EA100

Operation Manual
EA100 200~1000W
AC Servo Drive
Version:E12.1
Thank you for using this drive. This manual just provides relevant information of EA100 series AC
servo drive and its adaptive motor.
 Installation and inspection of the servo drive and servo motor

 Operation instruction of the servo drive panel
 Code instruction
 Malfunction instruction
This manual suits for users as follows for reference

 Installation or wiring technician
 Debugging technician
 Maintenance and inspection technician
Before use, please read this manual carefully, and put it on a safe place.
Following instructions should be obeyed before going through this manual:
 There is no vapour, corrosive gas and inflammable gas on site.

 It is prohibited to connect 3-phase mains to the motor’s terminals of U, V, W, which will
damage the drive and motor.
 Grounding should conform to the related electrician regulations.
 Please do not disassemble the drive, motor or change its wiring when power is on.
 Please do not touch the radiator when power is on.
Please consult our distributors or services center if you still have any query.
Safety Cautions
(Please read the manual before use)

It is a must to read this operation manual, technical data and relevant information of servo motor
carefully before installation, use, maintenance and inspection.
Description of Marks Related to Safety
Wrong use will lead to danger or injury.
Wrong use may cause danger, injury, or damage to the equipment.
Prohibited operation may lead to damage or malfunction of the product.
 Receiving inspection
Danger
 Please collocate and use the servo drive and motor as specified. Otherwise it may lead to
fire or equipment malfunction.
 Installation cautions
Danger
 Please do not expose the drive to the place of vapour, corrosive gas and inflammable gas.
Otherwise it may lead to electric shock or fire.
 Wiring cautions
Danger
 Please make the grounding reliable. Poor grounding may lead to electric shock or fire.
 Please do not connect 3-phase mains to motor’s output terminals U, V, W; otherwise it
may lead to injury or fire.
 Please make sure the jump ring on mains and motor’s output terminals will not fall off by
minor external force, otherwise it may cause fire.
 When wiring, please wire according to the selection of wire rod to prevent from danger.
 Operation cautions
Caution
 The setting values of parameters should meet the user’s requirement before the mechanical
equipment starts, otherwise, it may be out of control or cause malfunction.
Prohibition
 It is prohibited to touch any part of motor when it is revolving, otherwise it may cause
injury.
 To avoid accidents, please separate the belt from coupling of mechanical equipment before
starting for the first time.
Danger
 If wrong operation occurs after servo motor and mechanical equipment run, it will not only
damage the equipment, but may lead to injury.
 It is strongly suggested to test if servo motor works well under no load before applying to
the load, to avoid unwanted danger.
 Please do not touch radiator of servo drive when it is running, otherwise it may cause scald
by high heat.
 Maintenance and inspection
Prohibition
 It is prohibited to touch interior of servo drive and servo motor, which may cause electric
shock.
 It is prohibited to dismantle drive panel after power is on, there is risk of electric shock.
 Please do not touch any terminal in 10 minutes after power off. The residual voltage may
cause electric shock.
 Please do not take servo motor apart, otherwise it my cause electric shock or injury.
 Please do not change the wiring when power is on, otherwise it may cause electric shock
or injury.
 Installation, wiring and maintenance of servo drive and motor can be conducted by
technician only.
 Wiring for main circuit
Caution
 Please do not tie down or put the cable of power and signal through the same pipeline, and
separate each other by more than 30 cm (11.8 inch) when making wiring.
 Regarding signal, it is advised to use stranded wire no longer than 3 m(9.84 feet), and as
for encoder (PG) feedback, multi-core glue bulk shielding wire no longer than 20 m(65.62
feet).
 Even if power is off, high voltage may still remain inside the servo drive. Please pause for
10 minutes and do not touch mains terminals. Make sure to make the inspection after the
indicator [CHARGE] goes out.
Prohibition
 Please do not switch mains frequently, if necessary, the interval should be at least 1
minute.
 Wiring of main circuit terminals
Caution
 Please take the terminal blocks away from the drive.
 Please insert only one wire to every socket of terminal blocks.
 Please do not make short-circuit of the core-wires and nearby cables when inserting wires.
 Before power is on, please check carefully if the wiring is correct.
Due to our continuous efforts in product updating and improvement, this manual may
be changed without notification.
Contents
1 Inspection and Model Description ..........................................................................1
1.1 Inspection ........................................................................................................1
1.2 Model of Servo Drive ......................................................................................1
1.3 Model of Servo Motor .....................................................................................1
1.4 Description of Servo Motor Adaptation ..........................................................2
1.5 Brief Introduction to Servo Drive Operation Mode ........................................4
1.6 Signal and Wiring of Servo Drive ...................................................................4
2 Installation ................................................................................................................6
2.1 Cautions ...........................................................................................................6
2.2 Requirements of Storage Environment............................................................6
2.3 Requirements of Installation Environment ......................................................6
2.4 Installation Space ............................................................................................7
3 Wiring ........................................................................................................................7
3.1 Power Line ......................................................................................................8
3.1.1 1-phase connection ...............................................................................8
3.1.2 3-phase connection ...............................................................................8
3.2 Standard Wiring ...............................................................................................9
3.2.1 Standard wiring of position mode.........................................................9
3.2.2 Standard wiring of speed mode ..........................................................10
3.2.3 Standard wiring of torque mode ......................................................... 11
3.3 Information of Signal Line Terminals .........................................................12
3.3.1 Correspondence between CN4 terminals and signal ..........................12
3.3.2 Color description of control signal wires............................................13
4 Panel Display and Operation.................................................................................14
4.1 Name of Panel Components ..........................................................................14
4.2 Process of Parameter Setting .........................................................................15
4.3 Display of Memory State ...............................................................................17
4.4 Display of Fault and Alarm ...........................................................................17
4.5 Display of Positive/Negative Sign .................................................................17
5 Function Codes .......................................................................................................18
5.1 Definition of Codes .......................................................................................18
5.2 Codes List ......................................................................................................20
6 Malfunction Codes .................................................................................................49
7 Appearance and Dimensions .................................................................................51
7.1 Appearance and dimensions of EA100 series servo drive .............................51
7.2 Dimensions of Motor.....................................................................................52
Operation Manual of EA100 series AC Servo Drive
1 Inspection and Model Description

1.1 Inspection
To avoid any negligence during purchase and transportation, please carefully inspect items as
follows:
 If motor shaft runs smoothly: Rotate the shaft by hand, if it runs smoothly, then it is ok.
 Appearance: Visually inspect if there is any damage or scratch on appearance.
 If any screw is loose.
Please contact our agent for proper solutions in case any of the above cases occurs.
1.2 Model of Servo Drive
EA 100-0R7-2 A A
Product Categories: EncoderType:

