Gtas-30a50a Servo Driver

GTAS-30A/50A
Full Digital
AC Servo Driver
User Manual
SoTeng CNC Technology Co.,Ltd

http:// www.sotengcnc.com
AC SERVO DRIVER USER MANUAL
I CONTENT
CHAPTER 1 PRODUCT CHECKING AND INSTALLATION .............................................................................. 3

1.1 CHECK AFTER DELIVERY .................................................................................................................................... 3
1.2 INSTALLATION AND WIRING ................................................................................................................................ 3
1.3 INSTALLATION METHOD ...................................................................................................................................... 3
1.4 INSTALLING MOTOR ............................................................................................................................................ 4
1.4.1 Installation Environment ....................................................................................................................... 4
CHAPTER 2 WIRING ................................................................................................................................................. 5
2.1 WIRING SPECIFICATION ...................................................................................................................................... 5
2.2 WIRING METHOD ................................................................................................................................................. 5
2.3 CAUTION TO WIRING ........................................................................................................................................... 5
2.4 STANDARD WIRING ............................................................................................................................................. 6
CHAPTER 3 INTERFACE ......................................................................................................................................... 8
3.1 POWER SUPPLY TERMINAL TB .......................................................................................................................... 8
3.2 CONTROL TERMINAL CN1.................................................................................................................................. 8
3.4 INTERFACE TERMINAL CONFIGURATION .......................................................................................................... 12
3.5 I/O INTERFACE METHOD ................................................................................................................................... 13
3.5.1 Input interface of switching value .................................................................................................... 13
3.5.2 Output interface of Switch Value ...................................................................................................... 13
3.5.3 Pulse value input interface ................................................................................................................. 14
3.5.4 Analog input connector………………………………….………………………………………… ..17
3.5.5 Encoder signal output connector….……………………………………………………………….19
3.5.6 Encoder Z signal open collector output connector …………………………………………….20
3.5.7 Optical encoder input connector of servo motor ……………………………………………….20
3.6 POWER TERMINAL TB OF SERVO DRIVER(GTAS-50A) ................................................................................ 21
CHAPTER 4 PARAMETER ..................................................................................................................................... 22
4.1 PARAMETER ...................................................................................................................................................... 22
4.2 CONTENT........................................................................................................................................................... 23
CHAPTER 5 PROTECTION ................................................................................................................................... 33
5.1 ALARM ............................................................................................................................................................... 33
5.2 ALARM DESCRIPTION&SOLUTIONS ................................................................................................................. 33
CHAPTER 6 DISPLAY AND KEYBOARD OPERATION ................................................................................... 40
6.1 THE FIRST LAYER .............................................................................................................................................. 40
6.2 THE SECOND LAYER ......................................................................................................................................... 41
6.2.1 Monitoring Mode………………………………………………………………………….……………33
6.2.2 Parameter Setting ................................................................................................................................. 42
6.2.3 Parameter Management ...................................................................................................................... 43
6.2.4 Run in JOG Mode .................................................................................................................................. 44
CHAPTER 7 RUN ..................................................................................................................................................... 46
7.1 EARTHING.......................................................................................................................................................... 46
7.2 WORK TIME SEQUENCE ................................................................................................................................... 46
7.2.1 Powr supply connection sequence:................................................................................................. 46
7.2.2 Time Sequence Diagram ..................................................................................................................... 47
7.3 USAGE OF MECHANIC BRAKE .......................................................................................................................... 47
7.4 SIMPLE WIRING RUNNING OF POSITION CONTROL MODE.............................................................................. 48
1
7.5 ADJUSTMENT .................................................................................................................................................... 52
7.5.1 Basic Gain Adjustment ........................................................................................................................ 54
7.5.2 Adjustment Frame of Basic Parameter ........................................................................................... 55
7.6 NORMAL PROBLEM ........................................................................................................................................... 55
7.6.1 Recover default parameter ................................................................................................................. 55
7.6.2 Frequently display alarm Err-15、Err-30、Err-31、Err-32 ......................................................... 56
7.6.3 Power Indicator does’t work .............................................................................................................. 56
CHAPTER 8 SPECIFICATION ............................................................................................................................... 57
8.1 SERVO DRIVER DIMENSION .............................................................................................................................. 57
8.2 SERVO DRIVER SPECIFICATION ....................................................................................................................... 57
8.3 COMPARISON TABLE OF MODEL CODE PARAMETER AND MOTOR................................................................. 58
8.4 EXPLANATION TO SERVO MOTOR MODEL ....................................................................................................... 59
8.5 WIRING OF SERVO MOTOR ............................................................................................................................... 59
8.5.1 Winding Wring ....................................................................................................................................... 59
8.5.2 Brake ........................................................................................................................................................ 60
8.5.3 Standard Encoder ................................................................................................................................. 60
8.5.4 Wire Saving Encoder............................................................................................................................ 60
8.6 SERVO MOTOR PARAMETER ............................................................................................................................ 60
8.6.1 80 Series Motor Parameter ................................................................................................................. 60
8.6.2 110 Series Motor Parameter ............................................................................................................... 61
8.6.5 180 Series Motor Parameter ………………………………………………..……………….……….64
2
Chapter 1 Product Checking and Installation
1.1 Check after Delivery
This product is well tested before delivery. To avoid product quality problem for poor transportation, please
check items bellow before unpacking it.
1) Whether the servo unit ,servo motor is the ordered models by checking the nameplates of the goods
2) Whether the packing is good and the goods get damaged
3) Whether the accessories are complete by checking the packing list
4) Is there any components comes off the products
5) Whether the motor shaft can rotate smoothly by hands; Motor with brake can’t rotate directly.
Please contact with supplier if there are any questions after receiving goods.
1.2 Installation and Wiring
Installation Environment:
◆servo unit must be installed in the electric cabinet to prevent dust, corrosive gas, liquid, conductors
and inflammable substances from entering it.
◆the electric cabinet must be well ventilative, dampproof and dustproof.
◆fireproof material should be used in the installation with no permission to fix it on or near the
inflammable object.
◆the servo unit must be protected from vibration which is below 0.5(4.9m/S2) and driver can’t receive
impact.
◆Run the servo unit below the temperature of 40℃ for reliable long term usage.
1.3 Installation Method
The driver should be installed in upright direction of installation plane and well fixed by four M5 screws.
Installation interval:
Fig 1.1 show us installation interval for one servo unit and servo units. The actual interval for installation
should be larger as possible to get a good heat radiation.
Heat radiation
Servo unit adopts natural cooling method, there should be convective air to the radiator of the servo unit
in electric cabinet to inhibit its environmental temperature from continuously rising.
Installation Notes:
Dust or iron dust should be prevented from entering into inside of servo driver, when install electrical
cabinet.
3
Fig 1.1 installation diagram of servo driver
1.4 Installing Motor
1.4.1 Installation Environment

Temperature : 0～40℃；humidity: bellow 80% (no dew)
 Storage temperature: -40～50℃; storage humidity: bellow 80% (no dew)
 Vibration: bellow 0.5G
 The motor should be fixed in the well ventilative, dampproof and dustproof environment.
 Prevent Dust, corrosive gas ,liquid, conductors and inflammable substances from entering it
 Be careful for the protection against rain and sunlight.
 Do not hammer the motor or its shaft to protect the encoder from being damaged when removing
or assembling the motor.
 Oil and water should be protected from the motor for that the oil or water from the cable which
has dipped in the oil or water can be sticked to the motor.
 Motor shaft out part should be long enough, otherwise can easily arise into vibration in rotation
4
CHAPTER2 WIRING
Chapter 2 Wiring
2.1 Wiring Specification
 Wire size: wire size of R,S,T,PE,U,V,W ≥1.5mm2(AWG14-16), wire size of r, t ≥0.75mm2(AWG18);

 Terminal adopts pre-insulation cold pressing terminals to fasten the connection.
 It should suggest that it is employed with three-phase isolation transformer to power on to avoid
electric shock to person.
2.2 Wiring Method
 Wire size of input/output signal wire and encoder signal wire: input/output signal wire≦3m; encoder
signal wire ≦20m.Wiring of main circuit and signal wire should be insolated.
 Earthing wire should be thick as possible, grounding terminal of servo motor and grounding terminal
PE of servo driver must be connected with.
 To avoid wrong operation arised from interference , we suggest installing noise filter and please pay
attention to following points as well:
1) The installation of noise filter, servo driver and upper controller should be closer as possible.
2) Surge absorber should be always installed in coil of relay, magnetic contactor and brake.
3) Main circuit and signal wire should be not go through the same pipe, that’s to say, should be not bounded
together.
 If there are strong interference equipment around (such as electric welder, electric discharge
machines etc), please apply insulating transformer on input power to prevent wrong operation arised
from interference.
 Please install non fused braker (NFB)to make sure the external power can be cut off timely when driver
fails.
 Correctly connecting wire shielding layer
2.3 Caution to Wiring
 U, V, W wires should connect with motor terminals correspondingly.Operation of reverse rotation of motor
by exchanging the wires of three-phase terminals is not allowed.
 Due to the high frequency switch current in the motor, the leaking current is relatively larger, the motor
grounding terminal must be connected with the servo unit grounding terminal PE.
 Do not touch the servo unit and motor in 5 minutes after the power supply is switched off because there is
large electrolytic capacitance keeping high voltage inside the servo unit even if it is switched off.
 Operator should keep a certain distance to ther servo unit and motor after the power is switched on.
 If need to stop operation for a long time, please switch off the power.
5
2.4 Standard Wiring
2.4.1 Position Control
6
Ｃｈａｐｔｅｒ　　　Ｗｉｒｉｎｇ
2
2.4.2 Ｓｐｅｅｄ　Ｃｏｎｔｒｏｌ
　ＳＥＲＶＯ　ＤＲＩＶＥＲ ACM
Ｓｅｒｖｏ　ｍｏｔｏｒ
PE 2
U
V 3
R 4
W
３ＰＨ S
PE 1
AC 220V
T
NFB MC CN2 ｍｏｔｏｒ　４ｐｉｎ　ｐｌｕｇ
r 14 5V
t 15 5V
CN1
16 5V
DC COM+ 18
17 5V
12~24V
4.7k
18 0V
ｓｅｒｖｏ　ｅｎａｂｌｅ SON 10
19 0V
ａｌａｒｍ　ｃｌｅａｒｅｎｃｅ ALRS 11
20 0V 2
CCW driver inhibit FSTP 12
21 0V 3
CW driver inhibit RSTP 13
1 A+ 4
SC1/ZEROS
ｓｐｅｅｄ　ｃｈｏｏｓｅ１／ｚｅｒｏ　ｓｐｅｅｄ　ｃｌａｍｐ PD 14
26LS32 2 A- 7
ｓｐｅｅｄ　ｃｈｏｏｓｅ２ SC2 15 ｒｅｃｅｉｖｅｒ
3 B+ 5
CCW torque limit FIL 16
4 B- 8
CW torque limit RIL 17
5 Z+ 6
Ｏｐｔｉｃａｌ　ｅｎｃｏｄｅｒ
CN1 6 Z- 9 15ｐｉｎ　ｐｌｕｇ
SRDY+ 8
7 U+ 10
Ｓｅｒｖｏ　ｒｅａｄｙ
SRDY- 25
8 U- 13
ALM+ 26
9 V+ 11
Ｓｅｒｖｏ　ａｌａｒｍ
ALM- 27
10 V- 14
COIN+ 28
11 W+ 12
Ｓｐｅｅｄ　ａｒｒｉｖａｌ
COIN- 29
12 W- 15
BRK+ 30
ｍｅｃｈａｎｉｃａｌ　ｂｒａｋｅｒ 22 0V 1
ｒｅｌｅａｓｅ BRK- 31
23 0V
CN1 26 FG
+
ｓｐｅｅｄ　ａｎａｌｏｇ　ｃｏｍｍａｎｄ AS+ 19 -
（-10V~+10V） - AS- 20 + CN1
10K
AGND 23 1 OA+ A
A
2 OA- A
3 OB+ B
Ｅｎｃｏｄｅｒ
B
4 OB- B
ｓｉｇｎａｌ　ｏｕｔｐｕｔ
5 OZ+ Z
26LS31 Z
ｄｒｉｖｅｒ 6 ZA- Z
FG 36 9 GND GND Ｅｎｃｏｄｅｒ　ｓｉｇｎａｌ　ｇｒｏｕｎｄ
Ｅｎｃｏｄｅｒ　Ｚ　ｓｉｇｎａｌ
7 CZ Z ｏｐｅｎ　ｃｏｌｌｅｃｔｏｒ　ｏｕｔｐｕｔ
ｓｈｅｌｌ　ｇｒｏｕｎｄ
Fig2.2 Ｓｔａｎｄａｒｄ　ｗｉｒｉｎｇ　ｏｆ　ｓｐｅｅｄ　ｃｏｎｔｒｏｌ
Chapter 3 Interface
3.1 Power Supply Terminal TB
Table 3.1 power terminal TB

