SD Series EtherCAT Type Servo Driver

User Manual
V1.0

2019

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: 518100
-ShenzhenGuanhong Automation Co.,Ltd- -SD Series EtherCAT Type 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 EtherCAT Type 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 EtherCAT type Servo Driver and EtherCAT type

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 EtherCAT Type 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.
-ShenzhenGuanhong Automation Co.,Ltd- -SD Series EtherCAT Type AC Servo System-

-Catalog-
-Catalog-...................................................................................................................................................... 1
Chapter 1 Checking and Installing...............................................................................................................1
1.1 Checking Products......................................................................................................................... 1
1.1.1 Confirming with Servo Drivers.......................................................................................... 1
1.1.2 Confirming with Servo Motor............................................................................................ 2
1.2 Front Panel of Servo Driver...........................................................................................................3
1.2.1 Front Panel of SZGH-SD2004E/SD2010E/SD2026E........................................................ 3
1.2.2 Front Panel of SZGH-SD4038H/SD4075H........................................................................3
1.3 Motor and Drive Installation..........................................................................................................4
1.3.1 Method of Installation of drive........................................................................................... 4
1.3.2 Environmental Conditions for Installation of drive............................................................ 4
1.3.3 Method of Servo motor Installation....................................................................................5
1.3.4 Definition of Rotation Direction for Servo Motor..............................................................5
Chapter 2 Specifications.............................................................................................................................. 6
2.1 Characteristics................................................................................................................................6
2.2 Introduction of Specifications........................................................................................................6
2.3 Motors table................................................................................................................................... 7
2.4 Notice for Install Motor................................................................................................................. 8
2.5 Mechanical Dimensions.................................................................................................................9
2.6 Mechanical Dimensions...............................................................................................................11
2.6.1 Flange 40mm series (Unit:mm)........................................................................................ 11
2.6.2 Flange 60mm Series (Unit:mm)........................................................................................11
2.6.3 Flange 80mm / 90mm Series (Unit:mm).......................................................................... 11
2.6.4 Flange 110mm / 130mm Series........................................................................................ 12
2.6.5 Flange 150mm / 180mm Series........................................................................................ 13
Chapter 3 Wiring........................................................................................................................................15
3.1 Servo Drive Wiring Configuration.............................................................................................. 15
3.2 Wiring Explanations And Notes.................................................................................................. 15
3.3 Wires Specification......................................................................................................................16
3.4 Terminals Explanation................................................................................................................. 16
3.5 Terminal Introduction.................................................................................................................. 17
3.5.1 CN1 Terminal For Input And Output............................................................................... 17
3.5.2 CN1 Connector Explanation............................................................................................. 18
3.5.3 CN2 Connector For Encoder............................................................................................ 18
3.5.4 CN2 Connector Explanation............................................................................................. 19
3.5.5 Network Communication Terminal.................................................................................. 19
3.5.6 Regenerative Resistor Connection....................................................................................20
Chapter 4 EtherCAT Field Bus..........................................................................................................21
4.1 Communication Specification......................................................................................................21
4.2 LED State Instruction.................................................................................................................. 21
4.3 Communication Object................................................................................................................ 22
Chapter 5 Control Mode............................................................................................................................ 32
5.1 Cycle Synchronous Position Mode CSP......................................................................................32
5.1.1 Controlling Diagram......................................................................................................... 32
-ShenzhenGuanhong Automation Co.,Ltd- -SD Series EtherCAT Type AC Servo System-

5.1.2 Related Object...................................................................................................................32

5.1.3 Recommended Configuration........................................................................................... 33
5.2 Cycle Synchronous Velocity Mode CSV.................................................................................... 33
5.2.1 Controlling Diagram......................................................................................................... 33
5.2.2 Basic Configuration.......................................................................................................... 33
5.3 Cycle Synchronous Torque Mode CST....................................................................................... 33
5.3.1 Controlling Diagram......................................................................................................... 33
5.3.2 Basic Configuration.......................................................................................................... 34
5.4 Profile Position Mode PP.............................................................................................................34
5.4.1 Related Object...................................................................................................................34
5.4.2 Position Curve Generator..................................................................................................35
5.4.3 Recommended configuration............................................................................................ 37
5.5 Profile Velocity Mode PV........................................................................................................... 38
5.5.1 Related Objects................................................................................................................. 38
5.5.2 Recommended Configuration........................................................................................... 39
5.6 Profile Torque Mode PT.............................................................................................................. 39
5.6.1 Related Objects................................................................................................................. 39
5.6.2 Recommended configuration............................................................................................ 40
5.7 Homing Mode HM.......................................................................................................................40
Chapter 6 Operation and display................................................................................................................46
6.1 Introduction to Front Panel And Function................................................................................... 46
6.1.1 Front Panel........................................................................................................................ 46
6.1.2 Front Panel keys explanation............................................................................................ 46
6.1.3 State Indicator................................................................................................................... 47
6.2 Main Menu...................................................................................................................................47
6.3 Process of Setting Parameter....................................................................................................... 48
6.4 Setting Analog Quantity to 0....................................................................................................... 49
6.5 Recovery Parameters To Default Values.....................................................................................49
6.6 Parameter Set for Servo Motor Code...........................................................................................49
Chapter 7 Parameters................................................................................................................................. 51
7.1 PA Group Parameter.................................................................................................................... 51
7.2 P3 Group Parameter.....................................................................................................................63
7.2.1 Parameter Table................................................................................................................ 63
7.2.2 DI Function Explanation...................................................................................................64
7.2.3 DO Function Explanation................................................................................................. 67
7.2.4 DI Forced activated...........................................................................................................68
7.3 P4 Group Parameter.....................................................................................................................69
Chapter 8 Alarm.........................................................................................................................................73
8.1 Alarm Message............................................................................................................................ 73
8.2 Fault Code....................................................................................................................................74
8.3 Solution for Solve Alarm............................................................................................................. 75
Appendix Application Description............................................................................................................ 82
-ShenzhenGuanhong Automation Co.,Ltd- -SD Series EtherCAT Type 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.With E means EtherCAT type , without E or H means increment type servo driver.
2. SZGH-SD2004E servo driver can drive SZGH-06060DC(H) max.
3.SZGH-SD2026E servo driver can drive SZGH-13380CC(H) max.
4.SZGH-SD4038E servo driver can drive SZGH-18370AC(H) max.
5.SZGH-SD4075E servo driver can drive SZGH-18750CC(H) max.

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-ShenzhenGuanhong Automation Co.,Ltd- -SD Series EtherCAT Type AC Servo System-

1.1.2 Confirming with Servo Motor

Note: 1. With E means absolute type , without E or H means increment type servo motor.
2. These are only some model of servo motors display above as limit,not all model. Any doubts ,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-SD2004E/SD2010E/SD2026E

1.2.2 Front Panel of SZGH-SD4038H/SD4075H

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-ShenzhenGuanhong Automation Co.,Ltd- -SD Series EtherCAT Type AC Servo System-

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.
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.

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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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-ShenzhenGuanhong Automation Co.,Ltd- -SD Series EtherCAT Type AC Servo System-

Chapter 2 Specifications
2.1 Characteristics
EtherCAT series servo driver add modbus communication function, which is based on
high-performance type servo driver. It adopts EtherCAT modbus communication interface,based on
sub-station technology of EtherCAT, with 100Mb/s transmission rate, to finish real-time control and
communication. It also includes multi-functional digital inputs & outputs, and support CSP, CSV , CST,
PP, PV, PT,HM running mode. Corresponding to pulse servo driver, it applies to long-distance ,
multi-axes interpolation, reduce cables and increase stability.such as: robot system, CNC system,etc.
automatically applications.
Input Working Voltage is AC Power, single phase/3 phase, 50/60Hz;
Support EtherCAT communication protocol, address are assigned by master station.
8 digital inputs,single-ended, isolation,positive common port, Max input frequency is 10KHz,input
voltage can be 5V or 24V(default)(set before ex-factory).
6 digital outputs,optocoupler isolation, max drive current is 50mA, max suffering voltage: 20Vdc.