EA:Servo Drive A: Incremental
B: Absolute
Product Series: C: Sine-Cosine
100: General Servo Drive
... ...
Design Version: A-Z
Voltage Class:
Adapted Load Power:
1: 1-phase 220V
0R1 0R2 ... ... 0R7 ... ...
2: 3-phase 220V
0.1KW 0.2KW ... ... 0.7KW ... ...
3: 3-phase 380V
1.3 Model of Servo Motor
80 S 0R7 30 B B
B With Brake
/ Without Brake
Flange Size:
60mm A Minimal-wiring
80mm B Non-Minimal-wiring
130mm
... ...
Rated Rotational Speed:
SINEE
10 1000RPM
Motor Power:
20 2000RPM
... ...
0R2 0R4 0R6 0R7 1R0 400 30 3000RPM
0.2KW 0.2KW 0.6KW 0.7KW 1KW ... ... 400KW ... ... ...
1
1.4 Description of Servo Motor Adaptation
Servo Drive Adapted Servo Motor Remarks of Servo Motor
200W, 60mm flange, rated rotational speed

60S0R230A 3000 rpm, minimal-wiring incremental
encoder, servo motor without brake.
60S0R230AB 3000 rpm, minimal-wiring incremental
encoder, servo motor with brake.
EA100-0R2-2AA
60S0R230B 3000 rpm, non-minimal-wiring incremental
60S0R230BB 3000 rpm, non-minimal-wiring incremental
60S0R430AB 3000 rpm, minimal wiring incremental
EA100-0R4-2AA
EA100-0R6-2AA 60S0R630A 3000 rpm, minimal-wiring incremental
2
EA100-0R7-2AA encoder, servo motor with brake.
1000W, 80mm flange, rated rotational
speed 2500 rpm, non-minimal-wiring
80S1R025B
incremental encoder, servo motor without
brake.
EA100-1R0-2AA 1000W, 80mm flange, rated rotational
80S1R025BB
incremental encoder, servo motor with
brake.
1301R010A 1000W, 130mm flange, rated rotational
3
speed 1000 rpm, minimal-wiring
brake.
speed 1000 rpm, minimal-wiring
1301R010AB
brake.
1301R010B
brake.
1301R010BB
brake.
1.5 Brief Introduction to Servo Drive Operation Mode

Mode Name Mode Mark Mode Code
Speed Control Mode S 0
Single Mode Position Control Mode P 1
Torque Control Mode T 2
Speed-position Switch Mode Sp 3
Mixed Mode Torque-speed Switch Mode Ts 4
Position-torque Switch Mode Pt 5
1.6 Signal and Wiring of Servo Drive
4
5-bit 7-segment LED

display panel, display Analog monitoring output，
parameter and fault 5 connect to the external monitor
5-bit separate buttons

for panel operation
Mains,
3-phase 220 VAC
RS232\RS485 communication
cable, communicate with
External upper controller
braking
resistor Connect to upper controller,
input/output signal of 36 leads
Power
supply
indicator
Encoder wire
Motor
cable
5
2 Installation
2.1 Cautions
Please pay attention to following cautions:
 The connection between drive and motor should not be tight.
 When installing drive, every screw should be fastened well.
 Motor axis must be well aligned to setting axis.
 Thicken the U, V, W cables and the encoder’s connecting line if the wire between drive and
motor is longer than 20m.
 Motor’s retaining screws must be locked well.
2.2 Requirements of Storage Environment

This product should be kept in packing case before installation. To make the product meet our
company’s warranty scope and maintaining in the future, please pay much attention to the
following items when storing, if it will not be used for the present.
 Must be put on place where is dustless and dry.
 The storage temperature must be within -20°C to +65°C.
 The storage relative humidity must be within 0% to 90% and there is no moisture
condensation.
 Avoid to store at surroundings where there is corrosive gas or liquid.
 You had better store it on shelf or platform after appropriate packaging.
2.3 Requirements of Installation Environment

This drive’s using environment temperature range is 0°C~50°C. Please put it in drafty places if
ambient temperature is over 40°C. It is suggested to be put in less 40°C if running for a long time
to guarantee its unfailing performance. If this product is installed in distribution box, the overall
dimension of the distribution box and the ventilation conditions must meet the overheating-proof
needs of all inner electronic devices. And please notice that whether machinery shake will affect
the electronic devices. Moreover, the using conditions also include:
 No highheat device.
 No water-drop, vapour, dust and oiliness dust.
6
 No corrosive, inflammable gas or liquid.
 No shake.
 No electromagnetic noise.
The motor’s using ambient temperature range is 0°C ~40°C. Its using conditions also include:
 No highheat device.
 No water-drop, vapour, dust and oiliness dust.
 No corrosive, inflammable gas or liquid.
 No floating dust and metal particle.
2.4 Installation Space

Single drive installation
Multiple drives installation
≥50mm ≥100mm
≥25mm ≥25mm
≥50mm ≥25mm ≥25mm ≥50mm
Control Cabinet
≥50mm
≥100mm Control
cabinet
3 Wiring
7
3.1 Power Line
3.1.1 1-phase connection
Noise L1
AC220V/50Hz
filter L2
U
L3
V M
L11
W
L12
PE
DC+ Servo drive

Note 1
C
D
3.1.2 3-phase connection
L1
Noise
AC220V/50Hz filter L2
U
L3
V M
L11
W
L12
PE
Servo drive
DC+
Note 1
C
D
Note 1: Make direct connection between C and DC+ (factory connected) when using internal
braking resistor; disconnect C and DC+ when using external braking resistor, and connect external
resistor between D and DC+.
8
3.2 Standard Wiring
3.2.1 Standard wiring of position mode
EA100
Servo Drive CN4 Note 3
33 COM
Note 1 CN4 30 DO1 Servo ready
Servo ON input
DI1 5 10 DO2 Motor rotation output
Alarm clear reset
DI2 25 31 DO3 Zero speed
Deviation counter zero-clearing
DI3 6 11 DO4 Position Arrival
Command pulse forbidden
DI4 26 32 DO5 Torque limit ON
CCW Limit DI5 7 12 DO6 Fault Alarm
CW Limit DI6 27
COM 34 CN4
Encoder
35 /SA
A-phase
Note 2 CN4 36 SA output

PULS+ 4
 Encoder
Pulse signal 17 /SB
B-phase
input PULS- 2 16 SB output

SIGN+ 3

Pulse direction 14 /SZ
input SIGN- 1  Encoder Z-phase
15 SZ output
PE
PE
CN4
CN1
 Analog output 1
Analog input 1 AI1 19 1 M1
（0V～+10V） GND 24 3 GND

Analog input 2 AI2 20 2 M0
（0V～+10V） GND 24 3 GND Analog output 0

Analog input 3 AI3 21
（0V～+10V） GND 22 CN5
PE Communication cable
M
CN3
Communication cable
Note 1: The function and logic attribute of DI1, DI2, DI3, DI4, DI5, DI6 can be set in Function
Codes.
Note 2: Pulse command type can be set as orthogonal or pulse + direction in Function Codes. The
pulse signal and pulse direction showed in the above figure is orthogonal signal when setting as
orthogonal. In order to prevent input pulse from interference, please be sure to make the drive
grounds well.
Note 3: The function and logic attribute of DO1, DO2, DO3, DO4, DO5, and DO6 can be set in
Function Codes.
9
3.2.2 Standard wiring of speed mode
EA100
Servo Drive CN4
Note 2
33 COM
Note1 30 DO1 Servo ready
Servo ON Input CN4
Alarm clear reset
DI2 25 30 DO3 Zero-speed
Speed direction selction
DI3 6 11 DO4 Speed Arrival
Speed selection 1 DI4 26 32 DO5 Torque Limit ON
Speed selection 2 DI5 7 12 DO6 Fault Alarm
Speed selection 3 DI6 27
Speed selection 4 DI7 8 CN4
 Encoder
CCW Limit DI8 28 35 /SA A-phase
CW Limit 36 SA output
DI9 9
 Encoder
COM 34 17 /SB B-phase
16 SB output