Terminal No. Terminal Sign Signal name Function
1 PE system earthing Earthing terminal
2 R Input terminals of the Input terminals of the main power
3 S main power supply supply AC220V 50Hz
4 T 3ph, AC220V Note: do not connect with motor output
terminals U,V,W
5 U Output terminal of Output terminal of servo motor must be
6 V power connected correspondingly with motor
7 W terminals U,V,W
8 PE Earthing Connect with motor shell ground
9 r Input terminal of the Input terminal of the control power
10 t control power Single AC 220V 50Hz
phase, AC220V
3.2 Control Terminal CN1
Control mode: P specify positon control; S specify speed control mode; T specify torque control mode.
Table 3.2 input and output interface pattern for CN1
Termina Signal name Sign I/O mode Funcition
l No.
18 Power supply positive of COM＋ Type1 Power supply positive of input terminal, photoelectric
input terminal coupling used for driving input terminal, DC12～24V,
Current≥100Ma.
10 Servo enable SON Type1 Input terminal of servo enabling
SON ON: allow driver to work
SON OFF: close driver and stop work, motor is in
free state.
Note1: the motor must be stationary before it
switched from SON OFF to SON ON.
Note2: waits for 50ms before inputting command
after it is SON ON
11 Alarm clearance ALRS Type1 Alarm clearance input terminal.
ALRS ON：clear system alarm
ALRS OFF：hold system alarm
Note1: as for alarm which trouble code is more than
8, can’t use such method to clear, but need switch off
to repair and switch on again.
8
12 CCW drive stop FSTP Type1 CCW（counterclockwise direction）drive inhibit input
terminal.
FSTP ON: CCW drive is available and Motor can
rotate in counterclockwise.
FSTP OFF: CCW drive inhibit and motor rotation in
counterclockwise direction is prohibited.
Note1: apply in mechanical overlimit, when switch is
OFF, torque in CCW direction keep as 0.
Note2: set parameter PA20＝1 to shield this
Function, user cam enable CCW without
connecting this terminal.
13 CW drive inhibit RSTP Type1 CW（clockwise direction）drive inhibit input terminal.
RSTP ON: CW drive is available and motor
can rotate in clockwise direction;
RSTP OFF: CW servo inhibited, motor rotation in
clockwise direction is inhibited.
Note1: apply for mechanic over limitation, when
switch is OFF, torque in CW direction keep as 0.
Note2: shield this function by seting parameter PA20
＝1, user can enable drive of CW without connecting
this terminal.
,14 Deviation counter CLE Type1 P In position control mode（parameter PA4=0）, position
zeroing deviation counter zero input terminal.
CLE ON: in position control mode, position
deviation counter zero.
Speed Choose1 SC1 Type1 S In speed control mode (PA4=1), and select internal
speed (PA22=0) speed choose 1 input terminal; in
speed control mode,SC1 and SC2 combined and
used to choose different internal speed.
SC1 OFF , SC2 OFF: internal speed 1;
SC1 ON, SC2 OFF : internal speed 2;
SC1 OFF, SC2 ON : internal speed 3;
SC1 ON, SC2 ON : internal speed 4.
Note: the value of internal speed 1-4 can be modified
by setting parameters.
Zero speed clamp ZEROSPD Type1 S In speed control mode (PA4=1),select external
analog speed (PA22=1, default value).
ZEROSPD ON : whatever the analog input it is,
forced speed command is zero;
ZEROSPD OFF:speed command is analog input
value.
15 Instruction pulse INH Type1 P In position control mode (parameter PA4=0, position
inhibited instruction pulse inhibit input terminal .
INH ON: instruction pulse input inhibition
INH OFF: instruction pulse input valid
9
Speed choose 2 SC2 Type1 S In speed control(PA4=1),select internal
speed(PA22=0)speed choose2 input terminal; in
speed control mode, SC1 and SC2 combined and
used to select different internal speed.
SC1 OFF, SC2 OFF : internal speed 1;
SC1 ON, SC2 OFF: internal speed 2;
SC1 OFF, SC2 ON: internal speed 3;
SC1 ON, SC2 ON : internal speed 4
16 CCW torque limit input FIL Type1 CCW（counterclockwise direction）torque limitation
input terminal.
FIL ON:CCW torque limit within parameter PA36;
FIL OFF: CCW torque limitation is not limited by
parameter PA36.
Note1: FIL valid or invalid, CCW torque is limited by
parameter PA34, generally, parameter PA34>
parameter PA36.
17 CW torque limit input RIL Type1 CW（in clockwise direction）torque limitation input
terminal.
RIL ON: CW torque limit within parameter PA37;
RIL OFF: CW torque limitation is not limited by
parameter PA37.
Note1: RIL is valid or invalid, CW torque is limited by
parameter PA35; generally, parameter ︱ PA35| >
parameter |PA37|
8 Servo ready output RDY＋ Type2 Servo ready output terminal
SRDY ON: the control power supply and the
main power supply are normal,the driver does not
alarm and the Servo Ready outputs ON.
SRDY OFF: the main power supply is not on or the
25 SRDY－ driver alarms and ther Servo Ready outputs OFF.
26 Servo alarm output ALM＋ Type2 Servo alarm output terminal

ALM ON: the servo driver does not alarm and the
servo alam outputs ON.
ALM OFF: the servo driver alarms and the servo
27 ALM－
alarm outputs OFF
28 Positioning completion COIN＋ Type2 Positioning completion output terminal.
output (in position COIN ON: When position deviation counter value is
control mode） within positioning range, positioning completion
output ON(output switch on), otherwise output OFF.
Speed arrival Output; Speed arrive to output terminal.
29 (speed control mode) COIN－ P COIN ON: when speed arrive or exceed setting
speed, speed arrival output ON (output switched on),
S
otherwise output OFF.
10
30 Mechanical brake BRK＋ Type2 When motor possess with mechanical brake, can
release use this port to control brake.
BRK ON: brake swithed on, brake invalid and
motor can run ;
31 BRK－ BRK OFF: brake switched off, the brake is valid,
motor is locked and can’t run
Note: BRK function is controlled by driver inside
32 Instruction pulse PLUS PULS＋ Type3 External instruction pulse input terminal
33 input PULS－ Note1: set pulse input method by parameterPA14,
PA14=0, instruction pulse + symbol（default state;
34 Instruction pulse SIGN SIGN＋ Type3 A14=1, CCW/CW instruction pulse method;
35 input SIGN－ PA14=2, 2-phase instruction pulse method.
19 Analog speed AS+ Type4 S External analog speed command input
20 command input AS- terminal,differential mode, input impedance 10kΩ,
input range -10v～+10v.
23 Analog ground AGND Earthing of analog input
21 Analog torque AT+ Type4 T External analogue torque command input
22 command input AT- terminal,differential mode, input impedance 10kΩ,
input range -10v～+10v.
24 Analog ground AGND Earthing of analog input
1 Encoder A-phase OA＋ Type5 *ncoder ABZ signal differential drive output（26LS31
2 Signal OA－ output, similar with RS422）;
3 Encoder B-phase OB＋ Type5 *Not isolated output (non insulation)
4 Signal OB－
5 Encoder Z-phase OZ＋ Type5
6 signal OZ－
7 Encoder Z-phase CZ Type6 *Encoder Z-phase signal output by open collector,
open collector output when encoder Z-phase signal appears, output ON
(output switched on), otherwise output OFF;
* Not isolated output (non insulation);
*For upper computer, generally Z-phase signal pulse
is narrow, so please use high speed photoelectric
coupler to receive.
9 Public earthing of GND Encoder common grounded
encoder
36 Shield ground FG Terminal of shield ground wire
3.3 Feed back Signal Terminal CN2
Table 3.3 signal input/output terminal CN2 of encoder

Terminal No. Signal name Function
Sign I/O discription
14 5V power supply +5V The servo motor photoelectric encoder use
15 +5v power supply and common ground; if
16 cable length is a little long, should use
17 multi-core wire in parallel to reduce
11
18 Power grounded 0V pressure drop of circuit.
19
20
21
22
23
1 Encoder(A+) input A＋ Type7 Connect with photoelectric encoder A+
2 Encoder(A-)input A－ Connect with photoelectric encoder A-
3 Encoder (B+) input B＋ Type7 Connect with photoelectric encoder B+
4 Encodeer (B-) input B－ Connect with photoelectric encoder B-
5 Encoder (Z+) input Z＋ Type7 Connect with photoelectric encoder Z)
6 Encoder (Z-) input Z- Connect with photoelectric encoder Z-
7 Encoder (U+) input U＋ Type7 Connect with photoelectric encoder U+
8 Encoder (U-) input U- Connect with photoelectric encoder U-
9 Encoder (V+) input V＋ Type7 Connect with photoelectric encoder V+
10 Encoder (V-) input V- Connect with photoelectric encoder V-
11 Encoder (W+) input W＋ Type7 Connect with photoelectric encoder W+
12 Encoder (W-) input W- Connect with photoelectric encoder V-
26 Shield ground FG Terminal of shield ground wire
3.4 Interface Terminal Configuration
Fig 3.1 is interface terminal configuration of CN1, which is DB36 connector assembly.
Fig3.2 is interface terminal configuration of CN2, which is DB26 connector assembly.
18 16 14 12 10 8 6 4 2
17 15 13 11 9 7 5 3 1
36 34 32 30 28 26 24 22 20
35 33 31 29 27 25 23 21 19
Fig 3.1 CN1
12 10 8 6 4 2
13 11 9 7 5 3 1
25 23 21 19 17 15
26 24 22 20 18 16 14
Fig 3.2 CN2
12
3.5 I/O Interface Method
3.5.1 Input interface of switching value
Fig 3.3 Type1 input interface of switching value
1) power supply is provided by user, DC12～24V, current ≧100Ma;

2) Note: if current polarity is connected wrongly, the servo driver will not run.
3.5.2 Output interface of Switch Value
a. relay connection
VCC
max 25V
max 50mA
servo amplifier
b. photoelectric coupling connection

Fig 3.4 Type2 Output interface of switching value
1) Output Dar1ington transistor, which coupling connect with relay and photocoupler
2) External power supply is provided by user, and if its polarity is connected reversely, the driver will be
damaged.
3) Output is electron collector open circuit, max current is 50mA, and external max.voltage is 25V. Thus,
load of switching value output signal must meet the limit. If the load exceeds the limit or output is directly
connected with power supply, the servo driver may be damaged.
4) If the load is inductive load like relay, terminals of load must be connected with freewheeling diode in
13
parallel. If they are connected reversely, the servo driver will be damaged.
5) Output Dar1ington transistor, when switch on, the pressure drop Vce between collector and emitter is
around 1V, which can’t meet TTL low lovel requirement and can’t directly connect with integrated circuit
TTL.
3.5.3 Pulse value input interface
servo amplifier
PUL S+ 220
PUL S-
SIGN + 220
SIGN -
Fig 3.5 Type3 differential drive mode of pulse value input interface
servo amplifier
VCC
PUL S+ 220
R PUL S-
SIG N+ 220
R SIG N-
Fig 3.6 Type3 single terminal drive mode of pulse value input interface
1) For correct pulse data transmiting ,we suggest using differential drive mode;
2) AM26LS31, MC3487 or RS422 driver are employed in the differential drive mode;
3) Operating frequency will be reduced in single terminal drive mode. Define the resistance R value
according to pulse value input circuit, the drive current 10～15mA and max voltage 25V of the limited
external current. Practical data: VCC=24V, R=1.3~2k; VCC=12V, R＝510～820Ω; VCC=5V，R=82~120Ω
4) In single terminal drive mode, the external power supply provided by user and if its polarity is connected
reversely, the servo driver may be damaged.
5) Refer to Table3.4 about pulse input form, arrowhead indicates counting drift; and Table 3.5 indicates
pulse input time sequence and parameter. If 2-phase input form is employed , 4 folds pulse frequency is
less than 500kHz
14
Table 3.4 pulse input form
Table 3.5 pulse input time sequence parameter

Parameter Differential driving input Single-terminal driving input
tck >2μ S >5μ S
th >1μ S >2.5μ S
tl >1μ S >2.5μ S
trh >0.2μ S <0.3μ S
trl >0.2μ S <0.3μ S
ts >1μ S >2.5μ S
tqck >8μ S >10μ S
tqh >4μ S >5μ S
tql >4μ S >5μ S
tqrh >0.2μ S <0.3μ S
tqrl >0.2μ S <0.3μ S
tqs >1μ S >2.5μ S
15
Chapter 3 Connector
th tck
90%
PULS
10%
ts tl ts
trh trl
90%
SIGN
10%
CW trh CCW trl CW
Fig 3.7 Pulse+Sign input connector time sequency diagram(ｍａｘ．ｐｕｌｓｅ　ｆｒｅｑ．５00kHz)
tck
th
90%
PULS tl
10%
trh trl ts
90%
SIGN
10%
trh trl
CCW CW
Fig3.8 CCW ｐｕｌｓｅ/CW pulse input connector time sequence diagram(max.pulse freq. 500kHz)
tqh tqck
90%
PULS tql
10%
tqs
tqrh tqrl tqs
90%
SIGN
10%
tqrl tqrh
CCW CW
Fig3.9 2ph command pulse input connector time sequence diagram(max.pulse freq. 125kH
Ｃｈａｐｔｅｒ３　Ｃｏｎｎｅｃｔｏｒ　
3.5.4 Analog input connecotr
servo amplifier
Controller
AS+ or AT+
-
+
-
10k
+
AS- or AT-
AGND
Fig3.10 a ａｎａｌｏｇ　ｄｉｆｆｅｒｅｎｔｉａｌ　ｉｎｐｕｔ　ｃｏｎｎｅｃｔｏｒ（type4）
Controller servo amplifier

