2.4 Mechanical Dimensions

2.4.1 Flange 40mm series (Unit:mm)

Model L Model L
SZGH-04005D 75 SZGH-04005D-T(with brake) 109
SZGH-04010D 190 SZGH-04010D-T(with brake) 124

2.4.2 Flange 60mm Series (Unit:mm)

Model L Model L
SZGH-06020DC 116 SZGH-06020DC-T(with brake) 164
SZGH-06040DC 141 SZGH-06040DC-T(with brake) 189
SZGH-06060DC 169 SZGH-06060DC-T(with brake) 217

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2.4.3 Flange 80mm / 90mm Series (Unit:mm)

Model LA LB LC LD LE LF LG LZ S LI W H
SZGH-08040DC 124 35 3 8 70 80.4 90 6 19 25 6 15.5
SZGH-08040DC-T 164 35 3 8 70 80.4 90 6 19 25 6 15.5
SZGH-08075DC 151 35 3 8 70 80.4 90 6 19 25 6 15.5
SZGH-08075DC-T(with brake) 191 35 3 8 70 80.4 90 6 19 25 6 15.5
SZGH-08075BC 179 35 3 8 70 80.4 90 6 19 25 6 15.5
SZGH-08075BC-T(with brake) 219 35 3 8 70 80.4 90 6 19 25 6 15.5
SZGH-08100CC 191 35 3 8 70 80.4 90 6 19 25 6 15.5
SZGH-08100CC-T(with brake) 231 35 3 8 70 80.4 90 6 19 25 6 15.5
SZGH-09075DC 150 35 3 8 80 86.6 100 6.5 16 25 5 13
SZGH-09075DC-T(with brake) 198 35 3 8 80 86.6 100 6.5 16 25 5 13
SZGH-09075DC 172 35 3 8 80 86.6 100 6.5 16 25 5 13
SZGH-09075DC-T(with brake) 220 35 3 8 80 86.6 100 6.5 16 25 5 13
SZGH-09100DC 182 35 3 8 80 86.6 100 6.5 16 25 5 13
SZGH-09100DC-T(with brake) 230 35 3 8 80 86.6 100 6.5 16 25 5 13

2.4.4 Flange 110mm / 130mm Series

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Model LA LB LC LD LE LF LG LZ S H W LI
SZGH-11060DC 159 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11060DC -T(with brake) 215 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11080DC 189 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11080DC-T(with brake) 245 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11120DC 189 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11120DC-T(with brake) 245 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11150DC 204 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11150DC-T(with brake) 260 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11120BC 219 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11120BC-T(with brake) 275 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11180DC 219 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11180DC-T(with brake) 275 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-13100CC 166 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13100CC-T(with brake) 236 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13130CC 171 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13130CC-T(with brake) 241 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13150CC 179 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13150CC-T(with brake) 249 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13200CC 192 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13200CC-T(with brake) 262 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13100AC 213 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13100AC-T(with brake) 283 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13150AC 213 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13150AC-T(with brake) 283 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13260CC 209 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13260CC-T(with brake) 279 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13230AC 241 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13230AC-T(with brake) 311 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13380CC 231 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13380CC-T(with brake) 301 57 5 14 110 130 145 9 22 24.5 6 40
2.4.4 Flange 150mm / 180mm Series

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型号 LA LB LC LD LE LF LG LZ S H W LI

SZGH-15380CC 230 58 5 14 130 150 165 11 28 31 8 45

SZGH-15380CC-T 303 58 5 14 130 150 165 11 28 31 8 45

SZGH-15300BC 230 58 5 14 130 150 165 11 28 31 8 45

SZGH-15300BC-T 303 58 5 14 130 150 165 11 28 31 8 45

SZGH-15360BC 248 58 5 14 130 150 165 11 28 31 8 45

SZGH-15360BC-T 321 58 5 14 130 150 165 11 28 31 8 45

SZGH-15460BC 278 58 5 14 130 150 165 11 28 31 8 45

SZGH-15460BC-T 351 58 5 14 130 150 165 11 28 31 8 45

SZGH-15550BC 302 58 5 14 130 150 165 11 28 31 8 45

SZGH-15550BC-T 375 58 5 14 130 150 165 11 28 31 8 45

SZGH-18270BC 226 65 5 14 130 180 200 13.5 35 38 10 51

SZGH-18270BC-T 298 65 5 14 130 180 200 13.5 35 38 10 51

SZGH-18290BC 232 65 5 14 130 180 200 13.5 35 38 10 51

SZGH-18270BC-T 304 65 5 14 130 180 200 13.5 35 38 10 51

SZGH-18300CC 243 65 5 14 130 180 200 13.5 35 38 10 51

SZGH18300CC-T 315 65 5 14 130 180 200 13.5 35 38 10 51

SZGH-18430AC 262 65 5 14 130 180 200 13.5 35 38 10 51
SZGH-18430AC-T 364 65 5 14 130 180 200 13.5 35 38 10 51

SZGH-18450CC 262 65 5 14 130 180 200 13.5 35 38 10 51

SZGH-18450CC-T 334 65 5 14 130 180 200 13.5 35 38 10 51

SZGH-18550CC 292 65 5 14 130 180 200 13.5 35 38 10 51

SZGH-18550CC-T 364 65 5 14 130 180 200 13.5 35 38 10 51

SZGH-18750CC 346 65 5 14 130 180 200 13.5 35 38 10 51

SZGH-18750CC-T 418 65 5 14 130 180 200 13.5 35 38 10 51

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Chapter 3 Wiring
3.1 Servo Drive Wiring Configuration

Fig.4.1 Wiring Diagram for Servo System

3.2 Wiring Explanations And Notes
The control cable length should be less than 3 meters and the encoder cable length less than 20
meters.
Check if MAIN power voltage (220VAC/380VAC) and wiring of L1, L2, L3 is correct.
Do not connect to 380V power supply to 220V Servo Driver.
The output terminals of drive (U, V, W) must be connected to the servo motor connections (U, V,
W) correspondingly, otherwise the servo motor will stop or over-speed. However, by
exchanging three-phase terminal cannot cause the motor to reverse; this point is different from
asynchronous motor.
Earth wiring must be reliable with a single-point connection.
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Pay attention to the correct direction of diode which is connected to the relay at the output
terminal, otherwise will cause the output circuit breakdown.
In order to protect the servo drive from noise interference that can cause malfunction, please use
an insulation transformer and noise filter on the power lines.
Power lines (power supply lines, main circuit lines, and motor power cable) MUST be laid apart
from the control signal wires (at least 30cm). Do not lay them in one conduit.
Install a non-fuse circuit breaker that can shut off the main power supply immediately in case of
the servo drive fault.
Because there are some big capacitor in inner side of servo drier,even if power off, high voltage
still exist in inner circuit, so please don’t touch servo driver and motor within 5 minutes power
off.

3.3 Wires Specification

Terminal Symbol Wire Specification
Main Power Supply L1, L2, L3 1.5~4mm2

Servo Motor U, V, W 1.5~4mm2

Ground 1.5~4mm2

Control Signals CN1 ≧ 0.14mm2 (AWG26), Shielded

Encoder Signals CN2 ≧ 0.14mm2 (AWG26), Shielded

Regenerative Resistors Terminals P, D / P, C 1.5~4mm2

User must use a twisted-pair cable for the encoder signal wiring. If the encoder signal cable is too
long(＞20m), in which the encoder power supply can be insufficient, multi-wires or thick wire must be
used for the encoder power supply wiring.

3.4 Terminals Explanation

Terminal Name Symbol Detailed Explanation

For 1- phase supply:

L1, L3
Single phase 220VAC -15% ~ +10%, 50/60Hz

Main Power Supply For 3-phase supply:

L1, L2, L3
Three phase 220VAC -15% ~ +10%, 50/60Hz

L1,L2,L3 Three Phase 380VAC(for SZGH-SD4038/SZGH-SD4075)

RBP, RBD When use the built-in resistor, Please connect P and D.
Regenerative Resistor
When the external regenerative resistor is needed, please disconnect P and D and
Terminal RBP, RBC
connect the resistor to terminal P and C. Leave N unconnected.

U U-phase output to servo motor

Servo Motor terminal V V-phase output to servo motor

W W-phase output to servo motor

Ground PE/Ground terminal of servo motor

Note: The built-in resistor has been set as default by factory.RBP & RBD is short circuit.

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3.5 Terminal For Control Signals

3.5.1 CN1 Terminal For Control Signals
The CN1 connector DB26 plug (26-pin) provides the signals interfaced with the host-controller.
They are:
 4 programmable input
 4 programmable output
 Analog command input
 Pulse command input
 Encoder signal output

3.5.2 CN1 Terminal Connector
The CN1 connector plug uses DB26 male head, the contour and pin configuration is as the following:

Connector CN1 Soldering view

3.5.3 CN1 Connector Explanation
Name Of Signal Pin Number Function
DI1 12
Optical Isolation Input;
DI2 2
Function is programmable;
Digital Input DI3 11
Defined by parameter P3-series (P3-0 ~ P3-17)
DI4 1
COM+ 10
DO1+ 19
DO1- 20
Opto-coupler output;
DO2+ 21
Function is programmable;
Digital Output DO2- 22
Defined by parameter P3 series (P3-20 ~ P3-23)
DO3+ 25
DO3- 26
DO4+ 23

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DO4- 24
PULS+ 3
High-speed opto-coupler input,
Position PULS- 13
Working mode set by parameter PA14,
Command Pulse SIGN+ 4
Pulse+Dir, CCW/CW Pulse, A/B Orthogonal pulse
SIGN- 14
Analog AS+/AT+ 5
Analog velocity / torque input, range: -10V ~ 10V
Command Input AS-/AT-/GND 15
OA+ 16
OA- 7
OB+ 17
Encoder Signal
OB- 8 Motor encoder signal output
Output
OZ+ 18
OZ- 9
CZ 6
Shielded Cable
Metal case of
Ground Shielded wire for connection with shielded cable
connector
Protection
3.5.4 CN2 Connector For Encoder
The encoder signal connector CN2 connects to the servo motor encoder. A three-row DB15 plug
(VGA plug) is used. The contour and pin configuration is as following:

Connector CN2 Soldering view

3.5.5 CN2 Connector Explanation
Signal Name Of
Pin No. Function
Encoder
Encoder 5V 5 Use 5V power supply provided by servo drive. If the cable is longer
Power than 20m, in order to prevent encoder from voltage-drop, use
0V 10
Supply multi-wire or thick wires for power line and ground line.
A+ 6
A-Phase Connect with A-phase output of encoder
A- 1
B-Phase B+ 7 Connect with B-phase output of encoder