14 /SZ
CN4  Encoder Z-phase
15 SZ output


Analog speed input 1
AI1 19

（0V～+10V） GND 24 PE

 AI2 20 CN1
 Analog output 1
（0V～+10V） GND 24 1 M1

AI3 21 3 GND
Analog output 0
（0V～+10V） GND 22 2 M0
3 GND
PE
CN5
CN3 Communication cable
Communication cable
M
Note 1：The function and logic attribute of DI1, DI2, DI3, DI4, DI5, DI6, DI7, DI8, and DI9 can
be set in Function Codes.
Function Codes.
10
3.2.3 Standard wiring of torque mode
EA100
Servo Drive
CN4 Note 2
33 COM
30 DO1 Servo ready
Note 1 CN4
Servo ON Input
Alarm Clear Reset
DI2 25 31 DO3 Zero-speed
CW Limit
DI3 6 11 DO4 Torque Limit ON
CCW Limit
DI4 26 32 DO5 Rotation Limit ON
COM 34 12 DO6 Fault Alarm
CN4
 Encoder
35 /SA A-phase
36 SA output
CN4
 Encoder
17 /SB B-phase

Analog Input 1 AI1 19
16 SB output
（0V～+10V） GND 24
Encoder
14 /SZ

Analog Input 2 AI2 20 Z-phase
（0V～+10V） 15 SZ output
GND 24

Analog Input 3 AI3 21 PE
（0V～+10V） GND 22
CN1
PE
 Analog output 1
1 M1
3 GND
 Analog output 0
2 M0
CN3 3 GND
Communication cable
CN5
Encoder cable
M
Note 1: The function and logic attribute of DI1, DI2, DI3, and DI4 can be set in Function Codes.
Function Codes.
11
3.3 Information of Signal Line Terminals
3.3.1 Correspondence between CN4 terminals and signal

1 2 3 4 5 6 7 8 9 10 11 12
SIGN- PULS- SIGN+ PULS+ DI1 DI3 DI5 DI7 DI9 DO2 DO4 DO6
13 14 15 16 17 18 19 20 21 22 23 24
PLC /SZ SZ SB /SB 24V AI1 AI2 AI3+ AI3- GND GND
25 26 27 28 29 30 31 32 33 34 35 36
DI2 DI4 DI6 DI8 DI10 DO1 DO3 DO5 COM COM /SA SA
Real 3D graphic model: please make the actual using wire rod according to the line number
identification as showed in the graphic model.
In the figure above, the upper row terminals are even sequence 2, 4, 6… 16,18 from right to left,
and the lower row terminals are odd sequence 1,3… 15,17 from right to left.
In the figure above, the upper row terminals are even sequence 20, 22…34,36from right to left,
12
and the lower row terminals are odd sequence 19,21…33,35 from right to left.
3.3.2 Color description of control signal wires
Signal wire 1
Color White White/black Red Red/black Green Green/black
Signal DI1 Analog 2 Analog 1 GND DO1 COM
Signal wire 2
Color White White/black Red Red/black Green Green/black
Signal SIGN- SIGN+ PULS- PULS+ DI1 COM
Signal wire 3
Color Brown Brown/white Red Red/black Orange Rrange/black
Signal SIGN- SIGN+ PULS- PULS+ DI1 DI3
Color Yellow Yellow/black Green Green/black Blue Blue/white
Signal DI5 DI7 DI9 DO2 DO4 DO6
Color Yellow/red Purple Purple/white White White/black Pink
Signal 24V SZ+ SZ- SB- SB+ GND
Bright
Color Pink/black Grey Grey/black Bright green Bright blue
green/black
Signal Analog 2 Analog 3+ Analog 3- GND Analog 1 DI2
Bright
Color White/red White/blue Red/white Red/blue Grey/red
blue/black
Signal DI4 DI6 DI8 DI10 D01 D03
Bright
Color Grey/blue Pink/red Pink/blue Green/white --
green/blue
Signal D05 COM COM SA- SA+ --
13
4 Panel Display and Operation
4.1 Name of Panel Components
Fig 4-1 Panel cutline
Table 4-1 Description of panel components
Component Name Function
Digital
5-bit, 7-segment LED digital tube is used for displaying
display tube Displayer
monitoring values, parameters and setting values.
MODE Enter interblock mode or break away from interblock/interclass

MOD
Key mode and parameter setting mode
Can be used for revising upper setting character value if the

SHIFT flashing character moves left in setting mode. Switchover the
《
Key display between upper bit and lower bit if the displayed parameter
is over 5 bits.
Modify monitoring code, group number, parameter code or setting

∧ UP Key
value.
14
DOWN
∨ Modify monitoring code, group number or setting value.
Key
Display and save setting value, enter interblock and parameter

SET SET Key
setting mode.
4.2 Process of Parameter Setting

(1) Panel dislays the default monitoring code of drive for one second, and then enters
monitoring display mode when drive is powered on.
(2) In monitoring mode, press UP or DOWN to switchover monitoring codes.Meanwhile, press
SET to enter the monitoring display of the code. It will enter the monitoring display of the
code automatically after one minute if no key operation.
(3) In monitoring mode, monitoring parameter is as 32 bits, or when the value displayed is
greater than 5 digits of binary number, press SHIFT key to switchover the digits displayed.
When higher digits displayed, the decimal point of the highest digit LED will be lightened.
(4) In monitoring mode, press MODE to enter parameter interblock mode, then press UP/DOWN
to switchover group number, press MODE to break from interblock mode to monitoring mode.
(5) In parameter interblock mode, press SET to enter parameter interclass mode. Press MODE to
break from interclass mode to interblock mode. The flashing character will move left if
pressing SHIFT, which can realize the modification of group numbers and interclass higher
digits, to select required codes.
(6) In parameter interclass mode, press SET to immediately enter parameter setting mode and
display the setting value, press UP or DOWM to modify the later two digits.
(7) In setting mode, the flashing character moves left when pressing SHIFT, and then set the
higher digits through UP/DOWN.
(8) After modification of the setting value, press SET to save codes or perform command.
(9) After code setting, the displayer will display corresponding prompt codes such as -End- , and
return to parameter interclass mode.
(10) In setting mode, pressing MODE or no operation in one minute will lead to abandoning the
modification of the parameter’s setting value and returning to interclass mode. In other modes,
no operation will also lead to returning to monitoring mode. The detailed flowchart is showed
15
on next page.
Parameter
Monitoring Mode \/ or /\ interblock mode
MODE
Monitoring Basic Position control Auxiliary Motor
Parameters parameter parameter Fucntion Parameter
SET
P0-00 P1-00 P2-00 P8-00 PE-00