AS+ or AT+
-
+
-
10k
+
AS- or AT-
AGND
Fif 3.10 b analog single terminal input connector（type4）

Chapter3 Connector
Controller
R servo amplifier
200(1/2W)
12V AS+ or AT+
VR
2K(1/2W)
12V
R -
10k
200(1/2W) +
AS- or AT-
AGND
Fig 3.10 c Aｎａｌｏｇ　ｄｉｆｆｅｒｅｎｔｉａｌ　ｐｏｔｅｎｔｉｏｎｍｅｔｅｒ　ｉｎｐｕｔ　ｃｏｎｎｅｃｔｏｒ（type4）

Controller
R servo amplifier
200(1/2W)
12V AS+ or AT+
VR
2K(1/2W)
12V
R -
10k
200(1/2W) +
AS- or AT-
AGND
Fig 3.10 d Ａｎａｌｏｇ　ｓｉｎｇｌｅ　ｔｅｒｍｉｎａｌ　ｐｏｔｅｎｔｉｏｎｍｅｔｅｒ　ｉｎｐｕｔ　ｃｏｎｎｅｃｔｏｒ（type4）

 ａｎａｌｏｇ　ｉｎｐｕｔ　ｃｏｎｎｅｃｔｏｒ　ｉｓ　ｄｉｆｆｅｒｅｎｔｉａｌ　ｍｏｄｅ，ｉｔ　ｃａｎ　ｃｌａｓｓｉｆｙ　ａｓ　ｄｉｆｆｅｒｅｎｔｉａｌ　ａｎｄ
ｓｉｎｇｌｅ　ｔｅｒｍｉｎａｌ　ｂｙ　ｄｉｆｆｅｒｅｎｔ　ｗｉｒｉｎｇ，ａｎｄ　ｉｎｐｕｔ　ｉｍｐｅｎｄａｎｃｅ　ｉｓ 10kΩ，ｉｎｐｕｔ　ｖｏｌｔａｇｅ　ｒａｎｇｅ
ｉｓ－10V～＋10V；
For differential wiring ,analog ground and input minus terminal are connected at controller side, and it
need three cable from controller to driver.
For single terminal wiring, analog ground and input minus terminal are connected at controller side, and
it need two cables from controller to driver.
 differential wiring has better performance than single terminal wiring, it can suppress common
ｍｏｄｅ　ｉｎｔｅｒｆｅｒｅｎｃｅ
 ｉｎｐｕｔ　ｖｏｌｔａｇｅ　ｃａｎ＇ｔ　ｅｘｃｅｅｄ　－１０ｖ－－＋１０ｖ，　ｏｔｈｅｒｗｉｓｅ　ｍａｙｂｅ　ｄａｍａｇｅ　ｄｒｉｖｅｒ；
Ｓｕｇｇｅｓｔ　ａｄｏｐｔｉｎｇ　ｓｈｉｅｌｄｅｄ　ｃａｂｌｅｓ　ｆｏｒ　ｔｈｅ　ｗｉｒｉｎｇ　ａｎｄ　ｒｅｄｕｃｅ　ｎｏｉｓｅ　ｉｎｔｅｒｆｅｒｅｎｃｅ；　　　　　
　　Ｉｔ　ｉｓ　ｎｏｒｍａｌ　ｆｏｒ　ａｎａｌｏｇ　ｉｎｐｕｔ　ｃｏｎｎｅｃｔｏｒ　ｔｏ　ｈａｓ　ｚｅｒｏ　ｄｅｖｉａｔｉｏｎ，　ｃａｎ　ｄｏ　ｏｆｆｓｅｔ　ｆｏｒ　
ｚｅｒｏ　ｄｅｖｉａｔｉｏｎ　ｂｙ　ａｄｊｕｓｔｉｎｇ　ｐａｒａｍｅｔｅｒ PA45;
Chapter 3 Connector
3.5.5 Encoder signal output connector
Controller servo amplifier
OA+
A
OA-
OB+
B
OB-
OZ+
Z
OZ-
AM26LS32 GND AM26LS31
Fig 3.11 a Oｐｔｉｃａｌ　ｅｎｃｏｄｅｒ　ｏｕｔｐｕｔ　ｃｏｎｎｅｃｔｏｒ（Type5）

 Ｅｎｃｏｄｅｒ　ｓｉｇｎａｌ　ｏｕｔｐｕｔ　ｖｉａ　ｄｉｆｆｅｒｅｎｔｉａｌ　ｄｒｉｖｅｒ（AM26LS31.
 ｃｏｎｔｒｏｌｌｅｒ　ｉｎｐｕｔ　ｃａｎ　ａｄｏｐｔ AM26LS32 receiver, must connect end terminal resistance, around330Ω
 ｃｏｎｔｒｏｌｌｅｒ　ｇｒｏｕｎｄ　ａｎｄ　ｄｒｉｖｅｒ　ｇｒｏｕｎｄ　ｍｕｓｔ　ｂｅ　ｓａｆｅｌｙ　ｗｉｒｉｎｇ．
 ｎｏｎ－ｉｎｓｏｌａｔｅｄ　ｏｕｔｐｕｔ．　
 ｃｏｎｔｒｏｌｌｅｒ　ｉｎｐｕｔ　ｃａｎ　ａｄｏｐｔ　ｏｐｊｏｔｏｅｌｅｃｔｒｉｃ　ｃｏｕｐｌｅｒ，ｂｕｔ　ｍｕｓｔ　ｈｉｇｈ　ｓｐｅｅｄ（ｅｇ． 6N137)
Controller
servo amplifier
1N4148
220
OA+
A
OA-
1N4148
200
OB+
B
OB-
1N4148
220
OZ+
Z
OZ-
6N137 AM26LS31
Fig 3.11 b Oｐｔｉｃａｌ　ｅｎｃｏｄｅｒ　ｏｕｔｐｕｔ　ｃｏｎｎｅｃｔｏｒ（Type5）

Chapter 3 Connector
3.5.6 Encoder Z signal open collector ouput connector

VCC
max 25V
max 50mA
servo amplifier
CZ
GND
Fig 3.12 Ｏｐｔｉｃａｌ　ｅｎｃｏｄｅｒ　ｏｕｔｐｕｔ　ｃｏｎｎｅｃｔｏｒ（Type6）

 ｅｎｃｏｄｅｒ　Ｚ　ｐｈａｓｅ　ｓｉｇｎａｌ　ｏｕｔｐｕｔ　ｖｉａ　ｏｐｅｎ　ｃｏｌｌｅｃｔｏｒ，ｅｎｃｏｄｅｒ　Ｚ　ｐｈａｓｅ　ｓｉｇｎａｌ　ａｐｐｅａｒ，ｏｕｔｐｕｔ
ON (output conduction), otherwise output OFF(output cut-off)
；non-insolated output;
 In upper PC, Z phase signal pulse is always narrow, so please use high speed photoelectric
coupler to receive（ｅｇ． 6N137）
3.5.7 Optical encoder input connector of Servo motor

servo motor servo amplifier
X+
X-
AM26LS32
X=A,B,Z,U,V,W
Fig 3.13 Ｏｐｔｉｃａｌ　ｅｎｃｏｄｅｒ　ｉｎｐｕｔ　ｃｏｎｎｅｃｔｏｒ　ｏｆ　ｓｅｒｖｏ　ｍｏｔｏｒ

3.6 Power Terminal TB of Servo Driver(GTAS-50A)
Fig 3.7 Power Terminal TB of servo driver(GTAS-50A)
Special attention: by comparing with GTAS-30A, GTAS-50A adds external connecting brake resistance
terminal B, P; Generally, B, P terminals are free end and no need external connecting resistance. If
regenerate energy is too big for deceleration, which can’t absorb completely by internal resistance and arising
into Err-2 (over voltage alarm) or Err-14(brake alarm); this time, can consider increasing deceleration time; if
still alarms, need to external connecting resistance B, P terminals to increase brake effect. The external
connecting resistance value ranges from 40 to 200 and power ranges from 100 to 50W, the smaller the
resistance value is, the bigger the brake current is; the bigger the brake resistance power is , the bigger the
brake energy; but too small of resistance value may damage driver; Resistance value in the testing process
should be from big to small till no alarm of driver. External brake resistance and internal automatic resistance
(40 ohm) are parallel connected; external brake resistance must operate in 5 minutes after the power supply
is switched off. because there is high voltage inside.
Don’t touch B, P terminals when switch on the power supply or after the power supply is switched off to avoid
an electrical shock hazard. Because B, P terminals are connected with high voltage circuit. B, P terminals
can’t touch with other terminals to avoid short circuit and damage driver.
21
Chapter 4 Parameter
4.1 Parameter
For example, the following chart shows the amplifier GTAS-30A drives the motor 110ACM02030. The
parameters marked on ”*” may be different in different models.
Chart 4.1 User parameter list
No. Item Parameter Default Units
0 Password 0~9999 385
1 Connectible Motor identifier 0~51 30*
2 Software edition (read only) * *
3 Initial display status 0~21 0
4 Control mode selection 0~6 0
5 Proportional gain of velocity 5~2000 150* Hz
6 Integral time constant of velocity 1~1000 20* mS
7 Torque filter 20~500 100 %
8 Speed detection filter 20~500 100 %
9 Proportional gain of position 1~1000 40 1/S
10 Position feedforward gain 0~100 0 %
11 Cut-off frequency of position feedforward 1~1200 300 Hz
filter
12 Numerator of position instruction pulse 1~32767 1
13 Denominator of position instruction pulse 1~32767 1
14 Input mode of position command 0~2 0
15 Direction of position command reverse 0~1 0
16 Positioning completion range 0~30000 20 Pulse
17 Position error excessive 0~30000 400 ×100 pulse
18 Invalidation of position error excessive 0~1 0
19 Position command smoothing filter 0~30000 0 0.1mS
20 Setting of input pulse forbidden 0~1 0
21 JOG speed setup -3000~3000 120 r/min
22 Internal /external speed selection 0~2 1
23 Maximum speed limiter 0~4000 3600 r/min
24 Internal speed 1 -3000~3000 0 r/min
27 Internal speed 4 -3000~3000 -100 r/min
28 Arrival speed 0~3000 500 r/min
29 Input gain of analog torque command 10~100 30 0.1V/100%
30 Alarm value of torque overload 1~300 300 %
31 Inspection time of torque overload alarm 1~32767 0 ms
32 Control mode shift allowance 0~1 0
33 Input direction of analog torque command 0~1 0
reverse
22
34 Internal CCW torque limiter 0~300 300* %
35 Internal CW torque limiter -300~0 -300* %
36 External CCW torque limiter 0~300 100 %
37 External CW torque limiter -300~0 -100 %
38 Torque limiter of speed test and JOG run 0~300 100 %
39 Compensation for zero bias of analog torque -2000~2000 0
command
40 Acceleration time constant 1~10000 0 ms
41 Deceleration time constant 1~10000 0 ms
42 S-shape accel/decel time constant 1~1000 0 ms
43 Analog velocity command gain 10~3000 300 (r/min) / V
44 Analog velocity command direction reverse 0~1 0
45 Compensation for zero bias of analog -5000~5000 0
velocity command
46 Analog velocity command filter 0~1000 300 Hz
47 Mechanical brake setup while motor stops 0~200 0 ×10ms
48 Mechanical brake setup while motor is 0~200 50 ×10ms
operating
49 Mechanical brake acting speed while motor 0~3000 100 r/min
is operating
50 Velocity limiter in torque control mode 0~5000 3600* r/min
51 Dynamic electrical gear validate 0~1 0
52 Numerator of 2nd position command 1~32767 1
53 Command of forcing input port 0-3 “ON” 0000~1111 0000 Binary
54 Command of forcing input port 4-7 “ON’ 0000~1111 0000 Binary
55 Command of port 0-3 input “REVERSE” 0000~1111 0000 Binary
56 Command of port 4-7 input “REVERSE” 0000~1111 0000 Binary
57 Command of output “REVERSE” 0000~1111 0000 Binary
58 Filter time constant of input port 1~1000 16 0.1ms
59 Demo 0~1 0
4.2 Content
Chart 4.2 description