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B- 2
Z+ 8
Z-Phase Connect with Z-phase output of encoder
Z- 3
U+ 9
U-Phase Connect with U-phase output of encoder
U- 4
V+ 11
V-Phase Connect with V-phase output of encoder
V- 12
W+ 13
W-Phase Connect with W-phase output of encoder
W- 14
Ground 0V 15 Encoder Power supply 0V
Shield Metal
Connect with cable shield wire
Ground Case
Note: The U, V, W signals of encoder does not exist on wire-saving encoder which has only A, B, Z.
3.5.6 CN3A and CN3B Terminal Definition
Can be connected to the PC or controller through special serial cable.
RS485 Don’t plug it to any power supply. Twisted-pair shielded wires are suggested with less than
2 meters in length.(CAN bus is for spare)
Terminal CN3A Name CN3B Name Picture
1 VCC Positive power supply NC Null
2 GND Ground GND Ground
3 CAN H CAN Bus Pin CAN H CAN Bus Pin
4 RS485- RS485-
RS485 Communication RS485 Communication
5 RS485+ RS485+
6 CAN L CAN Bus Pin CAN L CAN Bus Pin
7 GND Ground GND Ground
8 VCC Positive power supply NC Null
3.5.7 Regenerative Resistor Connection
If use the built-in resistor, please connect P and D (The built-in resistor has been connected by
factory, so you can use directly), as showed in picture A.
When an external regenerative resistor is needed to be connected to the servo drive, firstly, the
short circuit between terminal P and D must be disconnected.
Then external regenerative resistor should be connected between P and C, as showed in picture B.
Note: RBP=P, RBD=D, RBC=C, RBN=N

Picture A Picture B

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3.6 Wiring Diagram & Parameter Explanation

3.6.1 Wiring Example in Position Mode

The wiring example (above) is for servo motors with flange size 60mm, 80mm and 90mm.
When connected with flange size110mm and 130mm,150mm,180mm servo motors,series please
make connections as following:

Signal U V W PE
Power
Pin No. 2 3 4 1
Signal 5V 0V A+ B+ Z+ A- B- Z- U+ V+ W+ U- V- W- PE
Encoder
Pin No. 2 3 4 5 6 7 8 9 10 11 12 13 14 15 1
Notes:
1. If use 3-phase AC220V main power , please connect with terminal L1, L2, L3.
2. If use 3-phaes AC380V main power, please connect with terminal L1,L2,L3(SZGH-SD4038/SZGH-SD4075).
3. If use 1-phase AC220V main power , please connect with terminal L1, L3.
3. Current capacity of the external power supply for digital inputs and outputs (12~24vdc) should be more than 100mA.
4. AWG24-26 shielded cable is recommended for control and feedback signals. DO ground the shield of the cable.
5. Cable for control signals (CN1) should be less than 3 meters long, and cable for feedback signals (CN2) should be
less than 10 meters long.
6. A Circuit breaker (NFB) is recommended to cut off power in case of an overload. Use an electromagnetic contactor
to switch servo motor ON and OFF.

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3.6.2 Parameters in Position Mode

The following parameters need to be adjusted when in position mode:

3.6.2.1 Gain & Smooth-Filter Parameter

Parameter Definition Value Default Value

PA4 Control mode 0 0

PA9 Position Proportional Gain 1-1000 80

PA19 Position Command Smooth Filter 0-30,000×0.1ms 300

3.6.2.2 Parameter for DI Input

Parameter Define Value Default Value

0-30,000
PA11 Command pulses for one rotation of motor 10,000
pulse

PA12 1st numerator of electronic gear for position command pulse 1~32,767 0

PA13 Denominator of electronic gear for position command pulse 1~32,767 10,000

PA14 mode of position command pulse 0-2 0

PA15 Direction change of position command pulse 0-1 0

PA59 The effective edge of command pulse 0-1 0

PA77 2nd numerator of electronic gear for position command pulse 1~32,767 0

PA78 3rd numerator of electronic gear for position command pulse 1~32,767 0

PA79 4th numerator of electronic gear for position command pulse 1~32,767 0

PA80 Effective level of command direction signal 0-1 0

PA81 Command pulse (PULS) signal filter 0-15 4

PA82 Command pulse (SIGN) signal filter 0-15 4

3.6.2.3 Parameter for DO Output

Parameter Define Value Default Value

PA16 Range of positioning completion 0~3000 pulse 10

PA17 Detection of over-travel range 0~30,000×100 pulse 400

PA18 Invalid error of over travel 0-1 0

PA83 CWL, CCWL direction prohibited mode 0-1 0

PA84 Hysteresis for position completion 0~32,767 pulse 5

PA85 Range for approach positioning 0~32,767 pulse 500

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PA86 Hysteresis for approach positioning 0~32,767 pulse 50

3.6.2.4 Parameters related to Input and Output Terminals

Parameter Definition Value Default Value

PA55 Effective level control for input terminals 0000-1111 0000

PA57 Effective level control for output terminals 0000-1111 0000

PA58 Anti-jitters time constant of digital input terminals 1-1000×0.1ms 2

P3-0 Digital Input DI1 function 0-99 1

P3-1 Digital Input DI2 function 0-99 2

P3-2 Digital Input DI3 function 0-99 3

P3-3 Digital Input DI4 function 0-99 4

P3-15 Force digital input 1 00000000-11111111 00000000

P3-16 Force digital input 2 00000000-11111111 00000000

P3-17 Force digital input 3 00000000-11111111 00000000

P3-20 Digital Input DO1 function 0-99 2

P3-21 Digital Input DO2 function 0-99 3

P3-22 Digital Input DO3 function 0-99 4

P3-23 Digital Input DO4 function 0-99 8

3.6.2.5 Parameters & Explanation for Inner Position Control (Pr)Mode

Command Source of Pr mode are using Parameter (P4-2,P4-3)-(P4-23, P4-24) 8 groups built-in

position command registers, Mode of Pr mode is set by P4-0: a: absolute type; b:Increment type.It works

with external I/O(CN1,POS0-POS2 & CTRG), to select one group among of 8 groups as position

command, shown as following table:

Position POS2 POS1 POS0 CTRG Para. Explanation Speed

Code register

P1 0 0 0 ↑ P4-2 Revolutions(+/-30000) P4-4

P4-3 Pulses(+/- max cnt) (V1)

P2 0 0 1 ↑ P4-5 Revolutions(+/-30000) P4-7

P4-6 Pulses(+/- max cnt) (V2)

P3 0 1 0 ↑ P4-8 Revolutions(+/-30000) P4-10

P4-9 Pulses(+/- max cnt) (V3)

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P4 0 1 1 ↑ P4-11 Revolutions(+/-30000) P4-13

P4-12 Pulses(+/- max cnt) (V4)

P5 1 0 0 ↑ P4-14 Revolutions(+/-30000) P4-16

P4-15 Pulses(+/- max cnt) (V5)

P6 1 0 1 ↑ P4-17 Revolutions(+/-30000) P4-19

P4-18 Pulses(+/- max cnt) (V6)

P7 1 1 0 ↑ P4-20 Revolutions(+/-30000) P4-22

P4-21 Pulses(+/- max cnt) (V7)

P8 1 1 1 ↑ P4-23 Revolutions(+/-30000) P4-25

P4-24 Pulses(+/- max cnt) (V8)

Status of POS0~POS2: 0 : input point is OFF(open), 1: Input point is ON(Close).

CTRG↑ : Up edge (Input point is from OFF to ON)

Inner position control mode can be applied to many occasions, it looks like one simple control

program. User could make cycle operations only according to above table. Example: P1 position

command is 10 revs , P2 position command is 20 revs, firstly run P1,and then P2, this is difference

between Absolute & Incremental mode as following picture shown,

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3.6.3 Wiring Example in Speed / Torque Mode

The wiring example (above) is for servo motors with flange size 60mm, 80mm and 90mm.
When connected with servo motors with flange size110mm and 130mm,150mm,180mm, please connect
as following:

Signal U V W PE
Power
Pin No. 2 3 4 1
Signal 5V 0V A+ B+ Z+ A- B- Z- U+ V+ W+ U- V- W- PE
Encoder
Pin No. 2 3 4 5 6 7 8 9 10 11 12 13 14 15 1

Notes:
1.If use 3-phase AC220V main power supply, please connect with terminal L1, L2, L3.
2.If use 3-phaes AC380V main power, please connect with terminal L1,L2,L3 (SZGH-SD4038/SZGH-SD4075).
3.If use 1-phase AC220V main power supply, please connect with terminal L1, L3.
4.Current capacity of the external power supply for digital inputs and outputs (12~24vdc) should be more than
100mA.
5.AWG24-26 shielded cable is recommended for control and feedback signals. DO ground the shield of the cable.
6.Cable for control signals (CN1) should be less than 3 meters long, and cable for feedback signals (CN2) should
be less than 10 meters long.
7.A Circuit breaker (NFB) is recommended to cut off power in case of an overload. Use an electromagnetic
contactor to switch servo motor ON and OFF.