MODE
P0-01 P8-01 PE-01 \/
P1-01 P2-01 or
\/ Parameter /\
or P0-02 interblock mode P8-02 PE-02
/\ P1-02 P2-02
SET
Display
SET 1000
setting value
Setting mode
/\ or \/ 1001
P0-22 Save setting

SET -End-
parameter
Fig 4-2 Flowchart of panel operation
16
4.3 Display of Memory State
Press SET Key to display the state in parameter-setting mode
Display Mark Content Description
-End- The setting value is saved correctly.
Po-On The parameter is active only after power on again.
SrvOn Parameter can not be set in starting of servo
Err-r Read-only code, unmodifiable.
rESvd Reserved code, unmodifiable.
4.4 Display of Fault and Alarm

Display Example Content Description
When drive malfunction occurs, the panel will display fault as the mark
AL.0 and xx. The range of xx is 01~FFH. Pressing operation button at
AL.0xx mean time, you can see other marks. But the lowest decimal point of
LED will flash until the malfunction is cleared. It will display AL.
---when no fault or alarm.
When drive alarm occurs, the panel will display alarm as the mark AL.E
AL.Exx and xx . Pressing operation button this moment, you can see other marks.
But the lowest decimal point of LED will flash until the alarm is cleared.
4.5 Display of Positive/Negative Sign

Display Example Content Description
After entering setting mode, you can press UP/DOWN to increase and
decrease the displayed codes, press SHIFT to modify the carry value of
1528
the code you want to change. The carry value is displayed as flashing
state at the moment.
When a code has positive/negative sign and its setting range is less than
- 528 5 digits, after operation as above, the highest character will be displayed
as a minus sign, i.e., negative state.
When a code has positive/negative sign and its setting range is more than
2.4.680
4 digits, after operation as above, the lower right of the highest two
17
characters will occur a dot, which means the code is in negative state.
The lower right decimal of the highest digit is lightened when displaying
. 23
higher digits, which means the one displayed is a higher digit.
It will display 0 when the code is a 32-bit number and its decimal value
02468 is over 5-digit number, and the highest of lower 5 digits is 0, which
means there is still higher digit not displayed.
5 Function Codes
5.1 Definition of Codes
18
The codes are divided into 10 groups as follows. The 1st code after initial code P is a group number,
and the subsequent two codes are the internal numbers. The communication address is
made up of group number and internal number. The code groups are defined as follows:
P0-xx Group 0: Monitoring codes
P1-xx Group 1: Basic codes
P2-xx Group 2: Position control codes
P3-xx Group 3: Speed control codes
P4-xx Group 4: Torque control codes
P4-xx Group 5: Tuning codes
P6-xx Group 6: Input/output setting codes
P7-xx Group 7: Communication codes
P8-xx Group 8: Auxiliary function codes
PE-xx Group E: Motor codes
Code setting attributes instructions:
（○）
：Set at all times, effective immediately.
（●）
：Set at all times, effective when power on again.
（□）
：Set when the drive halt, effective immediately.
（■）
：Set when the drive halt, effective when power on again.
（▲）
：Read-only codes cannot be set.
Control modes instructions:
P—Position control mode
S—Speed control mode
T—Torque control mode
19
5.2 Codes List
Group P0 Monitoring Codes
Factory Setting Attri Running
Code Instruction Unit
Setting Range . Mode
Display actual rotational
P0-00 speed of motor when - - rpm ▲ PST
running
Percentage relative to rated
P0-01 - - % ▲ PST
torque
Present electrical degree
P0-02 - - ° ▲ PST
display
Display actual DI input
P0-03 - - - ▲ PST
level
Display DO state (ON or
P0-04 - - - ▲ PST
OFF)
P0-05 Version number of software - - - ▲ PST
P0-06 Reserved
P0-07 Reserved
Actual voltage value of AI1
P0-08 - - mV ▲ PST
sampling
Actual voltage value of AI2
P0-09 - - mV ▲ PST
sampling
Actual voltage value of
P0-10 - - mV ▲ PST
AI3sampling
P0-11 Present bus voltage value - - V ▲ PST
Effective value of present
P0-12 - - A ▲ PST
running current
Actual value of Iu-phase
P0-13 A ▲ PST
current
P0-14 Actual value of Iv-phase A ▲ PST
20
current
P0-15 Reserved
Present pulse command
P0-16 - - plus ▲ PST
（Servo is OFF, 0 clearing）
P0-17 Reserved
Display selected
P0-18 - - - ▲ PST
malfunction code of P160
Rotational speed when
P0-19 - - rpm ▲ PST
P160 malfunction occurs
Bus voltage value when P160
P0-20 - - V ▲ PST
malfunction occurs
Effective current value when
P0-21 - - A ▲ PST
P160 malfunction occurs
P0-22~
Reserved
P0-27
P0-28 Present output pulse Nos - - plus ▲ PST
21
Group P1 Basic Codes
Factory Setting Running
Code Instruction Unit Attri.
Setting Range Mode
Control mode selections:
0: Speed control mode
1: Position control mode
P1-00 2: Torque control mode 0 0～5 - □ PST
3: Speed-position switch mode
4: Torque-speed switch mode
5: Position-torque switch mode
Position command source
selections:
P1-01 0: External pulse command (pt) 0 0～1 - □ P
1:Internal multi-stage
command (pr)
Input modes of external pulse
command :
0:Pulse + direction, positive
logic
P1-02 0 0～3 - ■ P
1:Pulse + direction, negative
logic
2: Orthogonal, positive logic
3: Orthogonal, negative logic
Multi-stage performance of
internal position command
selections:
P1-03 0:Run from pr1 to pr16, 0 0～2 - □ P
circulate
1:Run from pr1 to pr16, not
circulate
22
2: External Di switch
P1-04 Reserved
Speed command sources:
0:Internal digital setting (P3-00
setting)
1: Analog value 1 (AI1) setting
P1-05 0 0～5 - □ S
4: Internal speed command
switch
5: JOG (need active external DI
JOG)
Multi-stage speed selections:
0: Multi-stage auto-switch,
circulate
P1-06 1: Multi-stage auto-switch, not 0 0～2 - □ S
circulate
2: Multi-stage speed external
DI switch
P1-07 Reserved
Torque command sources:
0: Internal digital setting
（P4-00 setting）
P1-08 0 0～3 - □ T
P1-09
P1-10 Reserved
P1-11
P1-12 Position S-type smoothing 100 1～10000 ms □ Pr
23
forward command acceleration
and deceleration time constant
Position S-type smoothing
P1-13 reverse command acceleration 100 1～10000 ms □ Pr
and deceleration time constant
Acceleration and deceleration
smoothing time constant of
P1-14 10 0～1000 ms □ Pr
position S-type smoothing
curve
P1-15 Reserved
Speed S-type smoothing
P1-16 command acceleration time 100 1～10000 ms □ S
constant
Speed S-type smoothing command
P1-17 100 1～10000 ms □ S
deceleration time constant
Acceleration and deceleration
P1-18 smoothing time constant of 10 0～1000 ms □ S
speed S-type smoothing curve
Lowpass filtering smoothing
P1-19 5.0 0～1000.0 ms □ S
time of speed command
P1-20 Analog speed command gain 3000 0～5000 rpm □ S
Lowpass smoothing constant of
P1-22 0 0～1000.0 ms □ T
torque command
Torque command when analog
P1-23 100 0～1000 % □ T
input is maximum (10V)
P1-24 Reserved
P1-25 Reserved
P1-26 Reserved
P1-27 Electronic gear numerator 1 1 1～32767 - □ P
P1-28 Electronic gear denominator 1 1～32767 - □ P
24
P1-29 Electronic gear numerator 2 1 1～32767 □ P
Position approach width, which
will output position approach
P1-32 20 1～65535 Puls □ P
signal when deviation counter
is less than the set value.
Position completing width,
which will output position
P1-33 completing signal when 10 0～65535 Puls □ P
deviation counter is less than
the set value.
Deviation-clear action
selections of external DI signal:
0: Clear through CLR rising
edge.
1: Clear through CLR low
P1-34 0 0～3 - □ P
level.
2: Clear through CLR high
level.
3: Clear through CLR failing
edge.
Position deviation clear
selections:
0: Clear deviation only when
malfunction occurs.
P1-35 0 0～2 - □ P
1: Clear deviation when
malfunction occurs and the servo
is OFF.
2: Do not clear deviation.
25
Position deviation follows 10～
P1-36 65535 Puls □ P
warning value 65535
Position deviation follows
P1-37 65535 1～65535 Puls □ P
malfunction value
P1-38 Torque reaches threshold value 0 0~10.0 % □ T
Maximum rotational speed
P1-39 setting (over-speed setting 5000 0～5000 rpm □ PST
value)
P1-40 Zero-speed signal output value 10 0～100 rpm □ PST
P1-41 Rotational signal output value 10 0～1000 rpm □ PST
P1-42 Speed approach threshold 100 10～3000 rpm □ S
P1-43 Speed reaching threshold 20 1～3000 rpm □ S
Zero fixed value of analog
P1-44 10 0～300 rpm □ S
speed command
P1-45 Reserved
Foreward maximum torque 0.0～
P1-46 300 % □ PST
threshold 300.0
Reverse maximum torque 0.0～
P1-47 300 % □ PST
threshold 300.0
Torque-limit source selections:

0: Internal limit [P1-46、P1-47]
1: Limited by analog value 1
P1-48 and P1-46, P1-47 0 0～3 - □ PST

and P1-46, P1-47
and P1-46, P1-47
P1-49
Reserved
～
26
P1-52
Halt mode selections:

0: Free stop when the servo is
P1-53 OFF. 0 0～1 - □ PST
1: Zero-speed stop when the
servo is OFF.
Delay time after the servo is

ON and before
P1-54 100 0~500 ms □ PST
electromagnetic brake signal
is open (braking removed).
Delay time after the servo is
OFF and before
P1-55 100 0~500 ms □ PST
electromagnetic brake signal
is closed (braking started)
Speed command when
P1-56 100 1~1000 rpm □ PST
electromagnetic brake is active
P1-58
～ Reserved
P1-59
Malfunction display selections:

0: The latest malfunction
1: The previous malfunction
P1-60 before the latest one 0 0～3 - □ PST

2: The second malfunction
before the latest one
3: The third malfunction before
the latest one.
27
System parameters
initialization:
0: No operation
1: Clear malfunction record 0～
P1-61 0 - ■ PST
2~65534: No Operation 65535
65535: Recover factory setting
(auto-reset when power on
again)
0～
P1-62 Reserved code 0 - □ PST
65535
0～
P1-63 Reserved code 0 - □ PST
65535
Group P2 Position Control Codes

Factory Running
Code Instruction Setting Range Unit Attri.
Value Mode
Cycles of internal -30000～
P2-00 0 rev □ P
position command 1 +30000
Pulses of internal position -9999～
P2-01 0 Puls □ P
command 1 +9999
Move speed of internal 1~Rated
P2-02 1000 rpm □ P
position command 1 Value
Time-lag between the
P2-03 completion of Pr1 and 1.0 0.0～3000.0 s □ P
starting Pr2
P2-04 0 rev □ P
P2-05 0 Puls □ P
command 2 +9999
P2-06 Move speed of internal 1000 1~Rated rpm □ P
28
entering Pr3
P2-08 0 rev □ P
P2-09 0 Puls □ P
command 3 +9999
P2-10 1000 rpm □ P
entering Pr4
P2-12 0 rev □ P
P2-13 0 Puls □ P
command 4 +9999
P2-14 1000 rpm □ P
entering Pr5
P2-16 0 rev □ P
P2-17 0 Puls □ P
command 5 +9999
P2-18 1000 rpm □ P
P2-19 1.0 0.0～3000.0 s □ P
completion of Pr5 and
29
entering Pr6
P2-20 0 rev □ P
P2-21 0 Puls □ P
command 6 +9999
P2-22 1000 rpm □ P
entering Pr7
P2-24 0 rev □ P
P2-25 0 Puls □ P
command 7 +9999
P2-26 1000 rpm □ P
entering Pr8
P2-28 0 rev □ P
P2-29 0 Puls □ P
command 8 +9999
P2-30 1000 rpm □ P
entering Pr9
P2-32 0 rev □ P
30
P2-33 0 Puls □ P
command 9 +9999
P2-34 1000 rpm □ P
entering Pr10
P2-36 0 rev □ P
P2-37 0 Puls □ P
command 10 +9999
P2-38 1000 rpm □ P
P2-39 1.0 0.0～3000.0 S □ P
P2-39 1.0 0.0～3000.0 s □ P
entering Pr11
P2-40 0 rev □ P
P2-41 0 Puls □ P
command 11 +9999
P2-42 1000 rpm □ P
entering Pr12
P2-44 0 rev □ P
P2-45 0 Puls □ P
command 12 +9999
P2-46 Move speed of internal 1000 1~Rated rpm □ P
31
entering Pr13
P2-48 0 rev □ P
P2-49 0 Puls □ P
command 13 +9999
P2-50 1000 rpm □ P
entering Pr14
P2-52 0 rev □ P
P2-53 0 Puls □ P
command 14 +9999
P2-54 1000 rpm □ P
P2-55 completion of Pr14 and 1.0 0.0～3000.0 s P
entering Pr15
P2-56 0 rev □ P
P2-57 0 Puls □ P
command 15 +9999
P2-58 1000 rpm □ P
P2-59 1.0 0.0～3000.0 s □ P
32
entering Pr16
P2-60 0 rev □ P
P2-61 0 Puls □ P
command 16 +9999
P2-62 1000 rpm □ P
entering Pr1
Group P3 Speed Control Codes