No. Item Function Range
0 Password ①Normally, in order to avoid modifying parameters by accident, 0~9999
Please set the wanted password before you set parameters. After
debugging finished, set the parameter as”0” to ensure the
parameters can not be modified in the near future.
②Password have different levels, including user parameters,
system parameters and the whole parameters.
③Must use connectible motor identifier password to modify
connectible motor identifier parameter (PA1), other password is
invalid.
④User’s password is 315.
⑤Connectible Motor identifier password is 385
23
1 Connectible Motor ①Corresponding to different power level motors and drivers in the
identifier same series. 0~51
②Different connectible motor identifier correspond to different
parameter default, please make sure the connectible motor
identifier is right before you load default parameters.
③If EEPROM alarm (NO. 20) appeares, must set this parameter
again after solving the error. Otherwise, the driver will be
abnormal or damaged.
④Must set the password PA0 as 385 before modifying this
parameter.
⑤The meaning of the parameter will be particularized in chapter 8.
⑥The operation method of loading default parameters, please
refer to chapter 7
2 Software edition Can be read, but can’t be altered. *
3 Initial display Select the display status when start-up the drivers 0~20
status 0: display the speed of motor
1: display low 5-bit of current position;
2: display high 5-bit of current position;
3: display low 5-bit of position command;
4: display high 5-bit of position command;
5: display low 5-bit of position deviation;
6: display high 5-bit of position deviation;
7: display motor’s torque;
8: display motor’s current;
9: display linear speed;
10: display control mode;
11: display pulse frequency of position command;
12: display speed command;
13: display torque command;
14:display rotor’s absolute position within one revolution;
15: display state of input interface ;
16: display state of output interface;
17: display encoder input signal;
18: display operating state;
19: display alarm code;
20: reserved
21: reserved
4 Control mode ① Set the parameter to select control mode: 0~6
selection 0:Position control mode
1: Velocity control mode
2: tiral-run control mode
3:JOG control mode;
4: encoder zero mode
5: Open loop operation mode
6:torque control mode
② Position control mode, position command input from pulse
importer.
③ Velocity control mode, velocity command input from input
24
end or analogue. Which is determined by the parameter
[internal/external speed command selection] (PA22). When use
internal speed, the combination of SC1 and SC2 select different
internal speed.
SC1 OFF, SC2 OFF: Internal speed 1
SC1 ON, SC2 OFF: Internal speed 2
SC1 OFF, SC2 ON: Internal speed 3
SC1 ON, SC2 ON: Internal speed 4
①Trial-run control mode, velocity command is input from
keyboard to test drivers and motors.
②JOG control mode.: in JOG operation, press ↑and hold on, the
motor will run at JOG speed. Release the key, the motor will stop
and keep zero velocity; press ↓and hold on, the motor will run at
JOG speed reversely, relaease the key, motor will stop rotation
and keep zero velocity.
③Encoder zero mode, for zero setting of the coder when leaving
factory.
NOTE: EP100B SERIES DON’T SUPPORT SPEED CONTROL
AND TORQUE CONTROL.
5 Proportional gain ①Set proportional gain of velocity. 5~2000Hz
of velocity ②The bigger the value, the higher the gain and the bigger the
rigidity. The servo type and loads determine this parameter.
Normally, the bigger the load inertia, the bigger the value.
③Set a bigger value if the system is stable.
6 Integral time ①Set integral time constant of velocity loop adjustor 1~1000mS
constant of velocity ②The smaller the value is, the faster the integration speed is and
the stronger the deviation resistance of system is; that’s to say,
the bigger the rigidity is. but too small value lead to overshoot
and too bigger value lead to slow response.
7 Torque command ①Set the characteristic of Torque command filter 20~500%
filter ②To restrain the resonance bring by torque
③The smaller the numeric value is, the lower the cut-off frequency
is. If the load inertia is very big, please reduce the value. But too
small value may lead to slow response and arise into oscillation.
④The bigger the numeric value is, the higher the cut-off frequency
is. If request high torque response, please increase the value.
8 Speed detection ①Set the characteristic of speed detection filter 20~500%
filter ②The smaller the numeric value is, the lower the cut-off frequency
is. If the load inertia is very big, please reduce the value. But too
small value may lead to low response and arise into oscillation.
③The bigger the numeric value is, the higher the cut-off frequency
is. If request high-speed response, please increase the value.
9 Proportional gain ①Set Proportional gain of position. 1~1000 /S
of position ②Numeric value is bigger, gain is higher and stiffness is greater. In
the same condition, lagging position will be smaller. But too
bigger value may cause instable.
③This parameter is determined by the servo type and loads.
25
10 Position feed ①Set position feed forward gain. 0~100％
forward gain ②100% value means the lagging volume is always “0”, in
whatever frequency instruction pulse.
③ Increasing the value of feedforward gain will improve
characteristic of response in high velocity. But that may also
cause position loop instable.
④Position feed forward gain is usually zero unless quick response
is needed.
11 Cut-off frequency ①Set Cut-off frequency of position feed forward filter. 1~1200Hz
of position feed ②The function of filter is to improve stability of composite position
forward filter control.
12 Numerator of ①Set numerator of position command input(electrical gear) 1~32767
position command ②In position loop, we can set the value of PA12 and PA13 in
input order to match any kinds of pulse sources and obtain perfect
resolution（angle/pulse.
③ P G  N C  4
P：number of inputting pulse;
G：electrical gear ratio;
N：number of motor rotating circle;
C：encoder resolution (CPR)，default is 2500.
④for example, 6000 pulse input will made motor to rotate 1
circle,
N  C  4 1  2500  4 5
G  
P 6000 3
the value of PA12 is 5; PA13 is 3.
⑤the commend range is
1
 G  50
50
13 Denominator of Refer to parameter PA12 1~32767
position command
input
14 Input mode of ①Set input mode of position command 0~2
position command ②parameter is 0,1 or 2:
0：command pulse＋sign input;
1：CCW/CW pulse input;
2：two channel quadrature input;
③CCW is defined as forward rotation, which is
counter-clockwise (see from motor axis).
④CW is defined as reverse rotation, which is clockwise (see from
motor axis).
15 Direction of The parameter is 0~1
position command 0：normal;
reverse 1：Direction of Position command reverse
16 In-position range ①Set In-position range 0~30000 pulse
②Servo driver can judge whether the rotor is in-position
according to this parameter. If pulse value of deviation counter is
lower or equal to this parameter, rotor is in-position and driver’s
26
output is COIN ON, if not, output is COIN OFF.
③In position control mode, driver’s output is COIN; in other control
mode, driver’s output is SCMP.
17 Position error ①Set Position error excessive. 0~30000×100 pulse
excessive ②In position control mode, if counting value of the deviation
counter exceeds this parameter, servo driver alarms
18 Invalidation of ①the parameter is: 0~1
Position error 0：activate position error excessive;
excessive 1：invalidate position error excessive.
19 Position ①The filter is to smooth input command pulse. the value is time 0~30000×0.1mS
command constant;
smoothing filter ②The filter does not lose input pulse but may delay it;
③The filter is used when:
 Upper control devices can not accelerate or decelerate;
 Proportion of electrical gear is big（>10）;
 frequency of input command is low;
 motor’s operating is instable.
④When set as “0”, filter get ineffective
20 Servo input inhibit The parameter is 0~1
invalid 0: activate CCW 、CW input inhibit . when CCW input pulse
forbidden（FSTP） is ON, CCW drive allowed; CCW input pulse
forbidden（FSTP） is OFF, torque in CCW direction keep as “0”.
CW is the same. If CCW, CW drive inhibit are all OFF, servo driver
alarm.
1：invalidate CCW、CW input pulse forbidden. CCW, CW input
pulse are all permitted. If CCW, CW input pulse are all OFF, servo
driver does not alarm.
21 JOG running Set JOG spee. -3000~3000 r/min
speed
22 Internal speed When parameter is: 0~2
selection 0: the speed selected is internal speed;
1: speed instruction selected from external analog input
2: speed instruction selected from external analog input, single
polarity 0-10v, speed direction is controlled by input terminal
FIL(CCW torque limit), RIL(CW torque limit), FIL valid and positive
rotation, RIL valid and negative rotation; both valid or both invalid,
will be zero speed. In this mode, external torque limitation is
ineffective.
23 Maximum speed ①set maximum speed limiter of servo motor 0~3000
limiter ②have no relation with rotation direction. r/min
③if the setting value exceeds rated speed, the motor’s maximum
speed is rated speed
24 Internal speed 1 ①Set internal speed 1 -3000~3000 r/min
②In speed control mode, when SC1 is OFF, SC2 is OFF, internal
speed 1 is selected.
②In speed control mode，when SC1 is ON, SC2 is OFF, internal
27
Speed 2 is selected.
②In speed control mode，when SC1 is OFF, SC2 is ON, internal
②In speed control mode, when SC1 is ON, SC2 is ON, internal
28 Speed reached ①Set speed reached 0~3000
②In position control mode, the parameter is not used r/min
③In other control mode, if motor’s speed exceeds the setting
value, SCMP will be ON, otherwise OFF
④be foreign to motor rotating direction
⑤comparing element has hysteresis property
29 Analog torque ① set proportion between voltage of analog torque command 10~100
command input input and motor’s operating torque; (0.1V/100%)
gain ② unit is 0.1V/100%;
③ the default value is 30, corresponding 3V/100% ( 3V input
bring 100% ratedl torque)
30 ①Set alarming value of torque overload. It is percentage of 1~300
nominal torque and availability in either forward rotation or
Alarm value of
reverse rotation
torque overload
②While PA31>0, motor’s torque >PA30 and last time>PA31, driver
alarm. Alarm code is Err-29.the motor stop. After alarming, the
driver should be switched on again to clear alarm.
31 Inspect time of ①Set inspect time of torque overload alarm. 1~32767
torque overload ②Torque overload alarm function is forbidden by setting zero
alarm ③in general, the parameter is 0
32 Control mode shift 0: not allowed to shift 0~1
allowed 1: allow shift. Shift by ALRS(alarm clearence) input and old alarm
clearance function get ineffective.
PA4 ALRS Control mode
0 OFF Postion
ON Speed
1 OFF Speed
ON Torque
6 OFF Torque
ON Postion
33 Analog torque ① the polarity of analog torque command input reverse when 0~1
command input parameter is :
reverse “0” and analog input is positive, the rotating direction is CCW;
“1” and analog input is negative, the rotating direction is CW;
34 Internal CCW ①Set internal CCW torque limiter 0~300%
torque limiter ②The value is percentage of nominal torque, for example, if limiter
is double nominal torque, the value is 200
③The limiter is availability in any condition
④If limiter exceed maximum over load, the available limiter is
maximum over load
28
35 Internal CW ④Set internal CW torque limiter -300~0%
torque limiter ⑤The value is percentage of nominal torque, for example, if limiter
is double nominal torque, the value is -200
⑥The limiter is availability in any condition.
⑦If limiter exceed maximum over load, the available limiter is
maximum over load.
36 ①Set external CCW torque limiter. 0~300%
②The value is percentage of nominal torque, for example, if limiter
is nominal torque, the value is 100.
External CCW
③Only when FIL is ON, the limiter is available.
torque limiter
④When the limiter is available, the actual limiter is the minimum
among driver’s maximum over load, internal CCW torque limiter
and external CCW torque limiter.
37 External CW ①Set external CW torque limiter. -300~0%
torque limiter ②The value is percentage of nominal torque, for example, if limiter
is nominal torque, the value is -100.
③Only when FIL is ON, the limiter is available.
④When the limiter is available, the actual limiter is the
minimum among driver’s maximum over load, internal CCW
torque limiter and external CCW torque limiter.
38 torque limiter of ①Set torque limit of speed test, JOG run. 0~300%
speed test, JOG ②It is available either in forward rotation or in reverse rotation.
run ③The value is percentage of nominal torque, for example, if limiter
is nominal torque, the value is 100.
④Internal torque limiter or external torque limiter is still available
39 Compensation of Compensation of analog torque command offset -2000~2000
analog torque
command offset
40 Acceleration time ①The value is the time in which motor accelerate from 0 to 1~10000mS
constant 1000r/min
②The characteristic of acceleration is linearity
③The parameter is available only in speed control mode;
④If driver combines with external position loop, the parameter is 0.
41 Deceleration time ①The value is the time in which motor decelerate from 1000r/min 1~10000mS
constant to 0
②The characteristic of deceleration is linearity
③The parameter is available only in speed control mode;
④If driver combines with external position loop, the parameter is 0
42 S-shape Set S-shape accel/decel time constant 1~1000mS
accel/decel time
constant
43 Analog velocity set proportion between voltage of analog velocity command input 10~3000r/min/V
command input and motor’s operating velocity
gain
44 Analog velocity ①Analog torque command input reverse 0~1
command input ②when parameter is 0 and analog input is positive, the rotating
reverse direction is CCW;
29
③when parameter is 1 and analog input is positive, the rotating
direction is CW;
45 Compensation of Compensation of analog velocity command offset -5000~5000
analog velocity
command offset
46 Analog velocity ① low-pass filter on analog velocity command. 0~1000Hz
command filter ② If the value is bigger, the response is quicker and effect of
noise in the motor is greater; if the value is smaller, the
response is slower and effect of noise in the motor is smaller.
47 Mechanical brake ① Define the time from mechanical brake act to the motor’s 0~200×10mS
setup while motor current is switched off;
stop ② The parameter should greater than Tb (mechanical brake
delaying time) to avoid most displacement and workpiece
falling.
③ The corresponding tome sequence is shown in Fig.7.5
48 Mechanical brake ① Define the time from the motor’s current is switched off to 0~200×10mS
acting speed mechanical brake act;
while motor is ② In order to protect mechanical brake, we set the parameter.The
operating mechanical brake act after motor’s high speed decrease to low
speed;
③ The actual time is the minimum between PA48 and the time in
which motor’s speed is decreased to PA49’s value
④ The corresponding tome sequence is shown in Fig.7.6
49 Mechanical brake ① Define the speed from the motor’s current is switched off to 0~3000r/min
acting speed mechanical brake act
while motor is ② The actual time is the minimum between PA48 and the time in
operating which motor’s speed is decreased to PA49’s value
③ The corresponding tome sequence is shown in Fig.7.5
50 Velocity limiter of ① in torque control mode, the parameter limit motor’s velocity; 0~5000r/min
torque control ② it can avoid motor’s speed exceeding the
permissible speed when motor is load less
51 Dynamic electrical ①Set as 0, inactive the dynamic electronic gear. The 0~1
gear activation function of INH is to forbid the instruction pulse.
Set as 1, the dynamic electronic gear is active. The function of INH
is control gear’s switch. When INH is off, input gear is
NO.12/No.13; when INH is ON, input gear isNo.54/No.13; pulse
ratio altered by the control of INH.
52 Numerator of 2nd ① Set the 2nd position command（electrical gear） 1~32767
position command ② Set PA51=1 to activate dynamic electronic gear. While input
port INH alter function to control terminal of electronic gear’s shift
input.
③ When INH is off, the input of electronic gear is PA12/PA13.
When INH is on, input of electronic gear is PA52/PA13; pulse ratio
altered by the control of INH.
④ The denominators of 1st and 2nd position command pulse ratio
are equal.
53 Command forcing ① Set forcing input port active. For a unforced input 0000~1111
30
input port 0-3 port, need external line to control switch ON/OFF. For a forcing
active input port, it can be auto set to ON without external control.
② Using four bits binary. 0 for unforced ON, 1 for forcing
ON, as the follow:
3 2 1 0
RSTP FSTP ALRS SON
SON：servo on;
ALRS：clear alarm;
FSTP：CCW input forbidden;
RSTP：CW input forbidden;
54 Command forcing ①Set forcing input port 4-7 active. For a unforced input port, need 0000~1111
input port 4-7 external line to control switch ON/OFF. For a forcing input port, it
active can be auto set to ON without external control.
②Using four bits binary. 0 for unforced ON, 1 for forcing ON, as the
follow:
3 2 1 0
RIL FIL INH/SC2 CLE/SC1/ZEROSPD
CLE/SC1/ZEROSPD: clear deviation counter/select speed/zero
speed;
INH/SC2：input command forbidden/speed2;
FIL: CCW torque limitation
RIL: CW torque limitation
55 Command of port 1) To set inversion of output port. For a non-inverse port, it’s valid 0000~1111
0-3 input inversion while switch is on, invalid when switch is off. For a inverse port, it’s
invalid while switch is on, valid when switch is off.
2) Using four bits binary. 0 for non-inverse, 1 for inversion, as the
follow:
3 2 1 0
RSTP FSTP ALRS SON
SON: Servo on
ALRS: Clear alarm
FSTP: CCW input forbidden
RSTP: CW input forbidden
56 Command of port ① To set inversion of output port. For a non-inverse port, it’s valid 0000~1111
4-7 input inversion while switch is on, invalid when switch is off. For a inverse port, it’s
invalid while switch is on, valid when switch is off.
② Using four bits binary. 0 for non-inverse, 1 for inversion, as the
follow:
3 2 1 0
RIL FIL INH/SC2 CLE/SC1/ZEROSPD
CLE/SC1/ZEROSPD: clear deviation counter/select speed/zero
speed;
INH/SC2：Input command forbidden/speed2
FIL：CCW torque limit;
RIL：CW torque limit.
57 Command of ① To set inversion of output port. For a inverse port, the definition 0000~1111
output inversion of on/off is inverse of standard;
31
② Using four bits binary. 0 for standard, 1 for inversion, as the
follow:
3 2 1 0
BRK COIN ALM SRDY
SRDY: Servo is ready
ALM: Servo alarming
COIN: Orientation achieved/get the aimed speed
BRK: Mechanical brake release
58 IO input port filter ① filter time constant of input port; 1~1000×0.1mS
time constant ② the smaller value, the faster response of input end;
③ The greater value, the better anti-jamming performance, but
slower response
59 Demo Special for test. 0~1
32
Chapter 5 Protection
5.1 Alarm
Table5.1 alarm
Alarm code Title Content
-- Normal
1 Over speed Motor speed is over enactment value
2 Main circuit over voltage Main circuit voltage is over normal
3 Main circuit under voltage Main circuit voltage is under normal
4 Position error Position offset counter showing value is over
enactment value
5 Overheat Motor temperature is over normal
6 Speed magnifier saturation Speed magnifier is saturation
error
7 CW,CCW input inhibit error CW,CCW input inhibit is OFF
8 Position offset counter The value is over 230
overflow
9 Encoder error Encoder is error
10 Control power under voltage Voltage of power supply is under normal
11 IPM module error IPM module is error
12 Over current Current of motor is over normal
13 Over load Driver and motor is overload
14 Mechanical brake error Mechanical brake is error
15 Encoder count error Encoder count is error
2
16 Overheat (I t) Value of I2t is over normal
17 Speed response error Speed error is over normal
19 Reset Driver reset
20 EEPROM error EEPROM is error
21 U4 error U4 is error
22 Reserved
23 U6 error U6 or current transducer is error
29 User torque overload alarm Motor loading exceed user setting value and duration
30 Encoder Z pulse lose Encoder Z pulse lose