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3.6.4 Parameters in Speed/Torque Control Mode

3.6.4.1 Parameters in Speed Control Mode

The following parameters need to be adjusted when in Speed control mode:
Parameter Definition Value Default Value
PA4 Control Mode 1 0
PA5 Gain Of Speed Loop 5-2000 Hz 150
PA6 Integral time constant of Speed loop 1-1000 ms 75
PA22 The source of Speed Command 0-5 0
PA24 Internal Speed 1 -6000~6000 rpm 100
PA25 Internal Speed 2 -6000~6000 rpm 500
PA26 Internal Speed 3 -6000~6000 rpm 1000
PA27 Internal Speed 4 -6000~6000 pm 2000
PA28 Arrival Speed 0-3000 rpm 3000
PA40 Acceleration Time Constant of Speed Command 1-10,000 ms 100
PA41 Deceleration Time Constant of Speed Command 1-10,000 ms 100
PA43 Gain of Analog Speed Command 10-3000 rpm/V 10
PA44 Direction of Analog Speed Command 0-1 0
PA45 Zero Offset Compensation of Analog Speed Command -5000~5000 mv 0
PA46 Filter of Analog Speed Command 1-1000 Hz 100
PA75 Range For “Zero-Speed” Detection 0-1000 rpm 10
PA76 Speed Coincidence Range 0-1000 rpm 10
PA87 Hysteresis Of Arrival Speed 0-5000 rpm 30
PA88 Polarity Of Arrival Speed 0-1 0
PA92 Hysteresis For “Zero-Speed” Detection 0-1000 rpm 5
3.6.4.2 Parameters in Torque Mode
The following parameters need to be adjusted when in Torque mode:
Parameter Definition Value Default Value
PA4 Control Mode 2 0
PA29 Gain of Analog Torque Command Set by user 30
PA32 Selection For Internal And External Torque Command 0-2 0
PA33 Direction of Analog Torque Command 0 0
PA39 Zero Offset Compensation of Analog Speed Command 0 0
PA50 Speed Limit In Torque Control Mode Set by user Rated speed
PA64 Internal Torque 1 -3000~3000 0
PA65 Internal Torque 2 -3000~3000 0
PA66 Internal Torque 3 -3000~3000 0
PA67 Internal Torque 4 -3000~3000 0

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PA83 Inhibition Method 0-1 0

PA89 Arrival Torque -300% ~ 300% 100
PA90 Hysteresis of Arrival Torque 0% ~ 300% 5
PA91 Polarity of Arrival Torque 0-1 0
3.6.4.3 Parameters related to ModBus communication
Parameter Definition Value Default Value
PA71 MODBUS ID No. 1-254 1
PA72 MODBUS Communication Baud Rate 48-1152×100 96
PA73 MODBUS Protocol Selection 0-2 1
PA74 Communication Error Handling 0-1 0

3.7 Homing(Zero point)

3.7.1 Parameters for Homing(Zero point)
Parameter Explanation Value Default Value
P4-32 Type & Direction of Homing 0-5 0
P4-33 Mode After Homing 0-2 0
P4-34 Mode of Start Homing 0-2 0
P4-35 Mode of Stop Homing 0-1 0
P4-36 Homing Speed_1st period 1-2000 rpm 1000
P4-37 Homing Speed_2nd period 1-500 rpm 50
P4-38 Homing Offset Revs +/- 30000 0
P4-39 Homing Offset Pulses +/- max cnt 0
3.7.2 Explanation of Homing
A. Mode of Start Homing (P4-34)
There are two modes that start homing:one is automatically homing when booting, another one is
input points activate homing.
P4-34=0: OFF Homing function.
When P4-34 set to 0, turn off the function of homing(return to zero point),cannot do homing
whatever other parameters set.
P4-34=1: Automatically homing when power on servo driver.
When power on driver & before starting work, it will do homing. It normally apply to that it no
needs to homing often. It can save one input point for homing.
P4-34=2: Input to SHOM point to activate homing function
When set this function, it must configure one input point of DI inputs (from P3-0 to P3-3) to SHOM
input point. It can do homing at anytime when SHOM is ON.
B. Type & Direction of Homing(P4-32)
Limit switches at positive direction or negative direction, can be as homing switch , and also one
alone switch(Sensor/Proximity Switch) can as homing switch, If servo motor run within one rev, we can
set Z-Phase signal as home (zero point).
P4-32=0: Go homing with CCW direction,and take CCWL as 1st input point for homing. After
homing, CCWL as limit input, and CCWL be on again, it will hint limit alarm. If using CCWL as
homing input point too, suggest detect Z Phase signal(set P4-33=0)

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P4-32=1: Go homing with CW direction,and take CWL as 1st input point for homing. After
homing,CWL as limit input, and CWL be on again, it will hint limit alarm. If using CWL as homing
input point too, suggest detect Z Phase signal(set P4-33=0)
P4-32=2: Go homing with CCW direction,and take ORGP(alone input point for homing) as 1st
input point for homing.If using ORGP as homing input point, it can detect Z Phase signal(set P4-33=0)
or not (P4-33=1)
P4-32=3: Go homing with CW direction,and take ORGP(alone input point for homing) as 1st input
point for homing.If using ORGP as homing input point, it can detect Z Phase signal(set P4-33=0) or not
(P4-33=1)
P4-32=4: Z-Phase signal as home(zero point), Move Detect Z phase signal with CCW direction,this
apply to servo work within one rev,and no need any switches.
P4-32=5: Z-Phase signal as home(zero point), Move Detect Z phase signal with CW direction,this
apply to servo work within one rev,and no need any switches.
C. Mode after homing (P4-33)
P4-33=0: After detect homing switch,and reverse movement and find Z-phase signal of servo motor
encoder,which is mechanical zero point.
P4-33=1: After detect homing switch,and keep movement and find Z-phase signal of servo motor
encoder,which is mechanical zero point.
P4-33=2: After detect homing switch(up edge of ORGP) & stop, where set to mechanical zero
point.(when P4-32=2 or 3); or when find Z phase signal(Z pulse) & stop(when P4-32=4 or 5).
D. Mode of Stop Homing (P4-35)
P4-35=0: After detecting homing switch, motor decelerate speed & reverse move to zero point.
After detect homing switch with homing speed_2nd period(set by P4-37),motor decelerate & stop.After
stop,and then reverse move to mechanical zero point with P4-37 speed.
P4-35=1: After detecting homing switch, motor decelerate speed & keep moving to zero point.
After detect homing switch with homing speed_2nd period(set by P4-37),motor decelerate & stop. It
don’t After stop,and position offset cannot be revise,but it doesn’t means zero point changed as different
position offset.

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Chapter 4 Operation and display

4.1 Introduction to Front Panel And Function

4.1.1 Front Panel

Fig4.1 Front Panel

“SET” Button: Enter the parameter settings or set the values to select parameters and exit.
UP Button: Increase the selected value by 1.
DOWN Button: Decrease the selected value by 1.
BACK Button: Press this to come back to before data.

The panel consists of 5 digital LED and 4 buttons including ↑ , ↓ , ← , SET to display all system
status and set parameters.
The operation is hierarchical. ← button indicates “Back” and SET button indicates “forward” while
it also has the meaning of “Enter” . ← button also has the meaning of “Cancel” and “Exit”. ↑ button
indicates “Increase” and ↓ button indicates “Decrease”. If you press and hold the ↑ button or ↓ button,
you would get a duplicate result and when hold longer, the repetition rate is higher.

4.1.2 Front Panel keys explanation

Symbol Name Function

Increase number or value; Press down and hold to repeat
Increase
increasing.
Decrease number or value; Press down and hold to repeat
Decrease
decreasing.
Exit, Back Menu exit; Cancel the operation
SET Confirm, Set Menu entered; Confirm the operation

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4.2 Main Menu

The first layer is the main menu and has four operating modes. Press ↑ or ↓ button to change the
operation mode. Then press SET button to enter into the second layer. Press ← button returns to the
main menu from the second layer.

Fig4.2 Operating display layer

4.3 Status Monitoring
In the first layer, please select “dP--” and press the SET button to enter into monitoring
mode. There are 16 statuses to be displayed in total. You can select the desired display mode
with ↑ or ↓ button, and then press SET button to enter into the specific status.
Monitoring Operation Example Definition

Speed : 1000 r / min

The current position of rotor :

1245806 pulse

Position Command :

1245810 pulse

SET

Position Deviation : 4 pulse

Motor Torque 70%

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Motor Current 2.3A

Control Method 0

Analog Quantity input speed:

500 r/ min

Torque 50% in Torque Mode

Absolute Rotor Position : 3265

Digital Input Terminal

Digital Output Terminal

Encoder Signal

Bus Voltage: 336V

Relay on Opening State

Relay on Closing State

Alarm

Running State

Disable

Uncharged

Alarm

Alarm No.9

Normal

Main wire under Voltage

Alarm

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4.4 Process of Setting Parameter

Please firstly select “PA--”, and press SET button to enter the status of parameter setting mode.
Use or to choose required parameter and push SET button to display the parameter value. You
can modify the parameter value with or . Press or button one time, the parameter
increases or decreases by 1. Pressing and holding or key can continuously increase or
decrease the value. After modifying the value of the parameter press SET button and when the LED
flashes two times, it means modification is completed. Finally turn the drive OFF and ON again to
activate the changes.

4.5 Setting Analog Quantity to 0

After the setting, driver will test offset of analog quantity and reserve it into PA39(or PA45). It need
not to write parameter again because the operation of setting analog to 0 reserved the parameter to
EEPROM.
Firstly, choose the parameter ‘A-A0’, then press SET to enter. Next choose ‘A-SPd’ (Setting speed
analog quantity to 0) or ‘A-Trq’(Setting torque analog quantity to 0) by ‘ and , choose one of
the operation and Holding & press ‘SET’ button for more than 3 seconds, wait for displaying ‘donE’ on
the screen, activate the operation. After that, you can press button back to the menu.

4.6 Recovery Parameters To Default Values

In case of the following situations, please use the function of resuming the default parameters
(ex-factory default parameter):
The parameter is adjusted chaotically; the system is unable to work normally.
The servo motor is replaced by a different new model.
For any other reason, drive is not matched with motor model which is set in PA01.
The procedure for resuming the default parameter values is as the following:
1. Inspect servo motor code (PA01) whether it is correct or not.
2. Modify the password (PA0) from 315 to 385.
3. Modify the servo motor code (PA1) with related servo motor code.
4. Enter operations of parameter,do following steps
Resume default value of all parameters means that all of parameters that have been edited by
customers would be recovered to the manufacture parameters value.
Press button back to main menu, and choose ”PA--” mode with or button. Press SET
button entering into the second layer. Then press or button to set PA=0 and press SET button
going into the third layer to set PA0=385, and press SET button to enter it.
Press button back to the “PA--” layer, and set PA1=dEF-. Press SET button for 5 seconds.
When the LEDs in the screen flashes several times, it means the operation is successful. Finally turn
OFF and ON the power to activate the changes.

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4.7 Parameter Set for Servo Motor Code

The value of PA-01 should be set referring to the following table. If there is a mismatch, it will
cause an alarm. Pay attention that different motors have different default parameters.
For example, SZGH-08075DC(80mm frame size,2.4Nm,3000RPM,code is 80-02430),so the factory
default model of this ac servo motor is 80-02430.
If there is necessary to modify the motor code or restore setting parameters that was already set by
manufacturer, please firstly change PA--0 from 315 to 385, then enter into PA-01 and press or
key to select the appropriate motor model. The steps are shown as the following picture:

Pic 3. Choose motor type

Note: 1.The parameter PA-01 of drive must be configured with the exact servo motor that you are using,if
not,which will affect efficient of servo motor would be down or alarm .
2.Normally we set PA1 parameter well before ex-factory,please use related SZGH-SD series driver for related
SZGH series servo motor.

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Chapter 5 Parameters

5.1 PA Group Parameter

No. Name Function Range Default Value

1. Default password is 315 to set or change parameters.

0 Password 0-9999 315
2. To change the Motor type it must be changed to 385.
1. The different motor type code has different default parameters.
If you want to use the function of recovering the default parameter
80-90-110-130-
1 Motor type selection value make sure that you have chosen the correct motor type. -
150-180
2. If you want to edit PA-01 parameter, please set the PA0 to 385
firstly.
0. Display the current motor speed
1. Display the current position in 5-bit (low byte)
2. Display the current position in 5-bit (high byte)
3. Display position command (command pulse accumulation) in
5-bit (low byte)
4. Display position command (command pulse accumulation) in
5-bit (high byte)
5. Display position deviation in 5-bit (low byte)
6. Display position deviation in 5-bit (high byte)
7. Display motor torque
8. Display motor current
9. Display control mode
10. Display temperature of heat-sink on IPM
11. Display Analog speed command
3 Initial display status 0-23 0
12. Display Analog torque command
13. Display absolute position of the rotor in a turn in 5-bit (low
byte)
14. Display absolute position of the rotor in a turn in 5-bit (high
byte)
15. Display Digital input status
16. Display Digital output status
17. Display encoder input signal
18. Display DC voltage value of main power
19. Display alarm code
20. Display logic chip version number
21. Display the actuation state of the relay
22. Display external voltage state
23. Display external voltage state
0: position control mode
4 Control mode 1: speed control mode 0-5 0
2: torque control mode

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3: position + speed control mode

4: position + torque control mode
5: speed + torque control mode
1. The bigger value means the more gain and higher rigidity. The
parameter value is set according to your servo motor model and
Proportional gain of
5 the load behavior. Generally, the greater the load inertia, the bigger 5-2000Hz 200
speed loop
the value.
2. Set as high value as system does not generate any oscillation.
1.The smaller value means the integral time is faster and the ability
Integral constant of
6 of system in resisting deviation is stronger. But if it is too small, it 1-1000ms 75
speed loop
will cause oscillation.
1. To set the character of torque command filter.
2. To suppress resonance from torque applied to load.
3. The smaller value means the cut-off frequency is lower and
vibration with generated noise by the motor is less. If the load
inertia is great, reduce the setting value. If the value is too small, it
7 Torque filter 20-500% 100
would lead to low response, which would result in shaking and
non-smooth operation.
4. The bigger value means the cut-off frequency is higher and the
response frequency is quicker. If you need higher torque response
frequency,increasing the setting value is recommended.
1. To set the degree of speed detection filter.
2. The smaller value means the cut-off frequency is lower and
noise from the motor is smaller. If the load inertia is great, reducing
the setting value is recommended. If the value is too small, it would
8 Speed detection filter lead to low response, which would result in shaking and 20-500% 100
non-smooth operation.
3. The bigger value means the cut-off frequency is higher and the
response frequency is quicker. If you need higher speed response
frequency, it is recommended to increase the setting value.
1. The bigger value means the gain is higher and its rigidity is
stronger. So the position lag is smaller under the same frequency
Proportional gain of command pulse condition. But if it is too big, it will cause 1-1000
9 80
position loop oscillation. (1/s)
2. The parameter value is set according to your servo motor model
and the load condition.
Command pulses for 1. When it is set to 0, then PA12 and PA13 are valid, otherwise
1-30,000
11 one turn of motor this parameter defines the input pulse command number required 10,000
pulse
rotation to turn the motor for one turn.
1. In position control mode, it is convenient to match all kinds of
pulse source through setting the parameter PA12 and PA13, which
1 numerator of
st
helps to reach ideal control resolution (angle/pulse).
electronic gear for 2. P×G=N×C×4
12 0-32,767 0
position command P: input pulse command number, G: electric gear ratio, N: numbers
pulse of motor rotation, C: resolution of optical encoder (ppr), default
value is 2500.
3. For example: for input command pulse P of 6000, we need the

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servo motor to rotate one turn

4. G=(N×C×4)/P = (1×2500×4)/6000=5/3, So PA12 should be set
to 5, PA13 should be set to 3.
5.The numerator of electronic gear for command pulse is decided
by combination of Gear1 and Gear2 digital inputs which points to
one of the parameters PA12, PA77, PA78, and PA79.
The denominator is decided by PA13.
The detail is as following:

DI Signal
Numerator
Gear 2 Gear 1
0 0 1ST Numerator (Parameter PA 12)
0 1 2nd Numerator (Parameter PA 77)
1 0 3rd Numerator (Parameter PA 78)
1 1 4th Numerator (Parameter PA 79)
Note: 0=OFF, 1=ON.
Denominator of
13 position command Refers to parameter PA12 1-32,767 10,000
pulse
To set one of 3 input modes:
0: Pulse+Direction
mode of position
14 1: CCW pulse/CW pulse 0-3 0
command pulse
2: A-phase and B-phase orthogonal input.
3:External position input
Direction of 0: Normal
15 0-1 0
command pulses 1: Reverse position command pulse
1. To Set the pulse range of positioning completion under the
position control mode.
1. To set the pulse range of positioning completion under the

Range of positioning position control mode.

16 0-30,000 pulse 10
completion 2. When the pulse number in the position deviation counter is
smaller than or equal to this setting value , the digital output (DO)
COIN is ON, otherwise is OFF.
3. The comparator has hysteresis function, it is set by PA84.
Detection of In position control mode, if the value in position deviation counter is 0-30,000x
17 400
over-travel range greater than this parameter, the drive will alarm. 100 pulse
0: The alarm for detection of over travel is valid.
Invalid error of over
18 1: The alarm for detection of over travel is invalid, and stops to 0-1 0
travel
detect the error.
1. To filter the input command pulse. Acceleration and deceleration
are with exponential form. The value is time constant.
2. The filter does not lose input pulses, but will cause a command
Position command delay. 0-30,000
19 300
smooth filter 3.The filter applies in x 0.1ms
(1. PC controller without acceleration and deceleration function.
(2. The electronic gear ratio is big (>10).
(3. The command frequency is low.

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(4. When the motor runs, there are step jumps in speed.
(5. When set to value”0”, the filter does not work.

0: CCW drive inhibition or CW drive inhibition is effective.

If the digital input of CCW drive inhibition is ON (N.C. contact on its
digital input), CCW drive is permitted. If the switch of CCW drive
inhibition is OFF (the contact has been opened), CCW torque
keeps 0.
The similar definition is for CW drive inhibition but in opposite
20 drive inhibition direction. 0-1 1
If both CCW and CW drive inhibition are OFF, it will come to error
alarm of drive inhibition input.
1: Cancel CCW or CW drive inhibition. No matter what state of the
contact of CCW or CW drive inhibition inputs are, CCW or CW
drive is allowed. Meanwhile, if the contacts of CCW and CW drive
inhibition are OFF, it will not cause any alarm.
0-6000
21 JOG speed Set the running speed of JOG operating. 100
rpm
In speed control mode, it sets the source of speed command.
0: Analog Terminal AS+, AS- input analog speed command.
1: Internal speed command is decided by SP1 and SP2 digital
inputs :
DI Signal
Speed Command
SP2 SP1
0 0 Internal Speed 1 (Parameter PA24)
0 1 Internal Speed 2 (Parameter PA25)
1 0 Internal Speed 3 (Parameter PA26)
1 1 Internal Speed 4 (Parameter PA27)
The source of speed
22 Note: 1=ON, 0=OFF 0-5 0
command
2: Analog speed command + internal speed command:
DI Signal
Speed Command
SP2 SP1
0 0 Analog Speed Command
0 1 Internal Speed 2 (Parameter PA25)
1 0 Internal Speed 3 (Parameter PA26)
1 1 Internal Speed 4 (Parameter PA27)
3: JOG speed command, if carry out JOG operation.
4: Keyboard speed command, if carry out Sr—operation.
5: control of JOG operation from digital input terminals.
Set the highest speed of the servo motor.
It is independent to rotating direction.
0-6000
23 Maximum speed limit If the setting value is beyond the rated speed of the motor, the 5000
rpm
rated speed of the motor is considered as the maximum
permissible value.
In speed control mode (PA22=1), when SP1 and SP2 are OFF, -6000~6000
24 Internal speed 1 100
internal speed 1 is as the speed command. rpm

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In speed control mode (PA22=1 or 2), when SP1 is ON, while SP2 -6000~6000
25 Internal speed 2 500
is OFF, internal speed 2 is as the speed command. rpm
In speed control mode (PA22=1 or 2), when SP1 is OFF, while -6000~6000
26 Internal speed 3 1000
SP2 is ON, internal speed 3 is as the speed command. rpm

In speed control mode (PA22=1 or 2), when SP1 and SP2 are ON, -6000~6000
27 Internal speed 4 2000
internal speed 4 is as the speed command. rpm
Set the detection timing of the speed arrival output.
When the servomotor speed surpasses this parameter,
the digital output (DO) ASP (arrival speed) is ON,
otherwise is OFF.
The comparator has hysteresis function set by PA87.
Detection is associated with 10 r/min hysteresis.

At speed 0-3000
28 3000
(Speed arrival) rpm

3. It also has the polarity setting function:

PA8
PA28 Comparator
8
Speed independent to
0 >0
direction
>0 Only detect CCW speed
1
<0 Only detect CW speed
1. Set the relation between input analog voltage for torque
command and the actual motor running torque.
Gain of analog torque 10-100
29 2. The setting value unit is 0.1v/100%. 30
command (0.1v/100%)
3. The default value is 30, corresponding to 3v/100%. it means if
the input voltage is 3V, it would generate 100% rated torque.
1. The value is the percentage of rated torque. The limit is
independent to direction and CW or CCW direction is protected.
The alarm value of
30 2. When PA31＞9, motor torque＞PA30 and duration＞PA31, the 1-300 300
torque overload
drive alarms and the code is Err-29. The motor stops working. It
must repower on after clearing errors.
1. The detection time for torque overload, unit:ms. Detection
The detection time for time=PA31×0.1；
31 0-32,767 0
torque overload 2. When set to 0~9, the function of torque overload alarming is
prohibited. In general,the value is set to 0.
0: Analog input torque command by terminals AS+ and AS-.
1: Internal torque command by combination of TRQ1 and TRQ2
digital inputs (DI) which points to one of the parameters PA64,
The source of torque
32 PA65, PA66, and PA67. 0-1 0
command
DI Signal
Torque Command
TRQ2 TRQ1
0 0 Internal Torque1（Parameter PA64)

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0 1 Internal Torque2（Parameter PA65)

1 0 Internal Torque3（Parameter PA66)
1 1 Internal Torque4（Parameter PA67)
Note: 0=OFF, 1=ON
2: Analog torque command + internal torque command:
DI Signal
Torque Command
TRQ2 TRQ1
0 0 Analog Torque Command
0 1 Internal Torque2（Parameter PA65)
1 0 Internal Torque3（Parameter PA66)
1 1 Internal Torque4（Parameter PA67)
When set to 0 and the analog torque command is positive, torque
Direction of analog direction is CCW.
33 0-1 0
torque command When set to 1 and the analog torque command is positive, torque
direction is CW.
1. The setting value is the percentage of rated torque.
2. It is always valid independence of the drive control mode.
Internal CCW torque
34 3. If the setting value is bigger than the maximum overload 0~300% 300%
limit
capacity of the drive for the matched motor, the max overload
capacity is concerned as the actual torque limit.
Internal CW torque
35 Refer to PA34. -300~0% -300%
limit
1. It is valid only when the input terminal (FIL) of CCW torque limit
is ON.
2. When the limit function is valid, the actual torque limit is the
Externally controlled
36 Minimum value of: 0~300% 100%
CCW torque limit
1: max overload capacity of the drive for matched motor,
2: internal CCW torque limit (PA34),
3: externally controlled CCW torque limit (PA36).
1. It is valid only when the input terminal (RIL) of CW torque limit is
ON.
2. When the limit function is valid, the actual torque limit is the
External CW torque
37 Minimum value of: -300~0% -100%
limit
1: max overload capacity of the drive for matched motor,
2: internal CW torque limit (PA35),
3: externally controlled CW torque limit (PA37).
Zero offset
compensation of
39 Make an offset adjustment for analog torque command. -2000~2000 0
analog torque
command
Linear acceleration / deceleration characteristics are available.
The setting value means the acceleration time of the motor from 0
Acceleration time rpm to 1000 rpm (or from 1000 rpm to 0 rpm).
40 1-10,000ms 100
constant It only applies in speed control mode, while is invalid in position
control mode.
This parameter should be set to 0 if the drive is used in

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combination with an external position loop controller (like CNC

controller) to avoid extra acc/dec which is not decided by the
controller.
Deceleration time
41 Refer to PA40. 1-10,000ms 100
constant
1. Set the relation between input analog voltage for speed
command and the actual motor running speed.
Gain of analog speed 10-3000
43 2. The setting value unit is 0.1v/100%. 300
command rpm/V
3. The default value is 10; corresponding to 10 rpm/V, it means if
the input voltage is 5V, it would run the motor at 50 rpm.
1.If Set to 0 and analog speed command is positive, the speed
Direction of analog direction is CCW.
44 0-1 0
speed command 2.If Set to 1 and analog speed command is positive, the speed
direction is CW.
Zero offset
compensation of Make an offset adjustment for analog speed command with this
45 -5000~5000 0
analog speed parameter.
command
1.The input low pass filter of analog speed command.
Filter of analog speed 2.If the setting value is bigger, the response frequency is quicker to
46 1-1000Hz 300
command speed input analog quantity and the influence of signal noise is
higher.
1. Use the electromagnetic brake when SON is from ON to OFF or
alarm occurs in the servo driver. This parameter defines the delay
time from the action(the BRK is OFF from DO terminals) of
The electromagnetic brake until excitation removal of the
servomotor during the servomotor to be in static.
2.After setting, the parameter should not be smaller than the delay
time in which the machinery applies the brake. This parameter will
Delay time for make the brake reliable and then turns off the servomotor
electromagnetic excitation to guarantee against the small displacement of the
0-200
47 brake when servomotor or depreciation of the work piece. 0
x10ms
servomotor is in 3. The timing chart as follow:
standstill

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1. Use the electromagnetic brake when SON is from ON to OFF or

alarm occurs in the servo driver. This parameter defines the delay
time from excitation removal of the servomotor until the action(the
BRK is OFF from DO terminals) of the electromagnetic brake
during the servomotor to be in motion.
2. This parameter will make the servomotor deceleration from high
speed down to low speed and then applies the brake to avoid
damaging the brake.
3. The actual action time is the smaller value between the

Waiting time for parameter PA48 and the time in which the servomotor decelerates

electromagnetic to the value of PA49.

0-200
48 brake when 4. The timing chart as below: 50
×10ms
servomotor is in
motion

Action speed for

electromagnetic
0-3000
49 brake When Refers to the explanation of parameter PA48. 100
rpm
servomotor is in
motion
1: In torque control mode, the motor running speed is limited in the
Speed limit in torque 0-5000
50 range of this parameter. 3000
control mode rpm
2: It prevents over-speed due to the light load.
0: The enable signal is controlled by SON of digital input (DI)
53 Servo Force Enable 0-1 0
1: Software forces to servo ON.
Servo enable delay After the servo signal is deactivated on the digital input, it delays to 0-30,000×
54 0
time at SERVO-OFF cut the current of motor by this delay time. 0.1ms
Represented by a byte of 4 bits. Each bit corresponds to one digital
input. If any bit is 0, it means the related digital input terminal acts
as normal and does not reverse (is activated when closed). While it
is 1, it means the terminal logic is reversed (is activated when
opened).
Effective level control
55 The byte represents the digital input terminals as following: 0000-1111 0000
of digital inputs

bit 3 2 1 0
definition DI4 DI3 DI2 DI1
0: High level is valid (is activated when closed)
1: Low level is valid (is activated when opened)

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Represented by a byte of 4 bits. Each bit corresponds to one digital

output. If any bit is 0, it means the related digital output terminal
acts as normal and does not reverse (is activated when switched
ON). While it is 1, it means the terminal logic is reversed (is
activated when switched OFF).
Effective level control
57 The byte represents the digital output terminals as following: 0000-1111 0000
of digital outputs

bit 3 2 1 0
definition DO4 DO3 DO2 DO1
0: High level is valid (is activated when switched ON)
1: Low level is valid (is activated when switched OFF)
1. If the value is smaller, the input terminal frequency response is
Anti- jitter time
faster.
58 constant of digital 1-20ms 2
2. If the value is bigger, the anti-jitter performance of input terminal
input terminals
is better, but the response frequency becomes slower.
Effective command 0: the rising edge is effective
59 0-1 0
pulse edge 1: the falling edge is effective
0: Soft reset is invalid
60 Soft reset 0-1 0
1: Soft reset is effective and the system will be restart.
0: System alarm clear is invalid
61 System alarm clear 0-1 0
1: System alarm clear is effective
0: 15-line incremental 2500-line encoder (A, B, Z, U, V, W)
62 Encoder selection 0-1 0
1: wire-saving 2500-line encoder (A, B, Z)
Set the ratio of load inertia to motor inertia.
63 Load inertia ratio The setting value = [ (load inertia + rotating inertia) / (rotating 1-500 100
inertia) ]x100.
In torque control mode (PA4=2 and PA32=1), when TRQ1=OFF
64 Internal Torque 1 -300~300 0
and TRQ2=OFF, internal torque 1 is as the torque command.
In torque control mode (PA4=2 and PA32=1), when TRQ1=ON
65 Internal Torque 2 -300~300 0
and TRQ2=OFF, internal torque 2 is as the torque command.
In torque control mode (PA4=2 and PA32=1), when TRQ1=OFF
66 Internal Torque 3 -300~300 0
and TRQ2=ON, internal torque 3 is as the torque command.
In torque control mode (PA4=2 and PA32=1), when TRQ1=ON
67 Internal Torque 4 -300~300 0
and TRQ2=ON internal torque 4 is as the torque command.
71 MODBUS ID No. MODBUS communication ID No. 1-254 1
MODBUS
48-1152
72 communication baud MODBUS communication baud rate 96
×100
rate

0: 8, N, 2 (MODBUS, RTU)
1: 8, E, 1 (MODBUS, RTU)
2: 8, O, 1 (MODBUS, RTU)
MODBUS protocol The parameter decides the communication protocol. Value 8
73 0-2 0
selection represents the transmitted data is 8 bits long;
N, E, O indicates “none”, “even” and “odd” priority, respectively.
Value 1 or 2 indicates communication of 1 byte or 2 bytes.

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Communication error When communication is wrong, choose:

74 0-1 0
handing 0: keep working, OR 1: Alarm and stop working
1. If the motor running speed is less than the value of this
parameter, the ZSP (zero speed) of digital output (DO) is ON, and
else is OFF.
Range for zero speed
75 2. If ZCLAMP of digital input (DI) is ON and speed command is 0-1000 rpm 10
detection
less than the value of this parameter, the value of speed command
is forced to be zero and the motor stops.
3. The comparator has hysteresis function. It is set by PA92.
1. Set the speed coincidence(VCOIN) output detection timing.
2. Output the speed coincidence(VCOIN ON) when the difference
between the speed command and the motor speed is equal to or
smaller than the speed specified by this parameter PA76,
otherwise is OFF.
For example, PA76=10 and the command speed is 1000rpm, while
the actual speed ranges from 990rpm~1010rpm, then the digital
output VCOIN is ON.

Speed Coincidence
76 0-1000 rpm 10
Range

* Because the speed coincidence detection is association with

10 r/min hysteresis, actual detection range is as shown below:
Speed coincidence output OFF → ON timing(PA76-10)r/min
Speed coincidence output ON → OFF timing(PA76+10)r/min
2 numerator of
nd
77 Refer to parameter PA12 0-32,767 0
electronic gear ratio
3rd numerator of
78 Refer to parameter PA12 0-32,767 0
electronic gear ratio
4th numerator of
79 Refer to parameter PA12 0-32,767 0
electronic gear ratio
Effective level of 0: High level is positive direction
80 0-1 0
Direction (SIGN) 1: Low level is positive direction
1. To filter the input PULS command.
2. The default value (4) is correspondent to the maximum pulse
input frequency, which is 500Khz. If the value of this parameter is
bigger, the maximum workable input frequency will be smaller.
PULS input
81 3. To filter the noise from the signal line in order to avoid incorrect 0-15 4
command filter
counting. If it goes wrong due to the incorrect counting, you can
increase the value of this parameter properly.
4. After editing this parameter, you must save it and turn the drive
OFF and ON to make it effective.
SIGN input command 1. To filter the input SIGN command.
82 0-15 4
filter 2. The default value (4) is correspondent to the maximum pulse

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input frequency, which is 500Khz (when used in CW/CCW pulse

mode). If the value of this parameter is bigger, the maximum
workable input frequency will be smaller.
3. To filter the noise from the signal line in order to avoid incorrect
counting. If it goes wrong due to the incorrect counting, you can
increase the value of this parameter properly.
4. After editing this parameter, you must save it and turn the drive
OFF and ON to make it effective.
When the machine touches the mechanical limit switch at any end
of stroke and activates CW/CCW limit, you can choose the
CWL/CCWL
83 following methods to work with this parameter. 0-1 0
inhibit method
0: To limit the torque in the current direction to be 0.
1: The input pulse of the current direction is inhibited.
Hysteresis for
0-32,767
84 positioning Refer to parameter PA16. 5
pulse
completion
1. To set the pulse range of approach positioning under the
position control mode.
2. When the pulse number in position deviation counter is smaller
than or equal to the setting value of this parameter, the digital
Range for approach output (DO) NEAR(approach positioning) is ON, otherwise is OFF. 0-32,767
85 500
positioning 3. The comparator has hysteresis function set by PA86. pulse
4. Use this function in case that in near positioning, the host
controller is accepting the NEAR signal to carry on the preparation
to the next step. In general, this parameter value should be bigger
than PA16.

Hysteresis for 0-32,767

86 Refer to parameter PA85. 50
approach positioning pulse

Hysteresis of arrival
87 Refer to parameter PA28. 0-5000 rpm 30
speed
Refer to parameter PA28.
The polarity setting function:
PA88 PA28 Comparator
Polarity of arrival
88 0 >0 Speed independent to direction 0-1 0
speed
>0 Only detect CCW speed
1
<0 Only detect CW speed
.
1. When the servomotor torque surpasses this parameter, the
digital output (DO) ATRQ (arrival torque) is ON, otherwise is OFF.
2. The comparator has hysteresis function set by PA90.
3.It also has the polarity setting function:
89 Arrival torque -300% ~300% 100%

PA91 PA89 Comparator

0 >0 Torque independent to direction

1 >0 Only detect CCW torque

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<0 Only detect CW torque

Hysteresis of arrival
90 Hysteresis for PA89. 0-300% 5%
torque
Refer to parameter PA89.
The polarity setting function:
Polarity of arrival PA91 PA89 Comparator
91 0-1 0
torque 0 >0 Torque independent to direction
>0 Only detect CCW torque
1
<0 Only detect CW torque
Hysteresis of zero
92 Hysteresis for PA75. 0-1000 rpm 5
speed detection
The delay time of This parameter defines the delay time from the servomotor
94 0-200×10ms 0
brake on energized until the action( the digital output( DO) BRK is ON ).

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5.2 P3 Group Parameter

5.2.1 Parameter Table
SZGH-SD Series servo drivers have 4 Digital Input terminals and 4 Digital Output terminals.
which can be re-defined their functions through P3 group parameters.
Default valid level of Input pins is Low level.

Parameter Definition Range Default Value

P3-0 Digital Input DI1 Function 0-99 1

P3-1 Digital Input DI2 Function 0-99 2

P3-2 Digital Input DI3 Function 0-99 3

P3-3 Digital Input DI4 Function 0-99 4

P3-15 Digital Input DI forced effective1 00000000-11111111 00000000

P3-16 Digital Input DI forced effective2 00000000-11111111 00000000

P3-17 Digital Input DI forced effective3 00000000-11111111 00000000

P3-20 Digital Output DO1 Function 0-99 2

P3-21 Digital Output DO2 Function 0-99 3

P3-22 Digital Output DO3 Function 0-99 5

P3-23 Digital Output DO4 Function 0-99 8

P3-30 Virtual Input Control 0-1 0

P3-31 Virtual Input Statues Value 00000000-11111111 00000000

P3-32 Virtual Output Control 0-1 0

P3-33 Virtual Output Statues Value 00000000-11111111 00000000

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5.2.2 DI Function Explanation

Digital Input terminals (4 input terminals are corresponding to the definitions of P3-0, P3-1, P3-2,
P3-3)
Value Symbol Function Explanation

0 NULL No Input is deactivated.

Input terminal of servo enable.
1 SON Servo Enable OFF: servo drive is not enabled and servo motor is not energized.
ON: servo drive is enabled and servo motor is energized.
Input terminal of alarm clear.
When an alarm occurs and the alarm has permission to be cleared, then
2 ARST Alarm Clear
the rising edge of ARST will clear the alarm.
Attention: only some part of alarms has the permission to be cleared.
1. Input terminal of CCW drive inhibition:
OFF: Inhibit CCW running.
ON: Enable CCW running.
2. Use this function for protection of the mechanical stroke limit. The
function is controlled by the parameter PA20.
Pay attention that the default value of PA20 neglects this function.
CCW Drive Therefore you need to modify PA20 if need to use this function:
3 CCWL
Inhibition (1): When PA20=0, the function of input inhibition is effective.
Order to inhibit for CCW direction is decided by PA83.
(2): When PA20=1, the function of input inhibition is not effective.

2. Inhibition function is valid (PA20=0):

(1) PA83=0, CCW torque limit is 0, but it does not limit CCW pulse input.
(2) PA83=1, it inhibits CCW pulse input.
1. Input terminal of CW drive inhibition:
OFF: Inhibit CW running.
ON: Enable CW running.
2. Use this function for protection of the mechanical stroke limit. The
function is controlled by the parameter PA20.
Pay attention that the default value of PA20 neglects this function.
CW Drive
4 CWL Therefore you need to modify PA20 if need to use this function:
Inhibition
(1): When PA20=0, the function of input inhibition is effective.
Order to inhibit for CW direction is decided by PA83.
(2): When PA20=1, the function of input inhibition is not effective.
3. Inhibition function is valid (PA20=0):
(1) PA83=0, CW torque limit is 0, but it does not limit CW pulse input.
(2) PA83=1, it inhibits CW pulse input.
OFF: Torque is not limited by parameter PA36 in CCW direction.
CCW Torque ON: Torque is limited by parameter PA36 in CCW direction.
5 TCCW
Limitation Attention: Whether the TCCW is effective or not, the torque is also limited
by PA34 in CCW direction.
OFF: Torque is not limited by parameter PA37 in CW direction.
CW Torque
6 TCW ON: Torque is limited by parameter PA37 in CW direction.
Limitation
Attention: Whether the TCW is effective or not, the torque is also limited by

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PA35 in CW direction.
When the following conditions are satisfied, the function of zero speed
clamping is activated (speed is forced to zero):
1: speed control mode (PA4=1) and external speed source is chosen
Zero Speed (PA22=0).
7 ZCLAMP
Clamping 2: ZCLAMP digital input is ON.
3: speed command is lower than the value of PA75.
When any one of the above conditions is not satisfied, it will perform
normal speed control.
In speed or torque control mode, speed or torque input command will be:
8 CZERO Zero Command OFF: Normal command
ON: Zero command
In speed or torque control mode, speed or torque command will be:
Command
9 CINV OFF: Normal command
inverse
ON: Reverse Command
In speed control mode (PA4=1) and internal speed selection (PA22=1).
10 SP1 Speed Choice 1 SP1 and SP2 combinations are used to select different internal speeds:
SP2= OFF, SP1= OFF: internal speed 1PA-24)
SP2= OFF, SP1= ON: internal speed 2 (PA-25)
11 SP2 Speed Choice 2 SP2= ON, SP1= OFF: internal speed 3 (PA-26)
SP2 =ON, SP1= ON: internal speed 4 (PA-27)
In torque control mode (PA4=2) and internal torque selection (PA32=1).
13 TRQ1 Torque Choice 1 TRQ1 and TRQ2 combinations are used to select different internal torque:
TRQ2 =OFF, TRQ1= OFF: internal torque 1 (PA-64)
TRQ2 =OFF, TRQ1= ON: internal torque 2 (PA-65)
14 TRQ2 Torque Choice 2 TRQ2 =ON, TRQ1= OFF: internal torque 3 (PA-66)
TRQ2 =ON, TRQ1= ON: internal torque 4 (PA-67)
When PA4 is set to 3, 4, 5, it is in mix control mode. It can change control
mode with this input terminal:
(1)PA4=3, CMODE =OFF, it is position control mode;
Mix Control CMODE =ON, it is speed control mode;
16 CMODE
Mode (2)PA4=4, CMODE =OFF, it is position control mode;
CMODE =ON, it is torque control mode;
(3)PA4=5, CMODE= OFF, it is speed control mode;
CMODE= ON, it is torque control mode.
When PA11=0, Gear1 and Gear2 combinations are used to select
18 GEAR1 Electronic Gear 1 different numerator of gear ratio:
GEAR2 =OFF, GEAR1 =OFF: numerator 1 (PA-12) is selected.
GEAR2= OFF, GEAR1 =ON: numerator 2 (PA-77) is selected.
GEAR2= ON, GEAR1= OFF: numerator 3 (PA-78) is selected.
19 GEAR2 Electronic Gear 2
GEAR2= ON, GEAR1= ON: numerator 4 (PA-79) is selected.

Position In position control mode, it is the position deviation counter clear input
20 CLR
Deviation Clear terminals.
Input Pulse In position control mode it is position command pulse inhibit terminal:
21 INH
Inhibit OFF: permits the position command pulse to go through the drive.

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ON: position command pulse is inhibited (motor stops even if the controller
sends the command pulse).
In speed control mode, if PA22=5, by activating this input, motor starts in
inching motion in CCW direction with a speed which is set by PA21.
22 JOGP CCW Inching
Attention: If both JOGP and JOGN inputs are activated simultaneously,
inching function does not work.
In speed control mode, if PA22=5, by activating this input, motor starts in
inching motion in CW direction with a speed which is set by PA21.
23 JOGN CW Inching
Attention: If both JOGP and JOGN inputs are activated simultaneously,
inching function does not work.
Internal Position When at internal position register mode, the signal ON and motor will stop
27 HOLD Control motion.(Only can be used when internal position mode parameter
Command Stops PA-14=3)
Chose POS0-2(Internal Position register control command) when at
Internal Position
internal position register mode, then signal will be triggered, and motor
28 CTRG Command
motion according to the command. Only after output ZSPD=1, it would
trigger
received the next internal position command.
Internal Position Position Corresponding
POS2 POS1 POS0 CTRG
29 POS0 Command Command Parameter
selection 0 P4-2
P1 0 0 0
Internal Position P4-3
30 POS1 Command P4-5
P2 0 0 1
selection 1 P4-6
P4-8
P3 0 1 0
P4-9
P4-11
P4 0 1 1
P4-12
P4-14
Internal Position P5 1 0 0
P4-15
31 POS2 Command
P4-17
selection 2 P6 1 0 1
P4-18
P4-20
P7 1 1 0
P4-21
P4-23
P8 1 1 1
P4-24

When at internal register mode, the origin need to be found and the
33 SHOM Start Homing searching origin function is started after the signal connected.(Please
consult the setting about P4-34)

Searching origin when at internal register mode, the point will become
34 ORGP The Origin
origin after servo system connected.( Please consult the setting of P4-32.)

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5.2.3 DO Function Explanation

Digital Output terminals (4 Output terminals are corresponding to the definitions of P3-20, P3-21,
P3-22, P3-23)
Value Symbol Function Explanation
1 ON Always valid Forced Output ON.
OFF: servo main power supply is OFF, or there is an alarm.
2 RDY Servo Ready
ON: servo main power supply is normal, no alarm.
OFF: there is an alarm.
3 ALM Alarm
ON: no alarm.
In speed or torque control mode:
OFF: motor speed is higher than the value of PA-75
4 ZSP Zero Speed (independent to direction).
ON: motor speed is lower than the value of PA-75
(independent to direction).
In position control mode:
Positioning
5 COIN OFF: position deviation is bigger than parameter PA-16.
Completion
ON: position deviation is smaller than parameter PA-16.
In speed or torque control mode:
OFF: motor speed is lower than parameter PA28.
6 ASP At Speed
ON: motor speed is higher than parameter PA28.
Refer to the explanation of PA28 for polarity selection.
OFF: motor torque is lower than parameter PA89.
7 ATRQ At Torque ON: motor torque is higher than parameter PA89.
Refer to the explanation of PA89 for polarity selection.
Electromagnetic OFF: electromagnetic brake engages the brake with rotor.
8 BRK
Brake ON: electromagnetic brake releases the brake from rotor.
OFF: servo motor is not energized.
9 RUN Servo Running
ON: servo motor is energized.
In position control mode:
10 NEAR Approach Position OFF: position deviation is bigger than parameter PA-85.
ON: position deviation is smaller than parameter PA-85.
OFF: motor torque has not reached the limitation.
11 TRQL Torque Limitation ON: motor torque has reached the limitation.
Torque limitation is set by PA34, PA35, PA36 and PA37.
In torque control mode:
OFF: motor speed has not reached the limitation.
12 SPL Speed Limitation
ON: motor speed has reached the limitation.
Speed limitation is set by PA-50.
Output the speed coincidence(VCOIN ON) when the
Speed Coincidence difference between the speed command and the motor
13 VCOIN
Range speed is equal to or smaller than the speed specified by this
parameter PA76, otherwise is OFF.
Origin regression OFF:Origin regression not completed, no output signal
15 HOME
complete ON:Origin regression completed, output signal
Internal Position OFF:When internal position command not competed or
16 CMDOK
Command complete stop, no output signal.

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ON;When internal position command competed or stop,

output signal after the time set by P4-1.

5.2.4 DI Forced activated

There are 3 parameters (P3-15, P3-16, and P3-17) in P3-group which are used to turn the digital
inputs ON and OFF by bits. They are useful when you need to communicate with drive through
MODBUS protocol.
(1) Corresponding functions for P3-15 is represented by 8-bit binary:
bit Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

Function CZERO ZCLAMP TCW TCCW CWL CCWL ARST SON

(2) Corresponding functions for P3-16 is represented by 8-bit binary:

bit Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

Function CMODE NULL TRQ2 TRQ1 NULL SP2 SP1 CINV

(3) Corresponding functions for P3-17 is represented by 8-bit binary:

bit Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

Function NULL JOGN JOGP INH CLR GEAR2 GEAR1 NULL

(4) Corresponding functions for P3-18 is represented by 8-bit binary:

bit Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

Function NULL POS2 POS1 POS0 CTRG HOLD NULL NULL

(5) Corresponding functions for P3-19 is represented by 8-bit binary:

bit Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

Function NULL NULL NULL NULL NULL NULL ORPG SHOM

Parameter explanation:
Already Planned means functions of parameters has been chosen by P3-0~P3-3 in digital input
definition DI1~DI4 section.
Unplanned means functions of parameters has not been chosen by P3-0~P3-3.

ANY of 3 parameters Corresponding Function Result

Unplanned OFF (forced Deactivated）
0 Its function is according to its definition
Already Planned
through related parameter P3-0~P3-3.
Either Unplanned Or
1 ON (forced Activated）
Already Planned

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5.3 P4 Group Parameter

NO. Para.name Function Parameter Initial
Range Value
P4-0 Internal position 0:Absolute position instruction 0-1 0
instruction control 1:Incremental position instruction
mode
P4-1 After the internal command or stop and then 0~200ms 0
waiting for the while set by P4-1, Output
internal position to finish DO signal.
When P4-1 set to 0, the ZSPD set to 1, it will
Internal position received the signal to trigger internal position
command completes command.
digital output delay Setting P4-1 set to other number, or setting to 1
after DO signal finished Internal Position
Command complete(CMDOK), and the
Internal Position Command can be triggered by
DI Signal Command trigger(CTRG).

P4-2 Setting the laps of -30000~30 0

position of internal Setting the laps of position at the first step 000
position instruction internal position.
1
P4-3 Setting the pulse of 1.Setting the position and pulse at the first 0
internal position internal position +/-max.
instruction 1 2.Internal position instruction 1= the value of cnt/rev
laps in position+the value of pulse at first
internal position.
Setting speed of Setting speed of internal position control 1 0-5000r/mi 1000
P4-4 internal position n
control 1
Setting the laps at 0
P4-5 position of Setting the laps at position of internal position -30000-30
internal position instruction 2 000
instruction 2
Setting the pulse in Setting the laps at position of internal position
one cycle at position instruction 2 +/-max.
P4-6 of internal position Internal position instruction 2= the value of cnt/rev 0
instruction 2 laps in position+the value of pulse at second
internal position.
Setting speed of Setting speed of internal position control 2 0-5000r/mi
P4-7 internal position n 1000
control 2
Setting the laps at -30000-30 0
P4-8 position of Setting the laps at position of internal position 000
internal position instruction 3
instruction 3

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Setting the pulse in Setting the laps at position of internal position

one cycle at position instruction 3 +/-max.
P4-9 of internal position Internal position instruction 3= the value of cnt/rev 0
instruction 3 laps in position+the value of pulse at third
internal position.
Setting speed of Setting speed of internal position control 3
P4-10 internal position 0-5000r/mi 1000
control 3 n
Setting the laps at Setting the laps at position of internal position
P4-11 position of instruction 4 -30000-30 0
internal position 000
instruction 4
Setting the pulse in Setting the laps at position of internal position
one cycle at position instruction 4
P4-12 of internal position Internal position instruction 4= the value of +/-max. 0
instruction 4 laps in position+the value of pulse at forth cnt/rev
internal position.
Setting speed of Setting speed of internal position control 4
P4-13 internal position 0-5000r/mi 1000
control 4 n
Setting the laps at Setting the laps at position of internal position
P4-14 position of instruction 5 -30000-30 0
internal position 000
instruction 5
Setting the pulse in Setting the laps at position of internal position
one cycle at position instruction 5 +/-max. 0
P4-15 of internal position Internal position instruction 5= the value of cnt/rev
instruction 5 laps in position+the value of pulse at fifth
internal position.
Setting speed of Setting speed of internal position control 5 1000
P4-16 internal position 0-5000r/mi
control 5 n
Setting the laps at Setting the laps at position of internal position
P4-17 position of instruction 6 -30000-30 0
internal position 000
instruction 6
Setting the pulse in Setting the laps at position of internal position
one cycle at position instruction 6 +/-max. 0
P4-18 of internal position Internal position instruction 6= the value of cnt/rev
instruction 6 laps in position+the value of pulse at sixth
internal position.
Setting speed of Setting speed of internal position control 6 1000
P4-19 internal position 0-5000r/mi
control 6 n
Setting the laps at Setting the laps at position of internal position
P4-20 position of instruction 7 -30000-30 0

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internal position 000

instruction 7
Setting the pulse in Setting the laps at position of internal position
one cycle at position instruction 7 +/-max. 0
P4-21 of internal position Internal position instruction 7= the value of cnt/rev
instruction 7 laps in position+the value of pulse at seventh
internal position.
Setting speed of Setting speed of internal position control 7 1000
P4-22 internal position 0-5000r/mi
control 7 n
Setting the laps at Setting the laps at position of internal position
P4-23 position of instruction 8 -30000-30 0
internal position 000
instruction 8
Setting the pulse in Setting the laps at position of internal position
one cycle at position instruction +/-max. 0
P4-24 of internal position 2. Internal position instruction 8= the value of cnt/rev
instruction 8 laps in position+the value of pulse at seventh
internal position.
Setting speed of Setting speed of internal position control 8 1000
P4-25 internal position 0-5000r/mi
control 8 n
0: Return to origin forward, as CCWL as origin
Origin detector type 1:Return to origin reverse, as CWL as origin
P4-32 and search direction 2:Return to origin forward, as ORGP as origin 0-5 0
setting 3:Return to origin reverse, as ORGP as origin
4:Search Z pulse and used it as origin forward.
5:Search Z pulse and used it as origin reverse.
0: Found reference origin,then find Z pulse as
The setting of short mechanical origin inversely 0
range movement 1:Found reference origin and further to find Z
P4-33 mode to reach the pulse as mechanical origin 0-2
origin 2:Find the rising edge of ORGP detector as
mechanical origin and then decelerate to
stop(when P4-33 set to 2, P4-32 can set to 2, 3,
4, 5.
P4-34 0: Close
1: Execution automatically when power on 0
Origin regression 2: Origin regression activated when origin 0-2
start mode searching function(SHOM) input
contact.
P4-35 0: After origin detection finished, motor come 0
Origin cease mode back to origin with deceleration 0-1
setting 1: After origin detection finished, motor
decelerate to stop further.

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Setting the origin regression speed at 1st high

speed range
The origin
regression speed 1000
P4-36 setting at 1st high 1-2000
speed r/min
range(HSPD1)

P4-37 The origin

regression speed Setting the origin regression speed at 2nd 1-500 50
setting at 2nd high high speed range r/min
speed
range(HSPD2)
P4-38 The number of
offset cycles should Setting the number of offset cycles -30000 0
move after origin ~
regression +30000
(HOF1)
P4-39 The number of Setting the number offset pulse
offset pulse should When HOF1 and HOF2 are setting to
move after origin 0, the origin will be chosen to Z pulse or ORPG 0
regression according to the type of origin regression.If +/-max.
(HOF2) setting to another value, origin will additionally cnt/rev
add (HOF×10000+HOF2) as new origin at the
base of chosen Z pulse or ORGP

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Chapter 6 Alarm
Alarm No. Fault Name Reason of alarm
-- Normal
1 Over-speed Motor speed is greater than the setting value
2 Main circuit over-voltage The voltage of main circuit is too high
3 Main circuit under-Voltage The voltage of main circuit is too low
The value of position deviation counter is more than the
4 Over-travel
limit value.
5 Drive over-heat The temperature of the drive is too high
Motor speed has not reached to the Speed command for
6 Speed amplifier saturation fault
long time
7 Drive inhibition abnormal The inputs of CW/CCW drive inhibition are not effective
Position deviation accumulation is Absolute value of position deviation accumulation is greater
8
out of range than 230 pulses.
9 Encoder error Encoder Signal Error
Power line UVW to motor is disconnected or one phase is
10 Disconnection alarm
disconnected
11 IPM module error IPM smart module error
Servo drive and motor over-load (or over-heat
13 Drive over-load
instantaneously)
14 Brake fault Regenerative brake resistor circuit Error
15 Encoder counter error Encoder counts wrongly
19 Delay to open the brake PA94 was set too big
20 EEPROM error EEPROM error
21 FPGA module error FPGA module function is abnormal
23 Current sampling circuit fault Current sensor or sampling circuit fault
PA30 and PA31 settings are unreasonable;
29 Alarm for torque overload
Large load suddenly occurs
30 Encoder Z-pulse missing Encoder Z-pulse error
Encoder UVW signal corrupted;
Encoder Z signal corrupted;
Bad cables;
31 Encoder UVW signal error
Bad shielding of cables;
The shielding ground is not connected well;
The circuit around the encoder interface occurs error
All UVW signal of the encoder are in high level or low level,
32 Illegal coding of encoder UVW signal
Or the encoder is mismatched.
33 UVW signal fault No high-Z at encoder outputs in powering ON of the drive
34 UVW signal unstable UVW signal unstable
When connecting to 9-line encoder, When connecting to 9-line encoder, illegal states for long
36
illegal states for long time time at encoder outputs

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42 AC input under-voltage AC input under-voltage

Over-voltage when main circuit in
47 Over-voltage when main circuit in power ON
power ON
CRC check occurs errors for 3 times
55 The check for internal communication occurs error
in a row
56 MODBUS frame is too long Data Receiving from MODBUS frame is too long
MODBUS serial communication
57 Internal communication abnormal
abnormal

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Chapter 7 Solution for Solve Alarm

Alarm Alarm Motion state Reason Measures
No. name
Emerge with connecting The board of control Exchange the servo driver.
control power electric circuit in trouble. Exchange the servo motor.
Encoder in trouble.
The pulse frequency input Input pulse frequency correctly
too high
Acceleration/Deceleration Increase the number of
time is so short that speed acceleration/deceleration time
overshoot is too large
Emerge with motor It is large for the rate of Setting it correctly
working electronic gear
Encoder in trouble Exchange the servo motor

1 Overspeed Encoder cable in trouble Exchange the encoder cable

Reset the gain number

The unstable servo If unable to set to appropriate
system lead to speed number, please try to decrease
overshoot the dynamic inertia ratio.
Decrease the loads
Excessive load Replace driver and motor by
Emerge once motor be in high power
motion Error for zero point of Exchange the servo motor.
encoder.
Error for connection of Demand manufacturer to reset
motor cable(U, V, W). zero point of encoder.
Error for connection of Connection cable correctly.
encoder cable.
Emerge with connecting
control power The circuit board Exchange the servo driver
breakdown
Emerge with connecting Power supply voltage is
main circuit too high Check up the power supply
Power supply voltage
waveform abnormally
2 Main Brake resistance Recover the connection
circuit disconnected.
over Brake transistor
voltage breakdown. Exchange the servo driver
Internal brake resistance
breakdown.

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Emerge with motor Reduce the frequency of

working Start-Stop
Increase the number of
acceleration/deceleration time
The resistance is Decrease the limited number
insufficient of torque.
Decrease the loads inertia.
Replace the driver and motor
by high power
The board of circuit
breakdown.
The insurance of power
supply breakdown. Exchange servo driver
The soft-startup power
Emerge with connecting supply in trouble
main circuit Rectifier breakdown.
The power supply under
Main voltage.
3 circuit The time of power cut Check the power supply
under more than 20 seconds
voltage The power capacity is not
enough. Check the power supply
Emerge with motor Instantaneous power
working failure.
Heatsink OT Check the case of loads

Emerge with connecting The board of power Exchange the servo driver
control power breakdown.

After everything were Zero point change for Adjust the zero point for
installed,the motor not to encoder. encoder.
rotate or reverse Encoder breakdown. Exchange the servo driver.

The detection range of Increase the detection of

position overshoot is too position overshoot.
small.

Position proportional gain Increase the number of gain

is too small
Position
4 overshoot
Emerge with motor
working Check the limited number of
torque.
Torque deficiency Decrease the loads.
Switch to more powerful
drivers and motors.

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The pulse frequency of Decrease the frequency

instruction too high

Zero change of encoder Reset the zero of encoder

Emerge during the The board of circuit in Decrease the temple of driver.
5 Driver motion of driver trouble. Exchange the servo driver.
overheatin Driver overheating.
g
The speed Decrease the load.
increase Overload. Switch to more powerful
6 reach even Emerge with motor The motor was stuck by drivers and motors.
more than working machine. Check the load part of
the largest machine.
limitation

7 The stop Check the connection of cable

instruction The driver plug for input
of driver is CW/CCW disconnected.
abnormal

8 The date Check the load part of

exceed the The motor was stuck by machine.
limitation machine. Check instruction pulse.
Position Input instruction pulse Check whether the motor
deviation abnormality. rotates according to the
counter instruction pulse.
Exchange the servo driver
Circuit board fault

Check the driver

Under voltage. Power on again
Emerge with connecting Overheating. Exchange the driver
PM control power
11 module Check the cable connection
failure The motor cable(U, V,W)
Short-circuit

Bad contact of ground Connection correctly

wire.

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The insulation was Exchange the motor

Emerge with motor damaged.
working Add line Filter
Be disturbed Far away from the disturb
origin

Emerge with connecting

control power The circuit board fault Exchange the servo driver

Check the load.

Decrease the frequency of
Star-stop.
Decrease the limitation of
Motion over rated torque torque
witch to more powerful drivers
and motors.

Holding brake close Check the brake

Adjust the gain

Emerge with motor Motor unstable oscillation Increase the time of
13 Overload working acceleration/deceleration
Reducing load inertia
One of U, V,W cable
disconnected. Check the connection of cable
Error connection of
encoder cable.
Brake
14 failure Brake circuit failure Exchange the driver

Encoder breakdown
Incorrect number of
encoder line
The encoder disc Exchange the encoder
breakdown
False Z signal exist in
encoder.
Encoder The encoder cable Check the connection
15 counting connection is incorrect
error
Correct grounding
Imprefect grounding Check whether the shield line
is grounded

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Relay
switch
18 failure Relay damage Return to factory for repair

Brake Parameter values setting

holding so large that the control Decrease the number of
19 delay not pulse is coming but the PA94
opened brake hasn't been opened
yet
Exchange the servo motor.
EEPROM Chip or circuit board After repairing, driver model
20 Fault damage must be reset(PA10) then
restored default parameters
FPGA
Module FPGA module Exchange the driver
21 failure dysfunction

Current
23 Acquisitio Current Acquisition Exchange the servo driver
n Circuit Circuit Fault
Fault
User PA30, PA31 parameters
Torque is Unreasonable. Modify parameters.
29 Overload Unexpected heavy load Inspection machinery
Alarm
Z pulse does not exist and
encoder is damaged
Poor cable
Z-pulse Poor shielding of cables. Exchange the encoder.
30 loss of Shielded ground wire not Check Coder Interface Circuit
encoder connected properly
Encoder Interface Circuit
Fault.

Encoder and UVW Signal

breakdown.
The Z signal of encoder
Encoder breakdown. Exchange the encoder.
31 and UVW Bad cable. Check the encoder interface
Signal Bad shielding of cables. circuit.
Error Shielded ground wire not
connected properly.
Encoder Interface Circuit
Fault.

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Encoder and UVW Signal

breakdown.
The signal Bad cable.
of encoder Bad shielding of cables. Exchange the encoder.
32 and U, V, Shielded ground wire not Check the encoder interface
W code connected properly. circuit.
illegal Encoder Interface Circuit
Fault.

Setting parameter PA62

Dart correctly
33 encoder Parameter mismatch
alarm

The signal Check the connection

34 of U, V, W The signal of U, V, W
instability instability

When
connect When connect dart Check the connection
36 dart encoder, the length of
encoder, illegal time excessive
the length
of illegal
time
excessive

AC input Running on power failure Normal. Check the input of AC 220V

42 voltage is AC input voltage is too
too low low

Overvolta Check the input of AC 220V.

ge of main External AC voltage Exchange driver
47 circuit input is too high
when Main Circuit Fault
power on

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Three MODBUS Exchange driver

consecutiv communication data CRC
55 e errors in calibration error
CRC continuously
calibration

Confirm the length of frame.

MODBUS Communication protocol Increase line filter, away from
56 frame mismatch. interference
overlength Be disturbed
error

Improper setting of
MODBUS communication Exchange the driver.
57 abnormal parameters.
communic Incorrect
ation communication address
format or value

61