Factory Running
Value Mode
Internal speed command -5000～
P3-00 400 rpm ○ S
register 1 +5000
Internal command 1
P3-01 1.0 0.1～6535.5 s □ S
running time setting
P3-02 0 rpm ○ S
register 2 +5000
Internal command 2
P3-03 1.0 0.1～6535.5 s □ S
P3-04 -400 rpm ○ S
register 3 +5000
Internal command 3
P3-05 1.0 0.1～6535.5 s □ S
P3-06 0 rpm ○ S
register 4 +5000
Internal command 4
P3-07 1.0 0.1～6535.5 s □ S
33
P3-08 800 rpm ○ S
register 5 +5000
Internal command 5
P3-09 1.0 0.1～6535.5 s □ S
P3-10 0 rpm ○ S
register 6 +5000
Internal command 6
P3-11 1.0 0.1～6535.5 s □ S
P3-12 -800 rpm ○ S
register 7 +5000
Internal command 7
P3-13 1.0 0.1～6535.5 s □ S
P3-14 0 rpm ○ S
register 8 +5000
Internal command 8
P3-15 1.0 0.1～6535.5 s □ S
P3-16 1200 rpm ○ S
register 9 +5000
Internal command 9
P3-17 1.0 0.1～6535.5 s □ S
P3-18 0 rpm ○ S
register 10 +5000
Internal command 10
P3-19 1.0 0.1～6535.5 s □ S
P3-20 -1200 rpm ○ S
register 11 +5000
Internal command 11
P3-21 1.0 0.1～6535.5 s □ S
P3-22 0 rpm ○ S
register 12 +5000
34
Internal command 12
P3-23 1.0 0.1～6535.5 s □ S
P3-24 1600 rpm ○ S
register 13 +5000
Internal command 13
P3-25 1.0 0.1～6535.5 s □ S
P3-26 0 rpm ○ S
register 14 +5000
Internal command 14
P3-27 1.0 0.1～6535.5 s □ S
P3-28 -1600 rpm ○ S
register 15 +5000
Internal command 15
P3-29 1.0 0.1～6535.5 s □ S
P3-30 0 rpm ○ S
register 16 +5000
Internal command 16
P3-31 1.0 0.1～6535.5 s □ S
Group P4 Torque Control Codes

Value Range Mode
Internal digital torque -300.0～
P4-00 100.0 % ○ T
command setting 300.0
Speed threshold value by
P4-01 1000 0～5000 rpm □ T
torque control
Torque speed threshold
command sources:
P4-02 0 0～3 -- □ T
0: P4-01 setting
1: Analog value 1 setting
35
Torque speed threshold
P4-03 3000 0～PE-06 rmp □ T
command gain
Torque compensation
P4-04 0 0～20 -- □ T
cycles
Group P5 Tuning Codes

Value Range Mode
Position regulator proportional
P5-00 20.0 1.0～2000.0 Hz ○ P
gain
P5-01 Reserved
Position regulator feedforward
P5-02 0.0 0.0～100.0 % ○ P
gain
Position feedforward smoothing
P5-03 5 2～100 ms ○ P
time
Speed regulator proportional
P5-04 200.0 0.1～3000.0 Hz ○ S
gain
P5-05 Speed loop integral constant 40.0 0.1～3000.0 ms ○ S
P5-06 Speed Loop Feedforward gain 0.0 0.0～100.0 % ○ S
P5-07 Reserved
Load-inertia Ratio =
P5-08 1.00 0.01～50.00 % □ PST
Total Inertia/Motor Inertia
Group P6 Input/Output Setting Codes

Factory Running
Value Mode
P6-00 DI Filtering Setting 2 0～20 ms □ PST
P6-01 DI Level Logic 0 0～3FFH - ■ PST
36
P6-02 DI1 Function No. 1 0～99 - ■ PST
P6-09 DI8Function No. 8 0～99 - ■ PST
P6-12 DO Level Logic 0 0～3FH - ■ PST
P6-13 DO1 Function No. 1 0～99 - ■ PST
P6-19 AI1 Bias Regulation 0 -1000～1000 mV □ PST
P6-20 Ai2 Bias Regulation 0 -1000～1000 mV □ PST
P6-21 AI3 Bias Regulation 0 -1000～1000 mV □ PST
P6-22 AI1 Filtering Time 2 0～10000 ms □ PST
P6-25 AO1 Bias Regulation 0 -1000～1000 mV □ PST
P6-26 AO2 Bias Regulation 0 -1000～1000 mV □ PST
AO1 Functional
Planning
P6-27 0 0～4 - □ PST
0: Motor Rotational
Speed
37
1: Speed Command
2: Torque Command
3: Position Bias
(The Electronic Gear)
4: Position Command
Speed
AO2 Functional
Planning
0: Motor Rotational
Speed
1: Speed Command
P6-28 1 0～4 - □ PST
2: Torque Command
3: Position Bias
(The Electronic Gear)
4: Position Command
Speed
Table 5-1 Digital Input (DI) Function Definition List
Input Signal Function Instruction
Function Trigger Runnin

Setting Value Name Description
Name Mode g Mode
0 Disabled Invalid function
OFF-Servo motor
Servo enabling is forbidden Triggered
1 /S-ON PST
Enabling ON-Servo motor is active by level
when power on
Malfunctions are divided
/ALM-RS Alarm Reset Triggered
2 into resettable and PST
T Signal by edge
non-resettable.This
38
function can be used for
malfunction resetting.
Clear of
The trigger mode is Triggered
Position
3 /P-CLR showed on P232 by P
Control Pulse
description edge/level
Bias Counter
Selection of OFF-Default the
Speed command direction Triggered
4 /DIR-SEL S
Command ON- Negative direction to by level
Direction the command
Internal
Triggered
5 CMD0 Command PS
by level
bit0 This signal acts as
Internal Position Multi-stage
Triggered
6 CMD1 Command bit Switch-over Function PS
by level
1 when in Position Control
Internal Mode, while as Speed
Triggered
7 CMD2 Command bit Multi-stage Switch-over PS
by level
2 Function when in Speed
Internal Control Mode.
Triggered
8 CMD3 Command bit PS
by level
3
Internal
Trigger condition of Triggered
9 CTRG Command P
multi-stage position by edge
Trigger
Switch-over
Be used for switch-over Triggered
10 MSEL of Control PST
of mixed control modes by level
Mode
11 Reserved Invalid function
39
ON-Command pulse input
forbidden Triggered
12 /INHIBIT Pulse P
OFF-Command pulse by level
Forbidden
input allowed
Enter overtravel
preventing function when
mechanical movement
Forward
exceeds removable range. Triggered
13 P-OT Drive PST
OFF-Forward drive by level
Forbidden
forbidden
ON-Forward drive
allowed
Enter overtravel
preventing function when
mechanical movement
Backward
exceeds removable range. Triggered
14 N-OT Drive PST
OFF-Reverse drive by level
Forbidden
forbidden
ON- Reverse drive
allowed
ON-Input according to given
Triggere
/JOGCM command
17 Forward JOG d by S
D+ OFF-Stop the input of
level
running command
ON-Backward input
Triggere
/JOGCM according to given command
18 Reverse JOG d by S
D- OFF- Stop the input of
level
running command
40
Selections of
Triggere
/TDIR-SE Torque OFF-Default direction
19 d by T
L Command ON-Command reverse
level
Direction
Numerator
Triggere
Selection 0 of
20 GNUM0 GNUM1 GNUM0 Gear d by P
Electronic Gear
Ratio level
Ratio
0 0 P1-27
0 1 P1-29
Numerator
1 0 P1-30 ered by
21 GNUM1 Selection 1 of P
1 1 P1-31 level
Electronic Gear
Ratio
22～99 Reserved Invalid Function
Table 5-2 Digital Output Function Definition List
Function Instruction of Output Singnal
Running
Setting Value Name Function Name Description
Mode
0 Disable Invalid Function
Servo state is ready, S-ON signal