31 Encoder UVW error Encoder UVW error or encoder is not matching
32 Encoder UVW incorrect UVW are all in high level or low level
5.2 Alarm Description&Solutions
table 5.2 description ＆ solutions

Alarm no. Title State Cause Solution
33
1 Over speed Happen after ①Control PCB error ①Exchange servo driver
turning on the ②Encoder error ②Exchange servo motor
control power
supply
Happen while frequency of input pulse is too change input pulse frequency
motor is running high
accel/decel time constant is increase acceleration /deceleration time
too small, which can cause constant
overshoot in velocity loop
electrical gear ratio is too high setup correctly
Encoder error Exchange servo motor
Cable of encoder error exchange encoder cable
overshoot ①Setup gain correctly
②Reduce the moment of inertia ratio if
you can not setup the gain properly
Happen after ①inertia of load is too big ①Reduce inertia of load
motor start ②Exchange high-power servo driver
and motor
①encoder zero signal error ①Exchange servo motor
②readjust encoder zero signal by
maker
①wrong connection of U、V、 ①check the connection
W wire
②Connection of encoder wire
is wrong
2 Main circuit Happen after ①circuit board error ①exchange servo driver
over voltage turning on the
control power
supply
Happen after ①Voltage of power supply is ①check the power supply
turning on the too high
main power ②Power supply is error
supply
Happen while ①disconnected clamp ①check the connection
motor is running resistance
①Clamp transistor is error ①exchange servo driver
②Internal clamp resistance is
error
①capacity of clamp circuit is ①Do not start or stop continually
not enough ②Increase accel/decel time constant
③decrease limit of torque
④decrease load inertia
⑤Exchange high-power servo driver
and motor
34
3 Main circuit Happen after ①Circuit board error ①exchange servo driver
under voltage turning on the ②Fuse of power supply is
main power destroyed
supply ③Circuit of soft start error
④rectifier is destroyed
①Voltage of power supply is ①check power supply
too low
②Temporary missing of
power supply for 20mS or
more
Happen while ①capacity of power supply is ①check power supply
motor is running not enough
②Temporary missing of
power supply
①radiator is too hot ①check load
4 Position error Happen after ①circuit board error ①exchange servo driver
turning on the
control power
supply
Switch on ①U 、 V 、 W connection to ①check connection
power motor is wrong
supply and ②Connection of encoder is
input wrong
instruction,moto 1.Encoder zero position ①readjust encoder zero signal;
r change ②exchange servo motor
do not rotate or 2.encoder error
rotate wrongly
Happen while ①range of position error is ①increase range of position error
motor is running too small
①position loop gain is too ①increase gain
small
①lack of torque ① check limiter of torque
② decrease load
③ Exchange high-power servo driver
and motor
① frequency of input pulse ①decrease frequency
is high
①encoder zero position ①readjust encoder zero signal
change
5 Over Happen after ①circuit board error ①exchange servo driver
temperature turning on the 1.Cables are break off ①check cables
control power 2.Motor internal temperature ②check motor
supply relay is destroyed
35
Happen while ①motor overload 1.decrease load
motor is running 2.Do not start or stop continually
3.Decrease limiter of torque
4.Decrease gain
5.Exchange high-power servo driver
and motor
①motor error ① Exchange servo motor
6 Speed Happen while ①motor is blocked ①check mechanically part
magnifier motor is running mechanically
saturation ①load is too big ①Decrease load
②Exchange high-power servo driver
and motor
7 CW 、 CCW ①CCW、CW input forbidden ①check the connection and power
input inhibit is not well connected to supply
error driver
8 Position offset motor is blocked mechanically ①check mechanical part。
counter 2. input pulse error ②check input pulse
overflow ③check weather motor
operate according to input pulse
9 Encoder error ①encoder connection is error ①check connection
①encoder is destroyed ①exchange motor
①encoder cable error ①exchange cable
①encoder’s cable are too ①shorten cable
long,which make encoder ②parallel connection
under voltage
10 Control circuit ①voltage of control power ①check control power supply
under voltage supply is under normal
①internal connections of ①exchange servo driver
driver are error ②check connector
②switch power supply is error ③check switch power supply
③Chip is destroyed
11 IPM module Happen after ①PCB error ①exchange servo driver
error turning on the
control power
supply
Happen while ①voltage of power supply is ①check driver
motor is running under normal ②switch on again
②temperature is too high ③exchange servo driver
①short circuits on U、V、W ①check connection
①Driver is not well connect to ①well connect to the ground
the ground
①insulation of motor is ①exchange servo motor
destroyed
①driver is disturbed ① add filter
② far from disturber
12 Over current ①short circuits on U、V、W ①check connection
36
①driver is not well connect to ①well connect to the ground
the ground
①insulation of motor is ①exchange servo motor
destroyed
①driver is destroyed ①exchange servo driver
13 Over load Happen after ①circuit board error ①exchange servo driver
turning on the
control power
supply
Happen while ①operating torque is higher ①check load
motor is running than normal ②Do not start or stop continually
④Exchange high-power servo driver
and motor
①mechanical brake is not ①check mechanical brake
released
①motor surge unsteadily ①Adjust gain
②increase accel/decel time constant
③decrease load inertia
①U、V、W is disconnected。 ①check connection
②Connection of encoder is
wrong
14 Mechanical Happen after ①PCB error ①exchange servo driver
brake error turning on the
control power
supply
Happen while ①disconnected clamp ①check the connection
motor is running resistance
③Clamp transistor is error。 ①exchange servo driver
④Internal clamp resistance is
error
①capacity of clamp circuit is ⑥Do not start or stop continually
not enough ⑦increase accel/decel time constant
⑧decrease limit of torque
⑨decrease load inertia。
⑩Exchange high-power servo driver
and motor
①voltage of main power ①check main power supply
supply is too high
15 Encoder count ① Encoder is destroyed。 ①exchange encoder
error ② CRP of encoder is wrong
③ Code wheel of encoder is
destroyed
④ Z signal of encoder is
error (there are more than
one Z signal per round)
37
①connection of encoder is ①check connection
wrong
①driver is not well connect to ① check connection
the ground ② check the shielded cable
connecting to the ground
16 Overheat(I2t) Happen after ①circuit board error ①exchange servo driver
turning on the ①parameter is not properly ① setup parameter
control power properly
supply
Happen while ①the driver’s cycle is bigger ①check load
motor is running than the specified ②Do not start or stop continually
④Exchange high-power servo driver
and motor
①mechanical part is error ①check mechanical part
19 Reset ①input control power supply ①check control power supply
is unstable
①driver is disturbed ① Add filter
② far from disturber
20 EEPROM ①chip or circuit board is ① exchange servo driver
error destroyed ② After amending this
error, you should setup parameter PA1
again and then restore default setting
21 U4 error ①chip or circuit board is ①exchange servo driver
destroyed
22 Reserved
23 U6 error ①chip or circuit board is ①exchange servo driver
destroyed
②current transducer is
destroyed
29 User torque PA30,PA31 parameter setting 1, adjust parameter
overload alarm is improper and unexpectable 2,check and repair mechanical
big loading occurs
30 Encoder Z ① Z pulse is not exist, ① Exchange encoder
pulse lose encoder is destroyed ② Check connecting circuit of
② Cable is error encoder
③ Cable is not well shielded
④ The shielded cable is not
well connect to the ground
⑤ Connecting circuit of
encode is error
31 Encoder U V ① UVW signal of encoder is ① Exchange encoder
W error error ② Check connecting circuit of
② Z signal of encoder is encoder
error
③ Cable is error
④ Cable is not well shielded
38
⑤ The shielded cable is not
⑥ Connecting circuit of
encode is error
32 Encoder UVW ① UVW signal of encoder is ① Exchange encoder
incorrect error ② Check connecting circuit of encoder
② Cable is error
③ Cable is not well shielded
④ The shielded cable is not
⑤ Connecting circuit of
encode is error
39
Chapter 6 Display and Keyboard Operation
The driver panel consists of 6 LED digital display and 4 keys↑、↓、←、Enter, used fordisplayiing various
system status and setting parameters etc. The function of the keys are as following:
←: back to upper operation menu or cancellation of operation
↑: sequence number, numerical number increment or forwarding selection
↓: sequence number, numerical number decreasement or backward selection.
Enter: enter into next operation menu or confirmation of operation
Note: holding press↑、↓at same time ,the operation is executed repetitively ,the longer the holding time
is ,and the faster the repetitive operation speed is .
The 6-bit digital LED can display various status and data of system, flashing of all digital tubes or the
decimal point of rightmost digital tube means alarm. POWER indicator light means main power is
switched on, RUN indicator light means motor is running.
Fig 6.0 operation panel
6.1 The first layer
Performance is executed by mutilayer operating menus. The first layer is main menu that includes 7
operating modes ,which can shift by↑、↓keys, press Enterto enter into second layer, press←,return to the
first layer from the second layer.
Fig 6.1 Operating frame of mode selection