2.2 Introduction of Specifications

SD Series SD2004E SD2010E SD2026E SD4038E SD4075E
Output Power 50W~600W 400W~1kW 600W~3.8kW 1kW~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: Dry Control; 3:JOG; 6: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 EtherCAT
Input Mode Modbus Communication
Position Control
Electric Ratio Electric Ratio: 1~32767 Encoder: 17bits/23bits absolute encoder

Coolant Environment cooling or Force Fan cooling

Temperature 0~50℃ （Store Temperature: -20~65℃）
Humidity 40~90%RH
Environmental
Conditions Situation Do not mount the servo drive or motor in a location where
temperatures and humidity will exceed specification. Avoid the
insolation, the erosion of grease and salt, the corrosive gases and
liquids. To avoid the invading of airborne dust or metallic particles

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-ShenzhenGuanhong Automation Co.,Ltd- -SD Series EtherCAT Type AC Servo System-

2.3 Motors table

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

SZGH-04005D(H) 50 0.16 3000 SZGH-SD2004E

40mm
SZGH-04010D(H) 100 0.32 3000 SZGH-SD2004E
SZGH-06020DC(H) 200 0.6 3000 SZGH-SD2004E
60mm SZGH-06040DC(H) 400 1.3 3000 SZGH-SD2004E
SZGH-06060DC(H) 600 1.9 3000 SZGH-SD2004E
SZGH-08040DC(H) 400 1.3 3000 SZGH-SD2010E
SZGH-08075DC(H) 750 2.4 3000 SZGH-SD2010E
80mm
SZGH-08075BC(H) 750 3.5 2000 SZGH-SD2010E
SZGH-08100CC(H) 1000 4 2500 SZGH-SD2010E
SZGH-09075DC(H) 750 2.4 3000 SZGH-SD2010E
90mm SZGH-09075BC(H) 750 3.5 2000 SZGH-SD2010E
SZGH-09100CC(H) 1000 4 2500 SZGH-SD2010E
SZGH-11060DC(H) 600 2 3000 SZGH-SD2026E
SZGH-11080DC(H) 800 4 2000 SZGH-SD2026E
SZGH-11120DC(H) 1200 4 3000 SZGH-SD2026E
110mm
SZGH-11150DC(H) 1500 5 3000 SZGH-SD2026E
SZGH-11120BC(H) 1200 6 2000 SZGH-SD2026E
SZGH-11180DC(H) 1800 6 3000 SZGH-SD2026E
SZGH-13100CC(H) 1000 4 2500 SZGH-SD2026E
SZGH-13130CC(H) 1300 5 2500 SZGH-SD2026E
SZGH-13150CC(H) 1500 6 2500 SZGH-SD2026E
SZGH-SD2026E/
SZGH-13200CC(H) 2000 7.7 2500
SZGH-SD4038E(380V)
SZGH-13100AC(H) 1000 10 1000 SZGH-SD2026E
130mm SZGH-13150AC(H) 1500 10 1500 SZGH-SD2026E
SZGH-SD2026E/
SZGH-13230AC(H) 2300 15 1500
SZGH-4038E(380V)
SZGH-SD2026E/
SZGH-13260CC(H) 2600 10 2500
SZGH-4038E(380V)
SZGH-SD2026E/
SZGH-13380CC(H) 3800 15 2500
SZGH-4038E(380V)
SZGH-15380CC(H) 3800 15 2500 SZGH-4038E
SZGH-15300BC(H) 3000 15 2000 SZGH-4038E
150mm SZGH-15360BC(H) 3600 18 2000 SZGH-4038E
SZGH-15470BC(H) 4700 23 2000 SZGH-4075E
SZGH-15550BC(H) 5500 27 2000 SZGH-4075E
180mm SZGH-18270BC(H) 2700 17.2 1500 SZGH-4075E

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SZGH-18290BC(H) 2900 27 1000 SZGH-4075E

SZGH-18300CC(H) 3000 19 1500 SZGH-4075E
SZGH-18370BC(H) 3700 35 1000 SZGH-4075E
SZGH-18430AC(H) 4300 27 1500 SZGH-4075E
SZGH-18450CC(H) 4500 21.5 2000 SZGH-4075E
SZGH-18550CC(H) 5500 35 1500 SZGH-4075E
SZGH-18750CC(H) 7500 48 1500 SZGH-4075E
2.4 Notice for Install Motor
1. Please using oil-seal-motor to avoid the oil from reduction gear flowing into the motor

through the motor shaft.

2. The cable need to be kept dry.

3. Please fixing the wiring cable certainly, to avoid the cable ablating or breaking.

4. The extending length of the shaft shall be enough, otherwise there will be the vibration

from motor operating.

5. Please do not beat the motor when installing or taking it apart. Otherwise the shaft and the

encoder of backside will be damaged.

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2.5 Mechanical Dimensions

SZGH-SD2004E

SZGH-SD2010E

SZGH-SD2026E

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SZGH-SD4038E

SZGH-SD4075E

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-ShenzhenGuanhong Automation Co.,Ltd- -SD Series EtherCAT Type AC Servo System-

2.6 Mechanical Dimensions

2.6.1 Flange 40mm series (Unit:mm)

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

2.6.2 Flange 60mm Series (Unit:mm)

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

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

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

2.6.4 Flange 110mm / 130mm Series

Model LA LB LC LD LE LF LG LZ S H W LI
SZGH-11060DC(H) 159 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11060DC -T(H)(with brake) 215 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11080DC(H) 189 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11080DC-T(H)(with brake) 245 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11120DC(H) 189 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11120DC-T(H)(with brake) 245 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11150DC(H) 204 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11150DC-T(H)(with brake) 260 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11120BC(H) 219 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11120BC-T(H)(with brake) 275 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11180DC(H) 219 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11180DC-T(H)(with brake) 275 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-13100CC(H) 166 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13100CC-T(H)(with brake) 236 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13130CC(H) 171 57 5 14 110 130 145 9 22 24.5 6 40

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SZGH-13130CC-T(H)(with brake) 241 57 5 14 110 130 145 9 22 24.5 6 40

SZGH-13150CC(H) 179 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13150CC-T(H)(with brake) 249 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13200CC(H) 192 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13200CC-T(H)(with brake) 262 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13100AC(H) 213 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13100AC-T(H)(with brake) 283 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13150AC(H) 213 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13150AC-T(H)(with brake) 283 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13260CC(H) 209 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13260CC-T(H)(with brake) 279 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13230AC(H) 241 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13230AC-T(H)(with brake) 311 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13380CC(H) 231 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13380CC-T(H)(with brake) 301 57 5 14 110 130 145 9 22 24.5 6 40
2.6.5 Flange 150mm / 180mm Series

型号 LA LB LC LD LE LF LG LZ S H W LI

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

SZGH-18430AC(H) 262 65 5 14 130 180 200 13.5 35 38 10 51

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

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

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

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

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

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

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

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-ShenzhenGuanhong Automation Co.,Ltd- -SD Series EtherCAT Type AC Servo System-

Chapter 3 Wiring
3.1 Servo Drive Wiring Configuration

Fig.4.1 Wiring Diagram for Servo System

3.2 Wiring Explanations And Notes
Encoder cable length should be 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 Introduction

Terminal Description
CN1 Input and output terminal
CN2 Encoder connecting terminal
ECAT_IN EtherCAT input terminal
ECAT_OUT EtherCAT output terminal
3.5.1 CN1 Terminal For Input And Output
The CN1 connector plug uses DB36 male head, the contour and pin configuration is as the
following:

Connector CN1 Soldering view

EtherCAT series has 8 input terminals and 6 output terminals. The definition values of input and
output can be changed by P3 group parameters, and all kinds of input and output definitions can be
completed ( low level of input terminal is valid as default). Only input signals with function numbers
between 33 and 48 defined by the input terminal can be sent to the master station and it can be obtained
through the Digital Inputs object of 0x60fd in the object dictionary, which in turn maps to the object's
bit0-bit15, Where the inputs for probe 1 and probe 2 functions must select high-speed input terminals 1
and 2:
Definition Symbol Function
33 HOME homing signal
34 POSLIM forward limit signal
35 NEGLIM negative limit signal
36 QUICK STOP quick stop
37 PROBE1 probe 1
38 PROBE2 probe 2
When the defined function number is between 18 and 33, the bit0-bit15 of the Digital Outputs object
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of 0x60fe object in the dictionary is mapped to the corresponding port in the order of the defined
function number.