can be received:
1 /S-RDY+- Servo is Ready PST
Active-Servo is ready
Inactive-Servo is not ready
Output of brake signal:
2 /BK+- Brake Output Active-Closed, unlocking the brake PST
Inactive-Start the brake
Output signal when servo motor
3 /TGON+- PST
Output Signal rotates:
41
of Motor Active-Motor rotating signal is
Rotating active
Inactive-Motor rotating signal is
inactive
Output signal when servo motor
stops:
Zero-speed Active-Rotational speed of motor is
4 /ZER0+- PST
Signal zero
Inactive- Rotational speed of motor
is not zero
In speed control, it is active when
absolute value of the difference
Velocity between servo motor speed and
5 /V-CLS+- S
Approaching speed command is less than the
setting value P142 of speed
deviation.
In speed control, it is active when
absolute value of the difference
/V-CMP+ Velocity between servo motor speed and
6 S
- Reaching speed command is less than the
setting value P143 of speed
deviation
In position mode, it is active when
/PNEAR+ Position position deviation pulse reaches the
7 P
- Approaching setting value of position completing
width P132.
In position mode, it is active when
Position position deviation pulse reaches the
8 /COIN+- P
Reaching setting value of position completing
width P133.
42
Confirming signal of torque
Torque
limitation:
9 /C-LT+- Limitation PS
Active-Motor torque is limited
Signal
Inactive-Motor torque is not limited
In torque control, the confirming
Rotational signal of speed limiting :
Speed Active-Motor rotational speed is
10 /V-LT+- T
Limitation limited
Signal Inactive-Motor rotational speed is
not limited
Output Signal The warning output signal is
11 /WARN+- PST
of Warning conductive
Output Signal The detected malfunction state
12 /ALM+- PST
of Malfunction signal is effective
Output Signal
Output corresponding signal when
13 /Tcmp of Torque T
the torque reaches the setting value
Reaching
14～99 Reserved Invalid Function
Table 5-3 Multi-stage (DI) Functions of Internal Speed Command

Internal
CMD CMD CMD CMD Corresponding
Speed Instruction
3 2 1 0 Code
Command
Spd1 0 0 0 0 P3-10 Setting speed (0～±5000)
43
Table 5-4 Multi-stage (DI) Functions of Internal Position Command

Pr CM CM CM CM CTR Corresponding Speed
Instruction
Command D3 D2 D1 D0 G Code Setting
Cycles
P2-00
Pr1 0 0 0 0 ↑ (0～±30000) P2-02
P2-01
Pulses(0～±9999)
Cycles
P2-04
Pr2 0 0 0 1 ↑ (0～±30000) P2-06
P2-05
Pulses(0～±9999)
Cycles P2-10
Pr3 0 0 1 0 ↑ P2-08
(0～±30000) P2-10
Pr3 0 0 1 0 ↑ P2-09
Pulses(0～±9999)
Cycles
P2-12
Pr4 0 0 1 1 ↑ (0～±30000) P2-14
P2-13
Pulses(0～±9999)
Cycles
P2-16
Pr5 0 1 0 0 ↑ (0～±30000) P2-18
P2-17
Pulses(0～±9999)
44
Cycles
P2-20
Pr6 0 1 0 1 ↑ (0～±30000) P2-22
P2-21
Pulses(0～±9999)
Cycles
P2-24
Pr7 0 1 1 0 ↑ (0～±30000) P2-26
P2-25
Pulses(0～±9999)
Cycles
P2-28
Pr8 0 1 1 1 ↑ (0～±30000) P2-30
P2-29
Pulses(0～±9999)
Cycles
P2-32
Pr9 1 0 0 0 ↑ (0～±30000) P2-34
P2-33
Pulses(0～±9999)
Cycles
P2-36
Pr10 1 0 0 1 ↑ (0～±30000) P2-38
P2-37
Pulses(0～±9999)
Cycles
P2-40
Pr11 1 0 1 0 ↑ (0～±30000) P2-42
P2-41
Pulses(0～±9999)
Cycles
P2-44
Pr12 1 0 1 1 ↑ (0～±30000) P2-46
P2-45
Pulses(0～±9999)
Cycles
P2-48
Pr13 1 1 0 0 ↑ (0～±30000) P2-50
P2-49
Pulses(0～±9999)
Cycles
P2-52
Pr14 1 1 0 1 ↑ (0～±30000) P2-54
P2-53
Pulses(0～±9999)
Cycles
P2-56
Pr15 1 1 1 0 ↑ (0～±30000) P2-58
P2-57
Pulses(0～±9999)
45
Cycles
P2-60
Pr16 1 1 1 1 ↑ (0～±30000) P2-62
P2-61
Pulses(0～±9999)
Group P7 Communication Codes
Value Range Mode
P7-00 Station No. setting 1 1～254 - ○ PST
Communication transfer
rates
0：4800；
P7-01 1：9600； 1 0～4 bps ○ PST
2：19200；
3：38400；
4：57600；
Communication data
formats
0：No check 1+8+N+1；
1：Odd check 1+8+O+1；
P7-02 0 0～5 - ○ PST
2：Even check 1+8+E+1；
3：No check 1+8+N+2；
4：Odd check1+8+O+2；
5：Even check 1+8+E+2；
Group P8 Auxiliary Function Codes
Value Range Mode
Software resetting:
0: No operation;
P8-00 1: System software resets 0 0～1 - □ PST
automatically once
performing.
46
Malfunction Resetting
0: No operation;
P8-01 1：Malfunction resets 0 0～1 - □ PST
automatically once
performing.
JOG Function(when pilot
run)
Enter the function code, press
UP, and then the motor will
rotate forward at P803 setting
value and stop if the button is
P8-02 JOGEn - - □ PST
loosened, press Down, and
then the motor will reverse at
P803 setting value and stop
if it is loosened. Press MODE
to leave this function code, so
JOG is inactive.
P8-03 JOG speed setting 100 0～3000 rpm ○ PST
P8-04 Reserved
Internal SON commands
0: Internal servo ON inactive,
P8-05 0 0～1 - ○ PST
auto-reset after power-on
1: Enable internal servo ON
P8-06 Reserved
P8-07 Reserved
Overheating warning point of 40～
P8-08 70 ℃ ■ PST
drive P8-09
Overheating malfunction P8-08～
P8-09 80 ℃ ■ PST
point of drive 100
P8-10 Fan detecting selections 0 0～1 - ○ PST
47
0: Fan malfunction detecting
1: No detecting
Fan control selections
0: Fans run when the servo is
ON in malfunction and the
P8-11 0 0～1 - ○ PST
temperature is greater than
40°C;
1: Fans run when power-on.
P8-12 Drive warning setting 80 20～100 % ○ PST
Motor overload warning
P8-13 80 20～100 % ○ PST
setting
Son requirements selections
of each stop mode
0: Free-stop, start Son
P8-14 according to requirements 0 0～1 - □ PST
P8-15
1: Free-stop and zero-stop are
selected at the same time
Son requirements:
0: Start Son according to the
time condition (P8-16) after
Soff;
P8-15 1: Start according to speed 0 0～3 - □ PST
condition(P8-17);
2: Start according to time and
speed conditions;
3: ON immediately.
Valid required time-lag of 0.01～
P8-16 5.00 S □ PST
Son after Soff 300.00
P8-17 Active speed setting of Son 20 0~Rated rpm □ PST
48
Group PE Motor Parameters
Running
Code Instruction Factory Value Setting Range Unit Attri.
Mode
Manufacturer
PE-00 0 0～65535 - □ PST
Parameters
Note: Reserved codes are invisible.
6 Malfunction Codes
Marks Name Malfunction Actions Type