40
6.2 The Second Layer
6.2.1 Monitoring Mode

Select “dP-” in the first layer and pressEnterto enter into monitoring mode which includes 21 display
modes. Select the desired display mode by↑、↓keys ,then press Enter to enter into specific display mode.
Fig 6.2 Operating frame of monitoring mode
Note 1: input pulse quantity is the magnified pulse through input electronic gear
Note 2: input pulse quantity is the magnified ones after inputting the electronic gear
Note 3: Pulse unit is the internal pulse one that is 10,000 pulse/rev in this sytem, the pulse quantity is
described by high 5-bit puls low 5-bit and the calculation method is as follows:
Pulse = high 5-bit numerical value X 10,000 + low 5-bit numerical value
Note 3: Control mode: 0- position control; 1-speed control; 2-speed trial run; 3-run in JOG mode;
4-encoder zeroing; 5-open loop running
Note 4: If displaying digits arrive to 6bits (such as display-12345) , will never display prompt strings.
Note 5: pulse frequency of position instruction is the actual one before inputting the electronic gear and
its min unit is 0.1kHz, with positive number or positive direction and negative number for negative
direction.
Note 6: Calculation method of motor current is as follows:
1 2
I ( IU  IV2  IW2 )
3
41
Note 7: the absolute position of rotor in a rev means the position of rotor relative to
stator in a rev; one rev is one loop and its range is 0～9999, the value has no
relation with electron gear.
Note 8: Input terminal is as Fig6.3, output terminal is as Fig6.4, encoder signal
displaying is as Fig6.5:
Fig 6.3 Input terminal display (light is ON and poor light is OFF)
Fig 6.4 Output terminal display (light is ON and poor light is OFF)
Fig 6.5 Encoder signal displaying (light is ON and poor light is OFF)
Note 9: Running state:
“cn-oFF”: the main circuit has not charged and the servo system does not run.
“cn-Ck”: the main circuit has been charged and the servo system does not run (the servo has no
enabling and an alarm occurs )
“cn-on”: the main circuit has been charged and the servo system runs normally.
Note 10: “Err--”for alarm means the system is normal and no alarm occurs
6.2.2 Parameter Setting

Select “PA-” in the first layer and pressEnterto enter into parameter setting mode. Select parameter
number by ↑、↓,then press Enterto display the value of that parameter, modify the value by↑、↓. Press↑or
↓ key for once to increase or decrease 1 for the parameter value, press and hold on↑or ↓ to continuously
increase or decrease value for the parameter. When the parameter value is modified, the decimal point of
42
rightmost LED digital tube is lighted, press Enterto confirm the modification, and then the decimal point of
rightmost LED digital tube is put out; And the modified value will immediately respond to the control
process, press↑or ↓ to go on modifying parameters till the completionof modification, then press← to
back to parameter selection state. Do not press Enter to confirm if the parameter modified are not proper,
but press ← to cancel it to make the parameter recover to its previous value and back to the parameter
selection state.
Fig 6.6 Operating frame of parameter setting
6.2.3 Parameter Management

The parameter management mainly processes operation of memory and EEPROM,select “EE-”in the first
layer and press Enterto enter into parameter management mode. Firstly select the operating mode that
has 5 modes by ↑、↓. For example, for “parameter access”, select “EE-Set”, then pressEnter and hold it on
for over 3 seconds, the displayer shows“StArt”,that means the parameter is being reading into EEPROM,
After 1~2 seconds, the displayer displays “FInISH”, if the reading is succeed, otherwise “Error” is displayed.
Press ←again to return to selection mode.
 EE-SEt : parameter writing, it means to write the parameters in the memory into EEPROM
parameter zone. The parameters modified by user only chang the parameter values in memory that
they will recover to their previous values after power on again. If the parameter values are changed
permanently,parameter writing operation is executed and the parameters in the memory are warren
into the EEPROM parameter zone so the modified parameter valuesare valid after power on again.
 EE- rd : parameter reading, It means to read the data in EEPROM parameter zone into the memory.
The process will be executed automatically when power on .At the beginning, the parameter in the
memory are the same as that of EEPROM parameter zone.If the user us not satisfied with the
modified parameter values or the parameters are disordered,the parameter reading operation is
executed to read data in EEPROM parameter zone into the memory to recover the previous
parameters which are in the state of power on.
 EE- bA: Parameter backup, It means to write the parameter in the memory into EEPROM backup
zone. The whole EEPROM zone consists of parameter zone and backup zone that can store two
sets of parameter. EEPROM parameter zone is used for power on, parameter writing and reading,
and EEPROM backup zone for parameter backup and backup recovering. If user is satisfied with
one set of parameters with further modification and want further modification, he can save the
memory parameters into the EEPROM backup zone in advance, then modify the parameters. If the
result is not satisfied, recover the backup to read the parameters which are saved in EEPROM
backup zone last time into the memory for further modification or completion.Besides, after the user
set parameter, execute the reading and backup to ensure data in EEPROM parameter and backup
zone are the same to avoid parameter to be modified by mistake, and also can use the recovering
backup operation to read the data in EEPROM backup zone into the memory and write operations
43
by parameters ,and write parameter in the memory into EEPROM parameter zone.
 EE- rS: Recovering copy. It means to read the data in EEPROM backup zone into the
memory,which does not execute the parameter writing and reading operation, the data in EEPROM
parameter zone are still read into the memory when power on again. If the user want to permanently
use parameter in EEPROM backup zone, execute the parameter writing operation again.
 EE-dEF: recovering default value. It means to read all default values of parameters into memory
and write them into EEPROM parameter zone that it will be used when power on again. Execute the
above operation to recover all parameter to their original before delivery if the the user adjusts
parameter by mistaken to cause the system can’t run normally. Because the different driver type
corresponds to different parameter default value, so ensure the driver type is right (parameter No.1)
when using the recovering default parameter. Please refer to chapter 7.
Fig 6.7 Operating fram of parameter management
Fig 6.8 Operating meaning of parameter management
6.2.4 Speed trial run

Select “5r-“ and press “Enter” into trial running mode. Speed trial running prompt is “5” , value unit is r/min
and driver is in speed control mode. Speed command supplied by press keys ↑ , ↓ can change speed
command and motor run at given speed.
44
6.2.5Run in JOG Mode
Select “Jr- ” in the first layer and press Enter key to enter into JOG run mode. The prompt identifier is “J”
and the unit is r/min. The system is in speed control mode and its speed instructions are changed by keys.
After entering into JOG mode, press ↑key and hold to make motor run in JOG mode, release the key to
make motor stop with 0; press↓and hold it to make motor run counterclockwise in JOG mod, and release
the key to make motor stop with the speed of 0. The speed in JOG mode is set by PA21
Fig 6.10 Operating frame in JOG mode
6.2.6 Analog automatic zero adjustment

If use this operation, driver will automatically check speed analog zero offset(or torque analog zero offset), and
write the zero offset value into PA45(or PA39) and save into EEPROM. Select “AU-“ under first layer and press
“Enter” into zero adjustment operation mode.
After automatic zero adjustment, user can continuel modify PA45(or PA39) and do manual zero adjustment.
45
Chapter 7 Run
7.1 Earthing
The driver and the motor must be grounded and PE terminal of driver must be connected with the
terminal of grounding device. In this servo unit, adopts PWM technics and provide power to servo motor
through pliotron. So signal wire of driver may affected by switch noise. To comply with EMC
standard, grounding wire should be as thick as possible and grounding resistance should be as
small as possible.
7.2 Work Time Sequence
7.2.1 Power supply connection sequence:

1. Connect the power supply with input terminal of main circuit power supply by electromagnetism.
2. power supply r,t of control circuit and main circuit power supply are switched on simultaneously or
the former is prior to the latter. If only power supply of control circuit is switched on, the servo ready
signal (SRDY) is OFF.
3. The main circuit power supply is switched on and delays 1.5s, and the servo ready signal (SRDY) is
ON, the servo can receive the servo enabling signal (SON) and detect it to be valid, the base
electrode circuit is switched on and the motor runs.When the servo enabling is invalid or alarms,
then base electrode circuit is switched off and the motor is in free state.
4. the base electrode circuit is switched on after 1.5s when the servo enabling and the power supply
are switched on together.
5. if the power supply is switched off or on frequently,the soft start circuit and the energy comsuption
brake circuit may get damaged. Frequency of on-off should be less than 5 times in one hour and 30
times less each day. Owing to the overheating of the driver and the motor, the power supply is
switched on only after the fault is resolved and waiting for 30 minutes to cool it down.
Fig 7.1 Power supply connection diagram
46
7.2.2 Time Sequence Diagram
Fig 7.2 Time sequence of power supply connection
Fig 7.3 time sequence of alarm
7.3 Usage of Mechanic Brake
Mechanical brake (holding brake) is used to lock vertical or slant work talbe which connected with motor to
avoid work table falling when servo power lose. To get this function, customer should select motor with
brake function when ording from supplier. Brake can only used to hold work table, but never used for
deceleration or stop rotation of machine.
Fig 7.4 is wiring diagram of brake, user mechanica brake release signal BRK from driverto control brake.
Note: brake powe supply is provided by user and should have enough capacity. We suggest installing
surge absorber to inhabit surge voltage arised from relay on/off operation. Can also use diode as surge
absorber, but may arise into brake delay a little.
Fig 7.5 shows normal situation, action time sequence of mechanic brake when motor stops. At this time,
motor continue swithched on to hold position, brake execute operation from release to brake, stops for a
while (time decided by parameter PA47) and cancel motor power supply.
Fig 7.6 , motor is running and speed exceeds 30r/min, at this time motor current cuts off and brake keep
on release state , then delay for a while and brake.These operation ensure mechanical brake operation
after decelerating from high speed to low speed to avoid damage brake.Delay time is Pa48 or required
time of motor speed decelerate to value of parameter PA49, selecting the smaller value of the two.
47
Fig 7.4 mechanic brake wiring
Fig 7.5 Action time sequence of mechanic brake when motor stops (motor speed <30r/min)
Fig 7.6 Action time sequence of mechanic brake when motor rotates
7.4 Notes
Applicable for occasion which has frequent start and stop operation. Must ensure it is in allowable
frequency range. The allowable frequency vary with motor kind, capacity, inertia and revolution. First of
all, set acceleration /deceleration time to avoid large regenerative energy(in position mode, set
acceleration /deceleration of upper controller output pulse or set dirver PA19; in speed control mode, set
drivr PA40 or PA41). When the loading inertia is M times of motor inertia, the allowable start/stop
frequency for the servo motor are as following:
Load inertia ratio Allowable start/stop frequency
M≦3 >100 times/min; acceleration /deceleration
time is 60ms or less
M≦5 60—100times/min; acceleration /deceleration
time is 150ms or less
48
M>5 <60 times/min; acceleration /deceleration time
is more than 150ms
7.5 Trial run

7.5.1 Checking before operation
After installation and wiring, please check following items before power on the driver:
 wiring is correct? Is there any flexible for R, S, T and U,V,W terminals?
 Input voltage is correct?
 There is no short-circuit for motor cables and cables are all grounded
 Motor encoder wiring are correct
7.5.2 Test-run
1. before powering on
 Dry run without any load on motor shaft
 Since motor acceleration /deceleration give impact ,so must fix motor
2. wiring
 Do wiring by refer to Fig7.7, main circuit terminal, 3ph AC 220V connect to R, S, T terminals.
 Control voltage terminal r, t connect to single phase AC 220V.
 Encoder signal connector CN2 must well connected with servo motor
 Control signal connector CN1 wiring please refer to Fig 7.7
3. JOG operation
 Get on control circuit power supply(not get on main circuit power supply now), the driver displayer is
lighten; if alarm occure, please check wiring.
49
 Get on main circuit power supply, POWER indicator get lighten .
 Set parameter value as following table
Parameter number Specification Parameter value Default value
PA4 Control mode selection 3 0
PA20 Servo inhibit input is invalid 1 0
 Make sure there is no alarm or other abnormal, light SERVO ENABLE ON, RUN indicator , now
motor encourage and stay in zero speed status.
 Enter into JOG mode by pressing keys , speed test-run prompt is”J 0”, value unit is r/min, system
stays in speed control mode and speed command is supplied by press keys. Press↑ and hold, motor
will run at JOG speed,release the button, motor stops rotation and keep in zero speed; press ↓and
hold, motor do reverse rotation at JOG speed, release button,motor stops rotation and keep in zero
speed. JOG speed is set by PA21 and the default value is 120r/min.
 If the external control servo enable (SON) is not convenient, can set PA53=0001, and forcing
SERVO ENABLE ON valid and no need external wiring control SON.
4. Manual speed adjustment

 Get on control circuit power supply(not get on main circuit power supply now), the driver displayer is
lighten; if alarm occure, please check wiring.
 Get on main circuit power supply, POWER indicator get lighten .
 Set parameter value as following table
Parameter number Specification Parameter value Default value
 Make sure there is no alarm or other abnormal, light SERVO ENABLE ON, RUN indicator , now
motor encourage and stay in zero speed status.
 Enter into speed test-run mode by pressing keys , speed test-run prompt is”5 0”, value unit is r/min,
system stays in speed control mode and speed command is supplied by pressing keys. Press↑,
↓buttons to change speed command and motor rotates at given speed.
 If the external control servo enable (SON) is not convenient, can set PA53=0001, and forcing
SERVO ENABLE ON valid and no need external wiring control SON.
7.6 Simple Wiring Running of Position Control Mode
1, wiring
 wiring by referring to fig7.7, main circuit terminal , 3-phase AC 220V connect with R, S, T terminals.
 Control voltage terminal r,t connect with single phase AC 220V
 Encoder signal socket CN2 is well connected with servo motor
 Wiring of Control singal socket CN1,please refer to diagram
50
Fig 7.8 simple wiring diagram of position control mode
2, Operation
 Switch on control circuit power supply and main power supply, indicator display and POWER
indicator light.
 Set parameter value:
Parameter No. Meaning Parameter value Factory setting
PA12 Electronic gear numerator Set by user 1
PA13 Electronic gear denominator Set by user 1
PA19 Smoothing filter of position instruction 0 0
PA20 Servo inhibit input invalid 1 0
 Under situation of No alarm and not any abnormal, make servo enabling (SON) ON, RUN indicator
light; send low frequency pulse signal from controller to driver and make motor running at low speed.
3．Electronic gear ratio
The driver comes with an encoder of 1000pulse/rev, can set electronic gear parameter through PA12,
PA13 to get any pulse equivalent.
51
Note: operator can set any value to numerator and denominator and get any ratio, but better not
exceed range of 1/50~50.
Table 7-1 relation between input pulse number and rotation circle
Input pulse number Motor rotation circle Electrical gear Electrical gear
numerator PA12 denominator PA13
Pules pules  PA12 PA12 PA13
10000  PA13
10000 1 1 1
5000 1 2 1
3000 1 10 3
800 1 25 2
20000 1 1 2
1000 2/3 20 3
4000 3 30 4
Table 7-2 relation between input pulse number and rotation speed
Input pulse frequency Motor rotation speed Electrical gear Electrical gear
(Hz) (r/min) numerator PA12 denominator PA13
frequency frequency  60  PA12 PA12 PA13
10000  PA13
300k 1800 1 1
500k 3000 1 1
100k 1200 2 1
100k 1800 3 1
50k 1000 10 3
200k 800 2 3
100k 300 1 2
7.7 Simple wiring running in speed control mode
1, wiring
 wiring by referring to fig7.9, main circuit terminal , 3-phase AC 220V connect with R, S, T terminals.
 Control voltage terminal r,t connect with single phase AC 220V
 Encoder signal socket CN2 is well connected with servo motor
 Wiring of Control singal socket CN1,please refer to diagram
 If only do speed adjustment control, can no need connect encoder output signal; if external controller
is position controller, need connect encoder output signal.
52
2, Operation
 Switch on control circuit power supply and main power supply, indicator display and POWER
indicator light.
 Set parameter value:
Parameter No. Meaning Parameter value Factory setting
PA22 Internal/external speed command selection 1 1
PA40 Acceleration time constant 0 0
PA41 Deceleration time constant 0 0
PA43 Analog speed command gain Set by user’s need 300
PA44 Analog speed command direction reverse 0 0
PA45 Analog speed command zero offset c 0 0
53
 If there is No alarm and not any abnormal, make servo enabling (SON) ON, RUN indicator light;
send low frequency pulse signal from controller to driver and make motor running at low speed.
 Add an adjustable DC voltage to analog speed input terminal, increase the voltage from 0 step by
step and make sure motor speed change accordingly with command; add minus voltage and motor
should do reverse rotation.
 Switch off zero speed clamp swith ZEROSPD, motor should stop and keep in zero speed.
 If the given analog voltage is zero (0V), since the upper controller and driver has zero offset voltage ,
so the motor may do rotation at low speed, can adjust PA45 to do zero offset and make motor zero
speed.
 Adjust PA43, PA44 to change input gain and direction.
7.8 Adjustment
7.8.1 Basic Gain Adjustment

 Speed control
1) [Speed proportional gain](parameter No.5) setting value should be as big as possible without
vibration. Generally, the bigger the load inertia is ,the bigger the setting value [speed proportional gain]
is.
2) [Speed integration time constant] (parameter No.6) setting value should be as small as possible
without vibration.
 Position control
1) Set proper [speed propotion gain] and [speed integration time constant] by follwing above method.
2) [Position feedforward gain](parameter No.10) setting vale should be 0%
3) [Position propotion gain](parameter No.9)setting value should be as big as possible in a stable range.
If it is too big,the track characteristic of position instruction is good and the lag error is small, but there
will be vibration when stopping positioning.
4) If the high characteristics of position track are required, increase the setting value (position
feedforward gain); but if it is too big, it will cause the overshoot.
Refer to [position proportional gain] setting value as follows:
Rigidity [position propotion gain]
Low rigidity 10~20/S
Middle rigidity 30~50/S
High rigidity 50~70/S
54
7.8.2 Adjustment Frame of Basic Parameter
Fig 7.8 Adjustment frame of basic parameter
7.9 Normal Problem
7.9.1 Recover default parameter
Fig 7.9 recover default parameter operation

When problems happened bellow, please use recover default parameter function (factory parameter):
1) Parameter mess and system can’t work normally;
2) System power off rightly as saving parameter and arise into system automatically recover default
parameter, but model code (PA1) is not matchable with the driver and motor;
3) Driver need change old motor, but new motor is not same model with the old one. Steps for
recovering default parameter as bellow:
1. check driver model（3A, 5A）and matchable motor model, check out model code in table 8.2
(apply for 3A driver )and table 8.3(apply for 5A driver) in chapter 8.3. Special pay attention that
never take the driver model by mistake, otherwise may damage driver. Take 3A drive match with
110ACM06020 motor as example, check out table 8.1 and get model code 67;
2. amend passward parameter PA0 as 385;
3. amend model code parameter PA1 as selected model code, in this example, model code is 67,
and parameter value display “3A- 67”, “3A” denotes to select 3A driver.
4. write parameter default value into EEPROM. Select “EE- ”, pressEnter to enter into parameter
management mode. Firstly need select operation mode and there are 5 kinds of mode, use ↑、
↓key to select. Select “EE-dEF”, then press Enter and hold for 3seconds, monitor
55
displays“StArt ”, indicationg parameter are writing into EEPROM, around 1~2 seconds later, if
write-in operation success, monitor displays “FInISH”, if failed, will display “Error ”.
5. last operation successed and switch off driver power supply, then electrify repeatly and operation
finished .
7.9.2 Frequently display alarm Err-15、Err-30、Err-31、Err-32

These alarms show that there are some problems with photoelectric encoder and its connection wire;
can solve problem in some ways as bellow:
1. Whether connection wire and socket are well conneted or not ?
2. Make sure shield wire is well welded ;
3. Make sure driver grounding terminal PE is well earthed;
4. Make sure motor grounding terminal and driver grounding terminal PE are well connected.
5. If connecting cable is too long, may arise into power overpressure on cable, please use multiple core
wire to connect encoder 5V and 0v.
6. Connecting cable should not share the same wire chase with strong current wire and try to change
cable through. If above measures don’t bear fruits, please get contact with supplier.
7.9.3 Power Indicator does’t work

In normal status of control power and strong current power, driver LED digital display and no alarm; but
strong current power indicator doesn’t light and driver doesn’t work. When meet this case, it’s mainly
trouble of driver internal circuit and make driver in protection status; please get contact with supplier.
56
Chapter 8 Specification
8.1 Servo Driver Dimension
Size (mm) A B
GTAS-30A 152 77
GTAS-50A 200 108
Fig 1-1 GT dimension
8.2 Servo Driver Specification
Model GTAS-30A GTAS-50A

Input power 3-phase AC220V -15%～+10% 50/60Hz
temperature Work: 0～40°C storage:-40°C～50°C
t
Environmen
Humidity 40%～80%(no dewing)

atmospheric pressure 86~106kPa
Control method EP100 Series Position control, speed control, torque control
EP100B Series Position control
Regenerative brake Built-in
Speed frequency response ≥250Hz
Characteristics
Characteristic
Speed fluctuation rate <±0.03( load 0～100%)；<±0.02(power supply -15%～+10%)

(numerical value corresponding to rated speed)
Timing ratio 1:5000
Pulse frequency ≤500kHz
57
① Servo enable ②alarm clearance ③CCW servo inhibit
④CW servo inhibit ⑤Deviation counter zero/speed selection
Control input 1/zero speed clamping ⑥ instruction pulse inhibit/speed selection
2 ⑦CCW torque limit ⑧CW torque limit
Control output ① servo ready output②servo alarm output ③positioning
completing output/speed in-position output④mechanical brake
output
Position control Input method ①pulse+symbol ②CCW pulse/CW
pulse③2-phase A/B orthogonal pulse
Electrical gear 1~32767/1~32767
Feedback pulse 2500line/rev
Speed control 4 kinds of internal speed
Acceleration function Parameter setting: 1~10000ms / 1000r/min
Monitor function Speed, current position,instruction pulse accumulation, position
deviation, motor torque, motor current, linear speed, rotor absolute
position, instruction pulse frequency, running state, input/output
terminal signal and so on.
Protection function Overspeed, overvoltage/undervoltage of main power supply,
overcurrent, overload, brake abnormity, encoder abnormity, control
power supply abnormity, position out-of-toleration
Load inertia Less than 5 times of motor inertia
8.3 Comparison Table of Model Code Parameter and Motor
Setting value of parameter PA1(model code) must be matchable with adopted driver and motor, setting
value of parameter PA1, please refer to bellow table; if not matchable ,will arise into performance
decreasement or alarm problem. Each model code has its different default parameter combination. PA1
is well set in factory and corresponding default parameter combination is recovered before delivery; if
need adjust model code or recover parameter combination, please refer to chapter 7.
Table 8.1 Motor matchable with servo drive GTAS-30A
Model code ACM series motor Power Rated torque Rated Rev
(kW) (Nm) (r/min)
73 60ACM00630 0.2 0.637 3000
74 60ACM01330 0.4 1.27 3000
75 60ACM01930 0.6 1.91 3000
76 80ACM01330 0.4 1.27 3000
77 80ACM 02430 0.75 2.4 3000
78 80ACM 03520 0.73 3.5 2000
79 80ACM 04025 1.0 4 2500
80 90ACM02430 0.75 2.4 3000
81 90ACM03520 0.73 3.5 2000
82 90ACM04025 1.0 4 2500
83 110ACM02030 0.6 2 3000
84 110ACM04020 0.8 4 2000
85 110ACM04030 1.2 4 3000
86 110ACM05030 1.5 5 3000
87 110ACM06020 1.2 6 2000
58
88 110ACM06030 1.8 6 3000
89 130ACM04025 1 4 2500
90 130ACM05025 1.3 5 2500
91 130ACM06025 1.5 6 2500
92 130ACM07725 2 7.7 2500
93 130ACM10010 1 10 1000
94 130ACM10015 1.5 10 1500
95 130ACM10025 2.6 10 2500
51 130ACM15015 2.3 15 1500
Table 8.2 Motor matchable with servo driver GTAS-50A
Model code ACM Series motor Power Rated torque Rated Rev.
(kW) (Nm) (r/min)
105 130ACM15025 3.8 15 2500
7 150ACM15025 3.8 15 2500
8 150ACM18020 3.6 18 2000
9 150ACM23020 4.7 23 2000
10 150ACM27020 5.5 27 2000
106 180ACM17215 2.7 17.2 1500
107 180ACM19015 3 19 1500
108 180ACM21520 4.5 21.5 2000
109 180ACM27010 2.9 27 1000
110 180ACM27015 4.3 27 1500
111 180ACM35010 3.7 35 1000
112 180ACM35015 5.5 35 1500
8.4 Explanation to Servo Motor Model
8.5 Wiring of Servo Motor
8.5.1 Winding Wring

Terminal sign Terminal No. Terminal explanation
59
U 2 U-phase power supply input of motor
V 3 V-phase power supply input of motor
W 4 W-phase power supply input of motor
1 Grounding terminal of motor shell
8.5.2 Brake
DC+ 1 Power supply of brake
DC- 2
3 Grounding terminal of motor shell
8.5.3 Standard Encoder

Terminal sign Terminal No. Terminal explamation
5V 2 5V power supply input of encoder
0V 3
A+ 4 A-phase output of encoder
A- 7
B+ 5 B-phase output of encoder
B- 8
Z+ 6 Z-phase output of encoder
Z- 9
U+ 10 U-phase output of encoder
U- 13
V+ 11 V-phase output of encoder
V- 14
W+ 12 W-phase output of encoder
W- 15
FG 1 Encoder shell
8.5.4 Wire Saving Encoder

5V 2 5V power supply input of encoder
0V 3
A+ 4 A-phase output of encoder
A- 7
B+ 5 B-phase output of encoder
B- 8
Z+ 6 Z-phase output of encoder
Z- 9
FG 1 Encoder shell
8.6 Servo Motor Parameter
8.6.1 80 Series Motor Parameter

Motor model 80ACM01330L 80ACM02430L 80ACM03520L 80ACM04025L
Power (kW) 0.4 0.75 0.73 1.0
60
Rated torque (N∙m) 1.3 2.4 3.3 4.0
Rated revolution (r/min) 3000 3000 3000 2500
Rated current (A) 2.6 4.2 4.8 4.4
2 -4 -4 -4
Rotation inertia (kg∙m ) 0.74×10 1.2×10 1.58×10 2.97×10-4
Motor weight (kg) 2.2 2.8 3.5 3.8
Encoder line 2500
Polarity 4
Insulation class B
Guard class IP65
Rated torque 1.3 2.4 3.5 4.0

(N∙m)
L(mm) 123 150 178 190

Motor model 110ACM02030L 110ACM04030L 110ACM05030L 110ACM06020L 110ACM06030L
Power (kW) 0.6 1.2 1.5 1.2 1.8
Rated torque
2 4 5 6 6
(N∙m)
Rated revolution
3000 3000 3000 2000 3000
(r/min)
Rated current (A) 2.5 5.0 6.0 4.5 6.0
-3 -3 -3 -3
Rotor inertia 0.31×10 0.54×10 0.63×10 0.76×10 0.76×10-3
(kg∙m2)
Motor weight (kg) 4.5 5.5 6.1 6.7 6.7
Encoder lien 2500
Polarity 4
Insulation class B
Guard class IP65
Voltage : 24VDC(-15%～+10%), current ≤0.6A,brake torque≥8Nm, rotation
Brake
inertia :0.64×10-4kg∙m2
61
Rated torque (Nm) 2 4 5 6

LA 159 189 204 219
LB 55 55 55 55
LC 5 5 5 5
LD 12 12 12 12
LE 95 95 95 95
LF 110 110 110 110
LG 130 130 130 130
LZ 9 9 9 9
S 19 19 19 19
H 21.5 21.5 21.5 21.5
W 6 6 6 6

Power (kW) 1.0 1.3 1.5 2.0
Rated torque (N∙m) 4 5 6 7.7
Rated revolution
2500 2500 2500 2500
(r/min)
Rated current (A) 4.0 5.0 6.0 7.5
2 -3 -3 -3
Rotor inertia (kg∙m ) 0.85×10 1.06×10 1.26×10 1.53×10-3
Motor weight (kg) 7.7 8.2 8.9 10
Encoder line 2500
Polarity 4
Insulation class B
Guard class IP65
Voltage: 24VDC(-15%～+10%), current ≤0.6A, brake
Brake
torque≥12Nm,rotation inertia: 1.67×10-4kg∙m2

Power (kW) 1.0 1.5 2.6 2.3
Rated torque (N∙m) 10 10 10 15
Rated revolution
1000 1500 2500 1500
(r/min)
62
Rated current (A) 4.5 6.0 10 9.5
2 -3 -3 -3
Rotor inertia (kg∙m ) 1.94×10 1.94×10 1.94×10 2.77×10-3
Motor weight (kg) 11.5 11.5 11.5 14.4
Encoder line 2500
Polarity 4
Insulation class B
Guard class IP65
Voltage: 24VDC(-15%～+10%), current≤0.6A, brake
Brake
Motor model 130ACM15025L

Power (kW) 3.8
Rated torque (N∙m) 15
Rated revolution (r/min) 2500
Rated current (A) 13.5
2
Rotor inertia (kg∙m ) 2.77×10-3
Motor weight (kg) 14.4
Eocoder line 2500
Polarity 4
Insulation class B
Guard class IP65
Voltage: 24VDC(-15%～+10%),current≤0.6A,brake
Brake
Roted torque (N∙m) 4 5 6 7.7 10 15

1500 2500 1500 2500
LA 166 171 179 192 213 209 241 231
LB 57 57 57 57 57 57
LC 5 5 5 5 5 5
LD 14 14 14 14 14 14
LE 110 110 110 110 110 110
LF 130 130 130 130 130 130
LG 145 145 145 145 145 145
LZ 9 9 9 9 9 9
S 22 22 22 22 22 22
63
H 24.5 24.5 24.5 24.5 24.5 24.5
W 6 6 6 6 6 6

Motor model 150ACM15025 150ACM18020 150ACM23020 150ACM27020
Power (kW) 3.8 3.6 4.7 5.5
Rated current (A) 17 17 21 24
2 -3 -3 -3
Rotor inertia (Kg∙m ) 3.88×10 4.6×10 5.8×10 6.8×10-3
Motor weight (kg) 15.7 17.8 21.4 23.7
Encoder line 2500
Polarity 4
Insulation class B
Guard class IP65
Voltage: 100VDC(-15%～+10%), current≤0.4A,brake
Brake
torque≥30Nm, rotation inertia: 6×10-4kg∙m2
Rated torque 15 18 23 27
(Nm)
LA 230 248 278 302

Power (kW) 2.7 3.0 4.5 2.9
Rated voltage 220 380 220 380 220 380 220 380
Rated torque (N∙m) 17.2 19 21.5 27
Rated current (A) 10.5 6.5 12 7.5 16 9.5 12 7.5
-3 -3 -3
Rotor inertia (Kg∙m )2
3.4×10 3.8×10 4.7×10 6.1×10-3
Motor weight (kg) 19.5 20.5 22.2 25.5
Encoder line 2500
Polarity 4
Insulation class B
64
Guard class IP65
Brake

Power (kW) 4.3 3.7 5.5 7.5
Rated voltage 220 380 220 380 220 380 220 380
Rated current (A) 16 10 16 10 19 12 32 20
2 -3 -3 -3 -3
Rotor inertia (Kg∙m ) 6.1×10 8.6×10 8.6×10 9.5×10
Motor weight (kg) 25.5 30.5 30.5 40
Encoder line 2500
Polarity 4
Insulation class B
Guard class IP65
Brake
65

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GTAS-30A/50A

SoTeng CNC Technology Co.,Ltd

CHAPTER 1 PRODUCT CHECKING AND INSTALLATION .............................................................................. 3

Chapter 1 Product Checking and Installation

1.1 Check after Delivery

1.2 Installation and Wiring

1.3 Installation Method

Fig 1.1 installation diagram of servo driver

1.4 Installing Motor

1.4.1 Installation Environment

2.1 Wiring Specification

 Wire size: wire size of R,S,T,PE,U,V,W ≥1.5mm2(AWG14-16), wire size of r, t ≥0.75mm2(AWG18);

2.2 Wiring Method

2.3 Caution to Wiring

2.4 Standard Wiring

2.4.1 Position Control

FG 36 9 GND GND Ｅｎｃｏｄｅｒ ｓｉｇｎａｌ ｇｒｏｕｎｄ

3.1 Power Supply Terminal TB

Table 3.1 power terminal TB

3.2 Control Terminal CN1

26 Servo alarm output ALM＋ Type2 Servo alarm output terminal

3.3 Feed back Signal Terminal CN2

Table 3.3 signal input/output terminal CN2 of encoder

3.4 Interface Terminal Configuration

Fig 3.1 CN1

Fig 3.2 CN2

3.5 I/O Interface Method

3.5.1 Input interface of switching value

Fig 3.3 Type1 input interface of switching value

1) power supply is provided by user, DC12～24V, current ≧100Ma;

3.5.2 Output interface of Switch Value

b. photoelectric coupling connection

3.5.3 Pulse value input interface

Table 3.5 pulse input time sequence parameter

CW trh CCW trl CW

Fig 3.7 Pulse+Sign input connector time sequency diagram(ｍａｘ．ｐｕｌｓｅ ｆｒｅｑ．５00kHz)

3.5.4 Analog input connecotr

Controller servo amplifier

Fif 3.10 b analog single terminal input connector（type4）

Fig 3.10 c Aｎａｌｏｇ ｄｉｆｆｅｒｅｎｔｉａｌ ｐｏｔｅｎｔｉｏｎｍｅｔｅｒ ｉｎｐｕｔ ｃｏｎｎｅｃｔｏｒ（type4）

Fig 3.10 d Ａｎａｌｏｇ ｓｉｎｇｌｅ ｔｅｒｍｉｎａｌ ｐｏｔｅｎｔｉｏｎｍｅｔｅｒ ｉｎｐｕｔ ｃｏｎｎｅｃｔｏｒ（type4）

3.5.5 Encoder signal output connector

Controller servo amplifier

AM26LS32 GND AM26LS31

Fig 3.11 a Oｐｔｉｃａｌ ｅｎｃｏｄｅｒ ｏｕｔｐｕｔ ｃｏｎｎｅｃｔｏｒ（Type5）

Fig 3.11 b Oｐｔｉｃａｌ ｅｎｃｏｄｅｒ ｏｕｔｐｕｔ ｃｏｎｎｅｃｔｏｒ（Type5）

3.5.6 Encoder Z signal open collector ouput connector

Fig 3.12 Ｏｐｔｉｃａｌ ｅｎｃｏｄｅｒ ｏｕｔｐｕｔ ｃｏｎｎｅｃｔｏｒ（Type6）

3.5.7 Optical encoder input connector of Servo motor

Fig 3.13 Ｏｐｔｉｃａｌ ｅｎｃｏｄｅｒ ｉｎｐｕｔ ｃｏｎｎｅｃｔｏｒ ｏｆ ｓｅｒｖｏ ｍｏｔｏｒ

3.6 Power Terminal TB of Servo Driver(GTAS-50A)

Fig 3.7 Power Terminal TB of servo driver(GTAS-50A)

Chart 4.2 description

30 Encoder Z pulse lose Encoder Z pulse lose

5.2 Alarm Description&Solutions

table 5.2 description ＆ solutions

Chapter 6 Display and Keyboard Operation

Fig 6.0 operation panel

FG 36 9 GND GND Ｅｎｃｏｄｅｒ　ｓｉｇｎａｌ　ｇｒｏｕｎｄ

Fig 3.7 Pulse+Sign input connector time sequency diagram(ｍａｘ．ｐｕｌｓｅ　ｆｒｅｑ．５00kHz)

Fig 3.10 c Aｎａｌｏｇ　ｄｉｆｆｅｒｅｎｔｉａｌ　ｐｏｔｅｎｔｉｏｎｍｅｔｅｒ　ｉｎｐｕｔ　ｃｏｎｎｅｃｔｏｒ（type4）

Fig 3.10 d Ａｎａｌｏｇ　ｓｉｎｇｌｅ　ｔｅｒｍｉｎａｌ　ｐｏｔｅｎｔｉｏｎｍｅｔｅｒ　ｉｎｐｕｔ　ｃｏｎｎｅｃｔｏｒ（type4）

Fig 3.11 a Oｐｔｉｃａｌ　ｅｎｃｏｄｅｒ　ｏｕｔｐｕｔ　ｃｏｎｎｅｃｔｏｒ（Type5）

Fig 3.11 b Oｐｔｉｃａｌ　ｅｎｃｏｄｅｒ　ｏｕｔｐｕｔ　ｃｏｎｎｅｃｔｏｒ（Type5）

Fig 3.12 Ｏｐｔｉｃａｌ　ｅｎｃｏｄｅｒ　ｏｕｔｐｕｔ　ｃｏｎｎｅｃｔｏｒ（Type6）

Fig 3.13 Ｏｐｔｉｃａｌ　ｅｎｃｏｄｅｒ　ｉｎｐｕｔ　ｃｏｎｎｅｃｔｏｒ　ｏｆ　ｓｅｒｖｏ　ｍｏｔｏｒ