3.5.2 CN1 Connector Explanation

Name Of Signal Pin Number Function
DI1 10
DI2 11
DI3 12 Optical Isolation Input;
DI4 13 Function is programmable;
Digital Input DI5 14 Defined by parameter P3-series (P3-0 ~
DI6 15 P3-17)
DI7 16
DI8 17
COM+ 18
DO1+ 8
DO1- 25
DO2+ 26
DO2- 27
Opto-coupler output;
DO3+ 28
Function is programmable;
DO3- 29
Digital Output Defined by parameter P3 series (P3-20 ~
DO4+ 30
P3-23)
DO4- 31
DO5+ 22
DO6+ 23
COM- 24
CZ 7
Shielded Cable Ground Shielded wire for connection with shielded
FG1 36
Protection cable/Metal case of connector

3.5.3 CN2 Connector For Encoder

The encoder signal connector CN2 connects to the servo motor encoder. A three-row DB26 plug
(VGA plug) is used. The contour and pin configuration is as following:

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3.5.4 CN2 Connector Explanation

Signal Name Of
Pin No. Function
Encoder
14/15/
Encoder VCC Use 5V power supply provided by servo drive. If the cable is longer
16/17
Power than 20m, in order to prevent encoder from voltage-drop, use
18/19/
Supply GND multi-wire or thick wires for power line and ground line.
20/21/22
A+ 1
A-Phase Connect with A-phase output of encoder
A- 2
B+ 3
B-Phase Connect with B-phase output of encoder
B- 4
Z+ 5
Z-Phase Connect with Z-phase output of encoder
Z- 6
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
RSMB RSMB 9 Connect with SD- of absolute encoder
RSMA RSMA 11 Connect with SD+ of absolute encoder
Battery+ BAT+ 13 Battery power specially for absolute encoder(+5V)
Shield
FG 26 Connect with cable shield wire
Ground
Note: when connect to servo motor with absolute encoder,only connect RSMB,RSMA,VCC,GND.

3.5.5 Network Communication Terminal

Terminal Picture Pin No. Signal Name

1，9 E_TX+ EtherCAT data sending forward end
EtherCAT negative end of data
2，10 E_TX-
transmission
3，11 E_RX+ EtherCAT data receiving positive end
4，12 / /
CN3 5，13 / /
6，14 E_RX- EtherCAT data receiving negative end
7，15 / /
8，16 / /
Connector
PE shield grounded
cover
1）LED1 shows the state of “Link/Activity IN” and the color is orange;
Remark 2）LED3 shows the state of “Link/Activity OUT” and the color is orange;
3）LED2 and LED4 are the state of“RUN” and the color is green.

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3.5.6 Regenerative Resistor Connection

Terminal Signal Function Explanation
1 RBP Connect to External Braking Inner: Short circuit between RBP & RBD.
2 RBD Resistor External: disconnect RBP & RBD, and then
3 RBC external resistor are connected to RBP &
4 RBN Ground Port of DC High-Voltage RBC. Forbidden Connection of RBP&RBN.

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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Chapter 4 EtherCAT Field Bus

4.1 Communication Specification
Item Description
Physical Layer 100BASE-TX
Communication
RJ45 × 2（terminal CN3A=IN，CN3B=OUT）
Connector
Network Topology Field bus type
Baud Rate 2 × 100 Mbps（full duplex ）
Frame Data Length 1484 bytes（max）
SM0：mailbox reception（master to slave）
Synchronization SM1：mailbox sending（slave to master）
Manager SM2：process data output（master to slave）
SM3：process data input（slave to master）
EtherCAT
DC Synchronization（SYNC0）
Communication Synchronous Mode
Free Run
SDO：service data object
Communication Object
PDO：process data object
L/A IN (Link/Activity IN) × 1
LED Indication L/A OUT (Link/Activity OUT) × 1
RUN × 1
Communication Protocol
CoE：CANopen over EtherCAT
Standard
Equipment Agreement
IEC61800-7 CiA402 drive profile
Standard
Cyclic synchronization position mode（CSP）、Cyclic synchronous velocity
CiA402 Operat mode（CSV）、Cyclic synchronous torque mode（CST）、Profile position mode
or Mode （PP）、Profile velocity mode（PV）、Profile torque mode（PT）、Homing mode
（HM）

4.2 LED State Instruction

Name Color State Description
OFF Initial state
Blinking Pre-operational state
RUN Green
Single flash Safe-operational state
ON Operational state
OFF Physical layer link not established
L/A IN Orange ON Physical layer link establishment
Flickering Interactive data after link establishment
OFF Physical layer link not established
L/A OUT Orange ON Physical layer link establishment
Flickering Interactive data after link establishment

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The status of the indicator light is described as follows:

Pic 4.3 Indicator Flashing Time

4.3 Communication Object
The parameters include communication parameters, factory defined parameters and 402 group
parameters.
Read/
Address Name Default Value Range Introduction
Write
1000h device type R 0x00040192
1001h wrong register R 0
1008h device name DSX00E
1009h Hardware version V1.0
100Ah software release V1.0
1018h+01 Manufacturer ID R 0x00445653
1018h+02 Product code R 0x00000001
1018h+03 Modified coding R 0x00000001
1018h+04 serial number R 0x00000001
It can configure the
RXPDO
1600h RW number and content of
mapping object0
RPDO
0x60400010
RXPDO mapping 0x607A0020
1701h R
object258 0x60B80010
0x60FE0120
0x60400010
0x607A0020
0x60FF0020
RXPDO mapping
1702h R 0x60710010
object259
0x60600008
0x60B80010
0x607F0020
RXPDO mapping 0x60400010
1703h R
object 260 0x607A0020

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0x60FF0020
0x60600008
0x60B80010
0x60E00010
0x60E10010
0x60400010
0x607A0020
0x60FF0020
0x60710010
RXPDO mapping
1704h R 0x60600008
object261
0x60B80010
0x607F0020
0x60E00010
0x60E10010

0x60400010
0x607A0020
0x60FF0020
RXPDO 0x60600008
1705h R
mapping object 262 0x60B80010
0x60E00010
0x60E10010
0x60B20010

It can configure the

TXPDO
1A00h RW number and content of
mapping object0
TPDO
0x603F0010
0x60410010
0x60640020
0x60770010
TXPDO
1B01h R 0x60F40020
mapping object258
0x60B90010
0x60BA0020
0x60BC0020
0x60FD0020
0x603F0010
0x60410010
0x60640020
0x60770010
TXPDO
1B02h R 0x60610008
mapping object259
0x60B90010
0x60BA0020
0x60BC0020
0x60FD0020
TXPDO 0x603F0010
1B03h R
mapping object260 0x60410010

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0x60640020
0x60770010
0x60F40020
0x60610008
0x60B90010
0x60BA0020
0x60BC0020
0x60FD0020
0x603F0010
0x60410010
0x60640020
0x60770010
TXPDO 0x60610008
1B04h R
mapping object261 0x60F40020
0x60B90010
0x60BA0020
0x60BC0020
0x606C0020
0x1600
RXPDO
1C12h RW 0 0x1701~
distribution
0x1705
0x1A00
TXPDO
1C13h RW 0 0x1B0~
distribution
0x1B04
Basic control
2000h RO
parameters
2000h+1 Initial status display RW 17 0-23
Action setting in
2000h+2 RW 0 0-200
motor stopping
Actuator action
2000h+3 RW 0 0-200
setting
The speed of
mechanical brake
2000h+4 RW 100 0-3000
when the motor is
running
Speed limit in 0-5000
2000h+5 RW 3000
torque control
The delay time of
2000h+6 RW 0 0-30000
servo on to close
Input terminal
2000h+7 effective level RW 0 0-31
control word
Output terminal
2000h+8 effective level RW 0 0-31
control word
2000h+9 Time constant of RW 2 1-1000

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removing jitter of
IO terminal
Encoder types：
4:Absolute value
2000h+10 Encoder selection RW 5 1-5 without battery;
5:Absolute value with
battery (as default).
0-32 Select the number of
2000h+11 Encoder resolution RW 23 motor encoder lines
（23 bits as default）
2000h+12 Motor poles RW 4 1-360 4 poles as default
2000h+13 PWM duty cycle RW 50 5-90
2001h PID adjustment
Position
2001h+1 proportional RW 40 1-1000
coefficient
Velocity
2001h+2 proportional RW 150 5-2000
coefficient
Velocity integral
2001h+3 RW 75 1-1000
constant
Position command
2001h+4 RW 200 1-1000
smoothing filter.
2001h+5 Torque filter RW 100 20-500
Velocity detection
2001h+6 RW 100 20-500
filter
Acceleration time
2001h+7 RW 100 1-10000
constant
Deceleration time
2001h+8 RW 100 1-10000
constant
communicational
2002h
parameter
It is effective to set the
Communication function number of
2002h+1 RW 0 0-1
virtual input input terminal only
when it is set to 1.
It is effective to set the
Communication function number of
2002h+2 RW 0 0-1
virtual output output terminal only
when it is set to 1.
2002h+3 fixed address RW 0 0-32767
Function number of
2003h
input teminals
Digital input DI1
2003h+1 RW 1 0-99
function
2003h+2 Digital input DI2 RW 2 0-99

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function
Digital input DI3
2003h+3 RW 3 0-99
function
Digital input DI4
2003h+4 RW 4 0-99
function
Digital input DI5
2003h+5 RW 5 0-99
function
Digital input DI6
2003h+6 RW 6 0-99
function
Digital input DI7
2003h+7 RW 7 0-99
function
Digital input DI8
2003h+8 RW 8 0-99
function
Output terminal
2004h
function number
Digital output DO1
2004h+1 RW 18 0-48
function
Digital output DO2
2004h+2 RW 19 0-48
function
Digital output DO3
2004h+3 RW 2 0-48
function
Digital output DO4
2004h+4 RW 3 0-48
function
Digital output DO5
2004h+5 RW 5 0-48
function
Digital output DO6
2004h+6 RW 8 0-48
function
Auxiliary function
2005h
parameters
2005h+1 Fault reset RW 0 0-1
Whether the soft
2005h+2 RW 0 0-1
limit is on or not
Whether the
2005h+3 parameters are RW 1 0-1
saved to eeprom
Monitoring
2006h
parameters
2006h+1 Drive current RO
2006h+2 Driver temperature RO
2006h+3 Busbar voltage RO
Servo motor
2007h
parameters
The
corresponding motors
2007h+1 Motor type RW 1
to each index are as
follow table.

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Step mode
2008h
parameter
2008h+1 Locking current RW
2008h+2 Running current RW

SZGH-SD2004E
0 SZGH-04005D(H)(40-00130)
1 SZGH-04010D(40-00330)
2 SZGH-06020DC(60-00630)
3 SZGH-06040DC(60-01330) (default)
4 SZGH-06060DC(60-01930)
SZGH-SD2010E
5 SZGH-08040DC(80-01330)
6 SZGH-08075DC(80-02430)(default)
7 SZGH-08075BC(80-03520)
8 SZGH-08100CC(80-04025)
9 SZGH-09075DC(90-02430)
10 SZGH-09075BC(90-03520)
11 SZGH-09100CC(90-04025)
12 SZGH-11060DC(110-02030)
13 SZGH-11080BC(110-04020)
14 SZGH-11120DC(110-04030)
15 Restoring default value
SZGH-SD2006E
0 SZGH-08075DC(80-02430)
1 SZGH-08100CC(80-04025)
2 SZGH-09100CC(90-04025)
3 -
4 -
5 SZGH-11060DC(110-02030)
6 SZGH-11080BC(110-04020)
7 SZGH-11120DC(110-04030)(default)
8 SZGH-11150DC(110-05030)
9 SZGH-11120BC(110-06020)
10 SZGH-11180DC(110-06030)
11 SZGH-13100CC(130-04025)
12 SZGH-13130CC(130-05025)
13 SZGH-13150CC(130-06025)
14 SZGH-13200CC(H)(130-07725)
15 SZGH-13100AC(130-10010)
16 SZGH-13150AC(130-10015)
17 SZGH-13260CC(130-10025)
18 SZGH-13230AC(130-15015)
19 SZGH-13380CC(130-15025)
20 Restoring default value

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SZGH-SD2075E
220V
0 SZGH-15300CC(150-15025)
1 SZGH-15380BC(150-15020)
2 SZGH-15360BC(150-18020)
3 SZGH-15470BC(150-23020)
4 SZGH-15550BC(150-27020)
5 SZGH-18270BC(180-17215)
6 SZGH-18300CC(180-19015)
7 SZGH-18450BC(180-21520)
8 SZGH-18290AC(180-27010)
9 SZGH-18430AC(180-27015)
10 SZGH-18370AC(180-35010)
11 SZGH-18550CC(180-35015)
12 SZGH-18750CC(180-48015)
SZGH-SD4075E
13 -
14 SZGH-18270BC(180-17215)
15 SZGH-18300CC(180-19015)
16 SZGH-18450BC(180-21520)
17 SZGH-18290AC(180-27010)
18 SZGH-18430AC(180-27015)
19 SZGH-18370AC(180-35010)
20 SZGH-18550CC(180-35015)(Default)
21 SZGH-18750CC(180-48015)
22 Restoring default value

Read/ Default
Address Name Range Introduction Address
Write Value
Recent error Unsigned
603Fh R TPDO 0 The last error code.
code 16 bits
Control Unsigned
6040h RW RPDO 0 Control word
word 16 bits
Unsigned
6041h Status word R TPDO 0 Status word
16 bits
1:It enters the unenabling
state after the slope stops.
2:Stops quickly and
enters into the unenbaling
Quick stop state.
605Ah RW NO 1 Signed 16 bits
code 5:Slope shutdown
completed and
maintained in a fast stop
state.
6:The fast stop

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is completed and
maintained in the fast
stop state.
Other: invalid
Working modes：
1:Profile position mode
3:Profile velocity mode
4:Profile torque mode
6:Homing mode
8:Periodic
Unsigned synchronization position
6060h Mode setting RW RPDO 8 mode
8 bits
9:Periodic synchronous
velocity mode
10:Periodic synchronous
torque mode
TPDO 0 Unsigned Display the working state
6061h Code check R of the drive.
8 bits
Position
6062h R TPDO 0 Signed 32 bits Instruction unit
instruction
position Actual position of motor
6063h R TPDO 0 Signed 32 bits (encoder unit)
feedback
physical Display the actual motor
6064h R TPDO 0 Signed 32 bits position (instruction unit)
location
Position
Unsigned 32
6067h arrival RW RPDO 130 Encoder unit
bits
threshold
actual Display the actual motor
606Ch R TPDO 0 Signed 32 bits speed
velocity (instruction unit)
Input value of torque
6071h Target torque RW RPDO 0 Signed 16 bits value in torque mode
(thousand value)
The input torque value
6072h max torque RW RPDO 3000 Signed 16 bits in torque mode
Actual Display the actual motor
6077h R TPDO 0 Signed 16 bits torque
torque
target Target position in
607Ah RW RPDO 0 Signed 32 bits position mode
position (instruction unit)
607Ch Origin offset RW RPDO 0 Signed 32 bits Origin offset
607Dh+ Min position -20000
RW RPDO Signed 32 bits Reverse limit
01 limit 00000
607Dh+ Max position 200000
RW RPDO Signed 32 bits Forward limit
02 limit 0000
607Fh Max speed RW RPDO 600000 Signed 32 bits The max running speed

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Ladder Unsigned Speed value in uniform

6081h RW RPDO 250000 speed stage of profile
velocity 32 bits position mode,inc/s
Ladder Unsigned Acceleration of ladder
6083h RW RPDO 250000 curve
acceleration 32 bits
Ladder Unsigned Deceleration of ladder
6084h RW RPDO 250000 curve(acceleration value)
deceleration 32 bits
Quick stop Unsigned The deceleration for
6085h RW RPDO 300000 emergency stop 605A in
deceleration 32 bits the of selecion in 1 or 5.
Unsigned Torque variation of per
6087h Torque slope RW RPDO 1 unit time (1ms)
32 bits
Gear ratio: The number of
6091h+ Unsigned instructions for the
shaft RW RPDO 10000 external shaft to control
02 32 bits
accuracy the motor to turn a rotate.
Look for origin mode
Homing (support for 17 and 18,
6098h RW RPDO 17 Signed 8 bits forward and reverse limit
mode
switches)
Homing Search for the velocity
6099h+ Unsigned value of the origin signal
mode RW RPDO 150000 in high speed
01 32 bits
high speed (instruction / s)

Homing Search for the velocity

6099h+ Unsigned value of the Origin signal
mode low RW RPDO 10000 in low speed
02 32 bits
speed (instruction / s)
Homing
Acceleration and
accelerated/ Unsigned deceleration for origin
609Ah RW RPDO 200000 mode
decelerated 32 bits
(instruction / S2)
speed
Set probe function.
Probe Unsigned (Details are in the see the
60B8h RW RPDO 0x3131
function 16 bits functional description of
the probe)
Display probe action
Unsigned status.(Details are in the
60B9h Probe state R TPDO 0
32 bits see the functional
description of the probe)
Probe 1
rising along Probe 1 rising along latch
60BAh R TPDO 0 Signed 32 bits
latch position
position
Probe 1
falling down Probe 1 falling down
60BBh R TPDO 0 Signed 32 bits
latch latch position
position
Probe 2 Probe 2 rising along latch
60BCh R TPDO 0 Signed 32 bits
rising along position

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latch
position
Probe
2 falling Probe 2 falling down
60BDh R TPDO 0 Signed 32 bits
down latch latch position
position
The torque limit of
Forward
60E0h RW RPDO 3000 Signed 16 bits limiting the forward
torque limit
rotation (permillage )
The torque limit of
Reverse
60E1h RW RPDO 3000 Signed 16 bits limiting the reversed
torque limit
rotation (permillage )
Position Position error
60F4h R TPDO Signed 32 bits
error (instruction unit )
bit0:origin signal
bit1:forward limit
bit2:negative limit
Input IO Unsigned bit3:emergency stop
60FDh R TPDO
status 32 bits bit4:probe1 function
(High speed input port1)
bit5:probe2 function
(High speed input port2)
60FE+ Physical Unsigned
RW RPDO 0
01 output 32 bits
Physical
60FEh+ Unsigned
output RW NO Not used
02 32 bits
enable
Target speed in speed
60FFh Target speed RW RPDO Signed 32 bits mode.
(instruction unit / s)
Supported
Unsigned The supported operation
6502h operations R NO modes pf the drive.
32 bits
mode

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Chapter 5 Control Mode

5.1 Cycle Synchronous Position Mode CSP

5.1.1 Controlling Diagram

In the cycle synchronization position mode, the controller completes the position instruction and
then sends the planned target position 607Ah to the servo driver in the way of cycle
synchronization.Position, speed and torque control are completed by the servo driver.

Pic5.1 The input/output objects of cycle position mode.

5.1.2 Related Object

Control Word 6040h
Bit Name Description
0 Servo ready
1 Turn on the main circuit
Bit0-bit3 are 1 which means it starts working.
2 Emergency stop
3 Servo running
Remark: CSP mode only supports absolute location instructions.
State Word 6041h
Bit Name Description
0:Not reached the target position;
10 Target arrival
1: Reached the target position.
Software Internal Position 0:The location instruction is not in excess of the limit.
11
Overrun 1:Position instruction overrun
Follow instructions from 0:The station does not follow the instruction.
12
the station 1:The station follow the instruction.
0:There is no fault with excessive position deviation.
13 Following error
1:Excessive position deviation fault occurs.

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5.1.3 Recommended Configuration

In cycle position mode,the basic configuration is as follows:
RPDO TPDO Remark
6040: control word 6041: state word must choose
607A: target position 6064: position feedback must choose
6060: mode selection 6061: running mode display optional

5.2 Cycle Synchronous Velocity Mode CSV

5.2.1 Controlling Diagram

In the cycle synchronization velocity mode, the controller periodically synchronizes the calculates
target speed 60FF to the servo driver. Speed and torque adjustment is performed by the servo drive.

Pic 5.2 The input/output objects of cycle velocity mode.

5.2.2 Basic Configuration
In cycle velocity mode,the basic configuration is as follows:
RPDO TPDO Remark
6040: control word 6041: state word must choose
60FF: target velocity must choose
6064: position feedback
optional
606C: speed feedback
6060: mode selection 6061: running mode display optional

5.3 Cycle Synchronous Torque Mode CST

5.3.1 Controlling Diagram

In this mode, the controller sends the calculated target torque 6071 h periodically and
synchronously to the servo drive, and the torque adjustment is performed by the servo drive itself. When
the speed reaches the limit, it will enter the speed regulation stage.

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Pic 5.3 The input/output objects of cycle torque mode.

5.3.2 Basic Configuration

In cycle torque mode,the basic configuration is as follows:
RPDO TPDO Remark
6040: control word 6041: state word must choose
6071: target toque must choose
6064: position feedback
606C: speed feedback optional
6077: torque feedback
6060: mode selection 6061: running mode display optional

5.4 Profile Position Mode PP

5.4.1 Related Object

This mode is mainly used for point-to-point positioning applications. In this mode, the controller
gives the target position (absolute or relative), the speed of the position curve, acceleration and
deceleration. The trajectory generator of the servo will generate the target position curve instruction
according to the setting and the drive completes position control, speed control, torque control.
Control Word 6040
Bit Name Description
0 Servo ready
1 Turn on the main circuit 4 bits are 1 which means the servo current main
2 Emergency stop circuit is charging and in enabling state.
3 Servo running
4 New target position From 0 to 1 , it indicates that there is a new location.
0:Not immediately
5 Updated immediately
1:Immediately
Absolute position / 0:The target position is absolute position.
6
relative position 1:The target position is relative position.
State Word 6041
Bit Name Description

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0:Not reached the target position.

10 Target arrival
1:Reached the target position.
0:The target location can be updated.
12 Target position updated
1:The target location can not be updated.
0:There is no fault with excessive position deviation.
13 Following error
1:Excessive position deviation fault occurs

Sub Data Default

Index Name Visit Unit Range
Index Type Value
603F 00 error code RO UINT16 - 0-65535 0
6040 00 control word RW UINT16 - 0-65535 0
6041 00 status word RO UINT16 - 0-65535 0
6060 00 operator mode RW INT8 - 0-10 8
6061 00 mode display RO INT8 - 0-10 0
position instruction
6062 00 RO INT32 - -
instruction unit
position encoder
6063 00 RO INT32 - -
feedback unit
position instruction
6064 00 RO INT32 - -
feedback unit
position
encoder
6067 00 arrival RW UINT32 0-65535 130
unit
threshold
instruction
606C 00 actual velocity RO INT32 - 0
unit/s
6077 00 actual torque RO INT16 0.1% -3000~3000 0
instruction
607A 00 target location RW INT32 -231~231-1 0
unit
maximum instruction
607F 00 RW UINT32 0-232-1 600000
speed unit/s
profile instruction
6081 00 RW UINT32 0~232-1 250000
velocity unit/s
profile instruction
6083 00 RW UINT32 0~232-1 250000
acceleration unit/s2
axial
6091 02 RW UINT32 - 1~232-1 10000
resolution
position encoder
60FC 00 RO INT32 - -
instruction unit
forward
60E0 00 RW UINT16 0.1% 0-3000 3000
torque limit
reverse torque
60E1 00 RW UINT16 0.1% 0-3000 3000
limit

5.4.2 Position Curve Generator

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1. Control instruction timing1---update immediately：

a） The upper computer first updates other properties of displacement instruction as
needed(acceleration time 6083 h, deceleration time 6084 h, profile velocity 6081h and target
displacement 607Ah).
b） The upper computer sets the bit4 of 6040h from 0 to 1, which suggests that there are new
displacement instructions from the station that need to be enabled.
c） From the station after receiving the rising edge of the bit4 of 6040h, it is determined whether
the new displacement instruction can be received:
If the initial state of bit5 of 6040 is 1, and the bit12 of 6041 h is 0, the new displacement instruction
1 can be received from the station.After receiving the new displacement instruction from the station,
6041 of the bit12 is set from 0 to 1, indicating that the new displacement instruction 1 has been received
and that the current slave station is unable to continue to receive the new displacement instruction. In
immediate update mode, once the new displacement instruction is received (6041 bit12 is changed from
0 to 1), the servo immediately executes the displacement instruction.
d） After the upper computer receives the bit12 from the state word 6041 h of the station to 1, the
displacement instruction data can be released, and the bit4 of the control word 6040 h can be set from 1
to 0, indicating that there is no new position instruction at present.
Because the bit4 of 6040h is valid along the change, this operation does not interrupt the
displacement instruction being executed.
e） When the bit4 of the control word 6040h is detected from 1 to 0, the bit12 of the status word
6041 h can be set from 1 to 0, indicating that the slave station is ready to receive new displacement
instructions.
In the immediate update mode, when the bit4 of the control word 6040h is detected from the station
from 1 to 0, the bit12 of 6041 h is always cleared to zero.
In the immediate update mode, a new displacement instruction 2 is received during the execution of
the displacement instruction 1 of current stage, and the unexecuted displacement instruction in 1 is not
discarded. For the relative position instruction, after the second displacement instruction is located, the
total displacement increment = 1 target position increment 607Ah +2 target position increment 607Ah.
For absolute position instruction, after the second displacement instruction is located, the absolute
position = the target position of 2 is 607Ah.

Pic 5.4 Immediate updating of timing diagram and motor operation curve
2.Control instruction timing 2-not immediately updated
a） The upper computer first updates the other properties of the displacement instruction as needed
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(acceleration time 6083, deceleration time 6084, maximum running speed 6081, target displacement
607A).
b） The upper computer sets 6040 bit4 from 0 to 1, suggesting that there are new displacement
instructions from the station that needs to be enabled.
c） From the station after receiving the rising edge of 6040 of the bit4, it is determined whether the
new displacement instruction can be received:
If the initial state of 6040 bit5 is 0, and the bit12 of 6041 is 0, it indicates that the new displacement
instruction 1 can be received from the station. After receiving the new displacement instruction from the
station, 6041 bit12 is set from 0 to 1, which indicates that the new displacement instruction 1 has been
received and that the slave station is currently unable to continue to receive the new displacement
instruction
d） After the upper computer receives the bit12 of the state word 6041 to 1, it can release the
displacement instruction data, and set the bit4 of the control word 6040 from 1 to 0, indicating that there
is no new position instruction at present. Because 6040 of the bit4 is valid along the change, this
operation does not interrupt the displacement instruction being executed.
e） The bit4 of the control word 6040 is detected from 1 to 0. after the positioning of the current
segment is completed, the bit12 bit of 6041 is released, indicating that the slave station is ready to
receive the new displacement instruction. In non-immediate update mode, when the current segment is
in operation, the servo cannot receive a new displacement instruction, the current segment positioning is
completed, and the servo can receive a new displacement instruction once received (6041 of the bit12 is
changed from 0 to 1), The servo immediately executes the displacement instruction.

Pic 5.5 Non-immediate update sequence diagram and motor operation curve

Pic 5.6 The difference between absolute position and relative position instruction

5.4.3 Recommended configuration

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In profile position mode,the basic configuration is as follows:

RPDO TPDO Remark
6040: control word 6041: state word must choose
607A: target position 6064: position feedback must choose
6081: profile speed optional
6083: profile acceleration optional
6060: mode selection 6061: running mode display optional

5.5 Profile Velocity Mode PV

5.5.1 Related Objects

In this mode, the controller sends the target speed and acceleration to the servo drive. Speed and
torque adjustment is performed by the servo drive.
Control Word 6040
Bit Name Description
0 Servo ready
1 Turn on the main circuit 4 bits are 1, indicating that the servo is charged by
2 Emergency stop the current main circuit and is in an enabling state.
3 Servo running

Status Word6041
Bit Name Description
0：Not reach the target speed.
10 Target arrival
1：The target speed has arrived.
0：Not reach soft limit.
11 Software internal limit
1：Reach the soft limit.

Sub Data Default

Index Name Visit Unit Range
Index Type Value
603F 00 error code RO UINT16 - 0-65535 0
6040 00 control word RW UINT16 - 0-65535 0
6041 00 status word RO UINT16 - 0-65535 0
6060 00 operator mode RW INT8 - 0-10 8
6061 00 mode display RO INT8 - 0-10 0
607F 00 max speed RW UINT32 /s 0-232-1 600000
instruction
6083 00 profile acceleration RW UINT32 0-232-1 250000
unit/s
6063 00 position feedback RO INT32 encoder unit - -
instruction
6064 00 position feedback RO INT32 - -
unit
instruction
60FF 00 target speed RW INT32 -231~231-1 0
unit
60E0 00 forward torque limit RW UINT16 0.1% 0-3000 3000
60E1 00 reverse torque limit RW UINT16 0.1% 0-3000 3000
606C 00 actual speed RO INT32 instruction - 0

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unit/s
-3000~
6077 00 actual torque RO INT16 0.1% 0
3000
Remark: When the acceleration of the profile is calculated, the velocity can be added only if the
converted value is greater than 1.
5.5.2 Recommended Configuration
In profile speed mode,the basic configuration is as follows:
RPDO TPDO Remark
6040: control word 6041: status word must choose
607A: target position optional
6064: position feedback
optional
606C: speed feedback
60FF: target speed must choose
6083: profile acceleration optional
6060: mode selection 6061: running mode display optional

5.6 Profile Torque Mode PT

In this mode, the upper controller sends the target torque 6071 h and the torque ramp constant
6087h to the servo driver, and the torque adjustment is performed by the servo. When the speed reaches
the limiting value, it will enter the speed regulation stage.

Pic5.7 Profile torque mode input/ output block diagram

5.6.1 Related Objects

Control Word 6040
Bit Name Description
0 Servo ready
1 Turn on the main circuit 4 bits are 1, indicating that the servo is charged by
2 Emergency stop the current main circuit and is in an enabling state.
3 Servo running

State Word 6041

Bit Name Description
0：Not reached the target position.
10 Target arrival
1：Reached the target position.
11 Soft internal limit 0：Not reached the soft limit.

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1：Reached the soft limit.

Data Default
Index Sub Index Name Visit Unit Range
Type Value
603F 00 error code RO UINT16 - 0-65535 0
6040 00 control word RW UINT16 - 0-65535 0
6041 00 status word RO UINT16 - 0-65535 0
6060 00 operator mode RW INT8 - 0-10 8
6061 00 mode display RO INT8 - 0-10 0
606C 00 actual velocity RO INT32 /s - -
6071 00 target torque RW INT16 0.1% -3000~3000 0
maximum
6072 00 RW UINT16 0.1% 0-3000 3000
torque
torque
6074 00 RO INT16 0.1% - -
instruction
6077 00 actual torque RO INT16 0.1% - -
0.1%/
6087 00 torque slope RW UINT32 0-232-1 1
ms
5.6.2 Recommended configuration
In profile torque mode,the basic configuration is as follows:
RPDO TPDO Remark
6040: control word 6041: status word must choose
6071: target torque must choose
6087: torque slope
6064: position feedback
606C: speed feedback optional
6077: torque feedback
6060: mode selection 6061: running mode display must choose

5.7 Homing Mode HM

The homing mode is used to find the mechanical origin and locate the position relationship between
the mechanical origin and the mechanical zero.
Mechanical origin: a fixed position on the machine, which can correspond to a certain origin switch
and the Z signal of the motor.
Mechanical zero: mechanical absolute zero position..
When the homing is finished, the stop position of the motor is the mechanical origin, and the
607Ch automatically sets the relationship between the mechanical origin and the mechanical zero:
Mechanical origin = mechanical zero +607Ch (origin offset)
When 607Ch=0, the mechanical origin coincides with the mechanical zero.

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Pic 5.8 Input and output object of origin regression mode

Control Word 6040

Bit Name Description
0 Servo ready
1 Turn on the main circuit 4 bits are 1, indicating that the servo is charged by the
2 Emergency stop current main circuit and is in an enabling state.
3 Servo running
0-->1：Homing.
4 Homing
1-->0：The drive received the homing signal.

Control Word 6041

Bit Name Description
0：Not reached the target position.
10 Target Arrival
1：Reached the target position.
0：Homing has been finished and it can receive zeroing signal.
12 Homing
1：It is homing and can not receive homing signal.
0：There is no fault in zeroing.
13 Homing Fault
1：Homing timeout or excessive deviation error.
The basic configuration is as follows:
RPDO TPDO 备注
6040: control word 6041：status word must choose
6098: homing mode optional
6099-01: search limit switch
optional
signal speed
6099-02: search homing signal
optional
speed
609A: homing acceleration optional
6064: position feedback
606C: speed feedback optional
6077: torque feedback
6060：mode selection 6061: running mode display must choose
Note:When to calculate the homing acceleration, it needs to converted to r/min/ms. Only if the
converted value is greater than 1 can the homing speed be changed.
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The introduction of homing mode currently supported by DSX00E :

1）6098h=17
Mechanical origin: reverse over-range switch.
Deceleration point:: reverse over-range switch.
a）The deceleration point signal is invalid when homing starts.

Note: In the figure, "H" stands for high speed 6099-1h and "L" stands for low speed 6099-2 h.
When homing starts and N-OT =0, it reverses with high speed.. When it encounters N-OT rising
edge, it decelerates, reverses and forwards with low speed.. When encountering the falling edge of N-OT,
it stops running.
b）The deceleration point signal is effective when homing starts.

When homing starts and N-OT=1, it starts to homing at low speed directly, and stops at the falling
edge of N-OT.
2）6098h=18
Origin: forward over-range switch..
Deceleration point: forward over-range switch..
a) The deceleration point signal is invalid when homing starts.

When homing starts and P-OT=0 , it forwards with high speed. When encountering the rising edge
of P-OT, it decelerates, reverses and operates at low speed . When encountering the falling edge of
P-OT, it stops.
b）The deceleration point signal is effective when homing starts.

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When homing starts and P-OT=1, it reverses with low speed directly. And when encountering the
falling edge of P-OT , it shuts down.
3）6098h=23
Origin: Origin switch.
Deceleration point: Origin switch.
a) The deceleration point signal is invalid when zeroing starts and it did not encounter the forward
limit switch.

When homing starts and HW=0, it forwards with high speed and does not encounter limit
switch.When encountering rising edge of HW, it slows down and reverse with low speed. When
encountering the falling edge of HW, it shuts down.

b) The deceleration point signal is invalid when returning to zero starts, and the forward limit
switch is encountered.

When homing starts and HW=0, it forwards with high speed and encounters limit switch. Then it
automatically reverses and runs at high speed. When encountering rising edge of HW, it slows down and
keeps reversing with low speed. When encountering the falling edge of HW, it shuts down.

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c) The deceleration point signal is effective when returning to zero starts.

When homing starts and HW=1, it starts zeroing at a reverse low speed directly.When encountering
the falling edge of HW, it shuts down.

4）6098h=27
Origin: Origin switch.
Deceleration point: Origin switch.
a) The deceleration point signal is invalid when returning to zero starts and did not encounter limit
switch.

When homing starts and HW=0, it returns to zero with reversed high speed and does not encounter
limit switch.When encountering rising edge of HW, it slows down, reverse and forwards with low speed.
When encountering the falling edge of HW, it shuts down.
b) The deceleration point signal is invalid when returning to zero starts and the reverse limit switch
is encountered.

When homing starts and HW=0, it returns to zero with reversed high speed and encounters limit
switch.Then it automatically reverses and runs at high speed. When encountering rising edge of HW, it

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slows down and keeps forwarding with low speed. When encountering the falling edge of HW, it shuts
down.
c) The deceleration point signal is valid when zeroing.

When homing starts and HW=1, it forwards with low speed directly. When encountering the falling
edge of HW, it shuts down.

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Chapter 6 Operation and display

6.1 Introduction to Front Panel And Function

6.1.1 Front Panel

Fig6.1 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.
Please firstly select “PA-”, and press SET button to enter the status of parameter setting mode. And
use ↑or ↓to choose parameters and SET button to display the parameter’s value. You can modify the
parameter’s value with ↑or ↓. Press ↑or ↓button one time, the parameter increases or decreases by 1.
Pressing and holding ↑or ↓key can make the value increased or decreased continuously. After
modifying the value of the parameter,please press SET button and when the LED flashes two times, it
means changes are completed . Finally please recharge, then the new parameter is effective.
6.1.2 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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6.1.3 State Indicator

6.2 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.

Fig6.2 Operating display layer

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.

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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%

Motor Current 2.3A

Control Method 0

Absolute Rotor Position : 3265

Digital Input Terminal

Digital Output Terminal

Encoder Signal

Bus Voltage: 336V

Running State

Alarm No.9

6.3 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.

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6.4 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.

6.5 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.

6.6 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(H) (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:

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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 7 Parameters

7.1 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.
51 Dynamic Electric 1. If set to 0, the dynamic electric gear is invalid and the function of
Gear input terminal INH is command pulse prohibited.
To set the gear ratio of the second position command pulses.
If use dynamic electric gear, it must set PA51=1. Then the function
The numerator of the of input terminal INH( command pulse inhibition) is converted to an
52 second position electronic gear switching to the input control terminal.
command pulse When INH=OFF, the input electric gear is PA12/PA13; When
INH=ON, the input electric gear is PA52/PA13; To change the
percentage values through changing the electric ratio.
Pay attention to the denominators of first and second 1-32767 1
electric gear are the same.
To set the input terminal to force the ON effectively. 1.For unforced
53 8-bit low input ON terminal, it needs to control ON in the external connection. For 00000000-111 00000000
terminal force ON forced ON terminal, external connection is unnecessary, and it is 11111
control byte automatic to set ON inside the drive.
2.8-bit binary number as representation, if it is 0, it means input

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terminal does not force ON. If it is 1, it means input terminal forces

ON. The binary numbers represent the input terminals as following:
RIL: CW torque limitation FIL: CCW torque limitation INH:
Command pulse inhibit
CLE: Deviation counter clearance SON: Servo enable
ALRS: Alarming clearance FSTP: CCW drive inhibit RSTP: CW
drive inhibit
54 The delay time of Set the delay time to cut off the motor current after the motor 0~30000×
Servo-OFF turns to Servo-OFF. 0.1ms 0

Set the reversal of input terminal.For the reversal terminal, if

the switch is ON, it is invalid, while the switch is OFF, it is
effective. 8-bit binary number as representation,when it is 0, the
input terminal is not reversal, while it is 1, the terminal
reverses.The binary numbers represent the input terminals as
following:
7 6 5 4
Control byte reversal
00000000-111
55 of RIL FIL INH CLE 00000000
11111
8-bit input terminal 3 2 1 0

RSTP FSTP ALRS SON

RIL: CW torque limit FIL:CCW torque limit

INH:Command pulse prohibition CLE:Deviation counter clear
SON: Servo-ON
ALRS: Alarm clear
FSTP: CCW drive prohibition RSTP: CW drive prohibition
56 Remain Inner parameter of Servo System,remain for using 0 0
Set the reversal of output terminal. The definitions of breakover
and cut-off is contrary to standard definitions. Four bit binary as
representation, when it is 0, the output terminal is not reversal,
while it is 1, the output terminal reverses.The binary numbers

Reversal control byte represent the output terminals as following:

57 0000-1111 0000
of output terminal 3 2 1 0

BRK COIN ALM SRDY

SRDY: Servo ready ALM: Servo alarm

COIN: Positioning complete/ Speed arrival
BRK: Brake signal release
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
62 Encoder selection 0: 15-line incremental 2500-line encoder (A, B, Z, U, V, W) 0-1 0

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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.

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
Speed Coincidence smaller than the speed specified by this parameter PA76,
76 0-1000 rpm 10
Range 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.

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* 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
2nd numerator of
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.
1. To filter the input SIGN command.
2. The default value (4) is correspondent to the maximum pulse
input frequency, which is 500Khz (when used in CW/CCW pulse
mode). If the value of this parameter is bigger, the maximum
SIGN input command workable input frequency will be smaller.
82 0-15 4
filter 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

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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

>0 Only detect CCW torque

1
<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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7.2 P3 Group Parameter

7.2.1 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

P3-4 Digital Input DI5 Function 0-99 8

P3-5 Digital Input DI6 Function 0-99 21

P3-6 Digital Input DI7 Function 0-99 5

P3-7 Digital Input DI8 Function 0-99 6

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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7.2.2 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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7.2.3 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.

7.2.4 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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7.3 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 8 Alarm
8.1 Alarm Message

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

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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
42 AC input under-voltage AC input under-voltage
Specially for SZGH-SD4038/SZGH-SD4075
44 Phase of Input power lost 1: Power input lost phase
2: Connection of input power isnot good or 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

8.2 Fault Code

Resetable Or
Symbol Name Code 603Fh
Not
1 Over speed 0x8400 Yes
2 Bus overvoltage fault 0x3210 Yes
3 Bus undervoltage fault 0x3220 Yes
4 The position deviation is too large 0x8611 Yes
5 Over heat 0x4210 Yes
6 Speed amplifier saturation 0x1000 Yes
7 Drive inhibit exception 0x1000 Yes
8 Position deviation counter overflow 0x1000 Yes
9 Encoder signal error difference signal detection error 0x7305 Yes
11 Hardware (short) protection IPM smart module failure 0x5400 No
12 Over current 0x2220 No
13 Overload 0x3230 Yes
14 Brake circuit failure 0x1000 Yes
15 Encoder count exception 0x7305 Yes
18 Relay fault 0x1000 Yes
19 The pulses input when the brake is delayed. 0x7110 Yes
20 Parameter storage exception 0x6320 No
21 FPGA module failure 0x7500 No
23 Ad sampling module failure 0x0FFF No
29 User-defined overload alarm 0x3230 Yes
30 Encoder Z-signal error 0x7305 No
31 Encoder UVW signal error 0x0FFF No
32 UVW signal has full height or full low level. 0x0FFF No
33 Save-line encoder signal error 0x7305 No
34 Encoder signal error 0x7305 No

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36 The full time charging for the encoder is too long. 0x7305 No
42 AC undervoltage fault 0x3220 No
44 AC phase deficiency 0x3130 No
47 Over voltage happens when powering on 0x3210 No
50 No communication link established. 0x7305 No
51 Communication interrupt 0x7305 No
Battery voltage alarms but it can also be used, it needs
52 0x7305 Yes
to be replaced
Battery voltage error and is unavailable to use. It must
53 0x7305 Yes
be replaced.
Information of multiple cycles is needed to be reset due
54 0x7305 Yes
to other errors which are not battery error
55 Three consecutive errors in CRC effect verification. 0x7305 No
56 The received MODBUS frame data is too long. 0x7305 No
57 Serial communication abnormal error 0x7305 Yes
The counting of single turn encoder happened error and
58 0x7305 No
it needs to be turned on and restarted.
59 Validation error occurred in CF domain 0x7305 No
60 50us interrupt timeout 0x1000 No
61 Slave station communication anomaly 0x7500 Yes
0x5443
(Positive)/
62 Exceed the soft limit Yes
0x5444
(Negative)

8.3 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

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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.
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

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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.

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

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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.
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

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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

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

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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.

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

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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 Normal.
42 voltage is Running on power failure AC input voltage is too Check the input of AC 220V
too low low

Specially for SZGH-SD4038 1.Check if connection of

/ SZGH-SD4075 L1,L2,L3 are right.
Phase of
1: Power input lost phase
2.1.Check if input voltage of
44 Input power L1,L2,L3 are right.
2: Connection of input
lost
power isnot good or
under-voltage.

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

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

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Appendix Application Description

1 Drive Wiring

Pic 6.1 Drive wiring diagram

Note:
1) When the EtherCAT interface is connected to other drives, it must put in with ECAT IN and put
out with ECAT OUT.
2) Cables and conductors shall be fixed to avoid close proximity to the heat sink of the drive and
motor, so as to avoid heat and reducing the insulation performance.
2 The Example Of Cooperating With TwinCAT Master Station
1） Install TwinCAT software
The twinCAT software in the official website of Beckhoff company supports up to 32-bit win7
systems and does not support win7 64-bit systems.
Windows xp system: it is recommended install tcat_2110_2230
Windows 7 32-bit system: it is recommended to install tcat_2110_2248
Note: About the network card, please choose a 100 megabit Ethernet card with a Intel chip. Other
brands of network cards, there is a risk of not supporting EtherCAT operation.
2） Copy the EtherCAT configuration file (SZGH_ETHCAT_V1.0.xml) of ECAT100E to the
TwinCAT installation directory:\ TwinCAT\ IO\ EtherCAT.
3）Open TwinCAT.

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4） Install TwinCAT network card drive.

Open the menu "Show Real Time Ethernet Compatible Devices" as above. Jump out of the
following dialog box and click “install “after selecting the local site in the “Incompatble devices”column.
After the installation is complete, the network card that has been installed appears in the "Instaled and
ready to use devices" column.

5）Device search
After you create a new project page, right-click I / O Devices to start searching for the device, as
shown in the following figure:

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6) Select “ OK”(确定).

7) Select “OK”.

8) Select “Yes”(“是”).

9) Select “Yes”(“是”).

10) Select “No”(“否”).

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11) The device has been finished to search here as shown in the following figure:

12）According to the default configuration, please click activate and switch to run mode: click
“Yes”.

13） According to the default configuration, click activate and switch to run mode: click “ Yes”.
After "OK", on the "Online" interface, you can see the device entering the OP state, while the running
lamp of the driver is kept in the green state.

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14）Control servo through NC or PLC program.

a）Set units when testing, units : mm.

b）Set quantitative(scaling) factor.

Scaling Factor：The distance corresponding to the encoder pulse for each position feedback. For
example, if the motor rotates a roll with 1,311,072 pulses, and if the motor rotates a roll for 1 mm, the
ScalingFactor is 1/131072=0.00000762939453125 mm/Inc.
Tip: for no-load debugging, it is customary to set a roll to 60mm, so that the speed of 1mm/s is
equivalent to 1 lap / min. Because the rated speed unit of the motor is rpm, debugging with rpm as the
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speed unit is more intuitive. So the quantitative factor is set to: 60 /131072.

c）Set encoder feedback mode to pos.

Other settings:
Encoder mode and there are three options:
Pos: The encoder is only used to calculate the position and is used when the position loop is in the
drive.
PosVelo: The encoder is only used to calculate position and speed when the position ring is used in
TWinCAT NC.
PosVeloAcc: TWinCAT NC uses encoders to determine position, speed and acceleration.
Pos：The upper computer is only responsible for sending the position instruction. The servo runs in the
periodic synchronous position mode (6060 =8), and the position loop is calculated internally.
PosVelo：The upper computer establishes the position loop and outputs the speed instruction. The
servo runs in the cycle synchronous velocity mode (6060 =9).

d) Point motion test

Temporarily shield system deviation. Click "Set" to jump out of the dialog box, and then click "All".
After that, the servo drive is enabled. Through F1 ~F4, it can realize point motion operation.

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