Malfunctions
Hardware
AL.001 Detected short-circuit protection of power components Nonresttable
Protection
AL.002 HOC Detected over-current protection of power components Nonresttable
AD Initialization
AL.003 Initial revision fault of AD modules Nonresttable
Fault
Abnormal Code
AL.004 EEPROM storage is abnormal or frequent Nonresttable
Storage
Abnormal System
AL.005 It acts when parameters exceed normal range. Nonresttable
Parameters
AD Sampling AD translation exception (deviation oversize or

AL.006 Nonresttable
Module Fault translation overtime )
Encoder
AL.007 Encoder breaks line. Nonresttable
Abnormality 1
Encoder
AL.008 Abnormal running. Nonresttable
Abnormality 2
Encoder
AL.009 Abnormal running. Nonresttable
Abnormality 3
The bus voltage is under 200V when power supply is

AL.00A Undervoltage Resettable
220V.
49
The bus voltage is over 400V when power supply is
AL.00b Overvoltage Resettable
220V.
Output current of servo drive is over its permitted

AL.00C Overcurrent Nonresttable
range.
Exceed certain time when motor is over 120% of rated

AL.00d Motor Overload Resettable
load
Exceed certain time when drive is over 110% of rated

AL.00E Drive Overload Resettable
load
The temperature of motor exceeds motor’s permitted

AL.00F Motor Overheat Resettable
value.
AL.010 Drive Overheat Drive is overheated. Resettable
AL.011 Fan Abnormality Fan breaks line or stalls. Resettable
AL.012 Overspeed Motor’s rotational speed exceeds its maximum value. Resettable
Over-deviation of Retention pulse in deviation counter exceeds its

AL.013 Resettable
Position permitted range.
Warning
Motor Overheat
AL.E01 Motor’s temperature will reach the overheat threshold.
Warning
Drive Overheat Temperature of drive’s major loop will reach its

AL.E02
Warning overhead threshold. LED display is
Motor Overload The overload inverse time limit curve of motor will auto-cleared
AL.E03
Warning reach. after warning is
Drive Overload The overload inverse time limit curve of drive will cleared up.
AL.E04
Warning reach.
Over-deviation of DC retention pulse in deviation counter exceeds the

AL.E05
Position Warning warning range.
50
7 Appearance and Dimensions

7.1 Appearance and dimensions of EA100 series servo drive
Notes: 1) The unit of mechanical dimensions is mm; and the weight’s unit is kg.
2) The mechanical dimensions and weight are subject to chang without notice.
51
7.2 Dimensions of Motor
Installation dimensions of 60 series servo motor: Unit (mm)
LB LA
LC
12
4-ΦLZ
D
Φ LEh7
Φ Sh6
LD LF LG
Model 60S0R230B 60S0R230BB 60S0R430B 60S0R430BB 60S0R630B 60S0R630BB

LA 98 138 123 163 148 188
LB 31 31 31 31 31 31
LC 3 3 3 3 3 3
LD 8 8 8 8 8 8
LE 50 50 50 50 50 50
LF 60 60 60 60 60 60
LG 70 70 70 70 70 70
LZ 4.5 4.5 4.5 4.5 4.5 4.5
S 14 14 14 14 14 14
D 5 5 5 5 5 5
52
Model 80S0R730B 80S0R730BB 80S1R025B 80S1R025BB

L 150 206 190 246
53
LB LA
LF
LC LD
Φ Sh6
Φ LEh7
2,5 40
M6XL22 4-ΦLZ
Wh9
ΦLG
H0-0.1
Model 130S1R010A 130S1R010AB 130S1R010B 130S1R010BB

LA 213 270 213 270
LB 57 57 57 57
LC 5 5 5 5
LD 14 14 14 14
LE 110 110 110 110
LF 130 130 130 130
LG 145 145 145 145
LZ 9 9 9 9
S 22 22 22 22
H 24.5 24.5 24.5 24.5
W 6 6 6 6
54

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Operation Manual

 Installation and inspection of the servo drive and servo motor

This manual suits for users as follows for reference

Following instructions should be obeyed before going through this manual:

 There is no vapour, corrosive gas and inflammable gas on site.

(Please read the manual before use)

Description of Marks Related to Safety

Wrong use will lead to danger or injury.

Wrong use may cause danger, injury, or damage to the equipment.

Prohibited operation may lead to damage or malfunction of the product.

 Wiring for main circuit

1 Inspection and Model Description

1.2 Model of Servo Drive

Product Categories: EncoderType:

1.3 Model of Servo Motor

1.4 Description of Servo Motor Adaptation

Servo Drive Adapted Servo Motor Remarks of Servo Motor

200W, 60mm flange, rated rotational speed

1.5 Brief Introduction to Servo Drive Operation Mode

1.6 Signal and Wiring of Servo Drive

5-bit 7-segment LED

5-bit separate buttons

2.2 Requirements of Storage Environment

2.3 Requirements of Installation Environment

2.4 Installation Space

≥50mm ≥25mm ≥25mm ≥50mm

3.1.1 1-phase connection

DC+ Servo drive

3.1.2 3-phase connection

3.2 Standard Wiring

3.2.1 Standard wiring of position mode

3.2.2 Standard wiring of speed mode

3.3.1 Correspondence between CN4 terminals and signal

3.3.2 Color description of control signal wires

Signal DI1 Analog 2 Analog 1 GND DO1 COM

Signal SIGN- SIGN+ PULS- PULS+ DI1 COM

Signal SIGN- SIGN+ PULS- PULS+ DI1 DI3

Color Yellow Yellow/black Green Green/black Blue Blue/white

Signal DI5 DI7 DI9 DO2 DO4 DO6

Color Yellow/red Purple Purple/white White White/black Pink

Signal 24V SZ+ SZ- SB- SB+ GND

Signal Analog 2 Analog 3+ Analog 3- GND Analog 1 DI2

Signal DI4 DI6 DI8 DI10 D01 D03

Signal D05 COM COM SA- SA+ --

4 Panel Display and Operation

4.1 Name of Panel Components

Fig 4-1 Panel cutline

Table 4-1 Description of panel components

Component Name Function

MODE Enter interblock mode or break away from interblock/interclass

Can be used for revising upper setting character value if the

Modify monitoring code, group number, parameter code or setting

Display and save setting value, enter interblock and parameter

4.2 Process of Parameter Setting

P0-00 P1-00 P2-00 P8-00 PE-00

P0-22 Save setting

Fig 4-2 Flowchart of panel operation

4.4 Display of Fault and Alarm

4.5 Display of Positive/Negative Sign

Torque-limit source selections: